Spherical surface-engaged universal multi-section synchronous transmission mechanism

Abstract

The invention relates to the field of joints having more than one degree of angular degree and specifically relates to a spherical surface-engaged universal multi-section synchronous transmission mechanism. The spherical surface-engaged universal multi-section synchronous transmission mechanism comprises at least one arm section (1), and is characterized in that: each arm section (1) comprises at least one of a front-end connecting piece (11) and a rear-end connecting piece (12), and also an arm shell (13); the rear-end connecting piece (12) is arranged on a rear end of the arm shell (13); the front-end connecting piece (11) comprises a sphere or a spherical crown shell; and the rear-end connecting piece (12) comprises a spherical crown shell or a sphere in spherical surface engagement with the front-end connecting piece (11). The spherical surface-engaged universal multi-section synchronous transmission mechanism has the advantages of decrease of driving sources, reduction of driving loads, reduction of control difficulty, and wide application range.

Description

technical field [0001] The invention relates to the field of joints with more than one degree of freedom, in particular to a spherical meshing universal multi-joint synchronous transmission mechanism. Background technique [0002] In some multi-section mechanical structures, such as in the mechanical arm, the drive of each joint is usually driven by a motor accelerator and decelerator. Become the load driven by the upper stage. In addition, each motor and reducer can only drive one joint. If multiple joints are to be driven, multiple motors and reducers are required, which not only greatly increases the load of the upper drive, but also wastes resources and greatly increases the difficulty of control. In the driving of the mechanical arm, there is another kind of wire rope transmission. This driving method can only realize the planar movement of the mechanical arm. If the spatial movement of the mechanical arm is to be realized, the complexity of the structure will be great...

AI Technical Summary

Problems solved by technology

In addition, each motor and reducer can only drive one joint. If multiple joints are to be driven, multiple motors and reducers are required, which not only greatly increases the load of the upper drive, but also wastes resources and greatly increases the difficulty of control.

In the drive of the mechanical arm, there is another kind of wire rope transmission. This driving method can only realize the planar movement of the mechanical arm. If the spatial movement of the mechanical arm is to be realized, the complexity of the structure will be greatly increased.

The above-mentioned driving method is generally driven independently by each joint, and cannot realize the synchronous motion of multiple joints, that is, to drive multiple joints through one driving source

[0003] The Chinese invention patent with the publication number 101670583A disclosed a multi-joint synchronous bending mechanical arm based on connecting rod transmission on March 17, 2010. This invention patent can realize the movement in the plane of the mechanical arm, but cannot realize the spatial movement

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