Rope drive decoupling mechanism based on gear train and decoupling method thereof

Abstract

The invention discloses a rope drive decoupling mechanism based on a gear train and a decoupling method thereof, and particularly relates to a multi-joint rope drive series mechanical arm system. The mechanism comprises a fixed wheel, a follower wheel, a driving wheel, a guide pulley and the planetary gear train. The driving wheel is connected with a joint connecting rod. The fixed wheel is connected with a joint base. The follower wheel is driven by the planetary gear train, and the rotating speed of the follower wheel is 1/2 that of the joint connecting rod. A drive rope of a rear end joint is wound according to the forward direction and reverse direction of a wire groove in the follower wheel, so that drive rope displacement changes caused by rotation of the joint connecting rod and displacement changes caused by rotation of the follower wheel offset. The drive rope passing through the decoupling mechanism and the joint connecting rod have no relative displacement, and motion decoupling of the rope is achieved. The decoupling mechanism can work within the range of 0 DEG C to 300 DEG C, and is wide in work range and simple, compact and reliable in structure. The rope motion decoupling mechanism and a rope drive joint are mounted in a matched manner, modularization can be achieved, and the application range is wide.

Description

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AI Technical Summary

Benefits of technology

This new device described by this inventors allows for better movement between two parts that are connected together through an elastic cable or tape instead of being driven directly from one part into another. It uses a special type of mechanism called a pegged chain (or pulleys) that helps it move smoothly even at very small angles. These mechanisms have lower resistance than traditional methods like springs but they don't cause any problems such as slippage when used over long periods of time due to their high contact area compared to regular spring systems. They also provide more precise movements within certain limits depending on how well these devices function properly.

Problems solved by technology

This patented describes different ways how robots use their own cable system to connect with each other without adding extra weights or moving parts. However, this method introduces challenges because they require precise movement by multiple motors due to interference from the robot's movements caused by its internal components like gears. Additionally, current solutions involve active deceleration techniques involving complicated calculations, while linerless systems lack accurate tracking capabilities.

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