A steel wire two-way drive variable speed ratio output rotary joint
A two-way drive, rotary joint technology, used in manufacturing tools, program-controlled manipulators, manipulators, etc., can solve the problems of low joint motion accuracy, large motor output torque, etc., to improve energy utilization and transmission efficiency, high real-time performance, The effect of good dynamics
Active Publication Date: 2019-04-30
HARBIN INST OF TECH
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Problems solved by technology
[0003] The present invention is to solve the problem that the exoskeleton joint movement is realized by motor speed regulation, the motor output torque is relatively large, and the joint movement precision is low, and further provides a steel wire two-way drive variable speed ratio output rotary joint
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Embodiment Construction
[0011] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and through specific implementation methods.
[0012] combine Figure 1-Figure 3 Explain that a steel wire two-way drive variable speed ratio output rotary joint includes an input shaft 1, a No. 1 steel wire rope 2, a cam 3, a No. 2 steel wire rope 4, a joint shaft 5 and a bracket 6;
[0013] The joint shaft 5 is rotatably mounted on the bracket 6, the input shaft 1 is rotatably mounted on the bracket 6 and the joint shaft 5, the cam 3 is rotatably mounted on the joint shaft 5, and the input shaft 1 The axial direction is perpendicular to the axial direction of the joint shaft 5;
[0014] The wheel surface of the cam 3 is processed with an arc-shaped rope groove 3-1 for winding a steel wire rope, one end of the No. The No. 1 steel wire rope 2 is laid on the arc-shaped groove 3-1 and wound on the input shaft 1, and the other end of the No. 1 st...
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The invention provides a bidirectional-drive variable-speed-ratio output rotary joint provided with steel wires, and relates to a variable-speed rotary joint. By adoption of the bidirectional-drive variable-speed-ratio output rotary joint provided with the steel wires, the problems that in the prior art, a motor is used for regulating speed to achieve movement of outer bone joints, the output torque of the motor is large, and the movement precision of the joints is low are solved. The bidirectional-drive variable-speed-ratio output rotary joint provided with the steel wires comprises an input shaft, a first steel wire rope, a cam, a second steel wire rope and a joint shaft, wherein the joint shaft is mounted on a support, and the input shaft is rotatably mounted on the support and the joint shaft; one end of the first steel wire rope is fixedly connected with the end, away from the joint shaft, of the cam, the first steel wire rope is wound on the input shaft after being laid in an arc-shaped rope groove, and the other end of the first steel wire rope is fixed to the input shaft; and one end of the second steel wire rope is fixedly connected with the end, adjacent to the joint shaft, of the cam, the second steel wire rope is wound on the input shaft after being laid in the arc-shaped rope groove, and the other end of the second steel wire rope is fixed to the input shaft. The bidirectional-drive variable-speed-ratio output rotary joint is used as an outer bone robot joint.
Description
technical field [0001] The invention relates to a variable speed rotary joint, in particular to a steel wire two-way drive variable speed ratio output rotary joint used on an exoskeleton robot. Background technique [0002] For exoskeleton robots, joint motion control is a crucial part. At present, most of the existing joint speed regulation designs are based on controlling the motor speed. This type of motion design has low precision, high requirements on the motor, and a large burden on the motor, which leads to an increase in the size and cost of the motor. Contents of the invention [0003] The present invention aims to solve the existing problem that the exoskeleton joint movement is realized by motor speed regulation, the motor output torque is relatively large, and the joint movement precision is low, and further provides a steel wire two-way drive variable speed ratio output rotary joint. [0004] The technical solution adopted by the present invention to solve th...
Claims
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IPC IPC(8): B25J17/02B25J9/00
CPCB25J9/0006B25J17/02
Inventor 朱延河郑天骄隋东宝赵杰
Owner HARBIN INST OF TECH