Double cam disc output variable speed joint using steel wire transmission
A double-cam and cam technology, which is applied in the direction of manufacturing tools, program-controlled manipulators, manipulators, etc., can solve the problems of large motor output torque, low joint movement precision, and high cost, achieve high real-time performance, and improve energy utilization and transmission efficiency , low cost effect
Active Publication Date: 2019-08-02
HARBIN INST OF TECH
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Problems solved by technology
[0003] The present invention aims to solve the existing problems of exoskeleton joint motion realized by motor speed regulation, large motor output torque, low joint motion precision and high cost, and further provides a double-cam disc output speed-changing joint utilizing steel wire transmission
Method used
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[0015] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and through specific implementation methods.
[0016] combine Figure 1-Figure 6 Explain that the double-cam disc output variable speed joint using steel wire transmission includes input shaft 1, support frame 2, joint shaft 3, lower cam 4, upper cam 5, No. 1 steel wire rope 6 and No. 2 steel wire rope 7;
[0017] The lower cam 4 and the upper cam 5 have the same structure and are connected as one; the joint shaft 3 is rotatably mounted on the support frame 2, and the input shaft 1 is rotatably mounted on the support frame 2 and the joint shaft 3. The axial direction of the input shaft 1 is perpendicular to the axial direction of the joint shaft 3, the lower cam 4 and the upper cam 5 are arranged on both sides of the input shaft 1 and fixed on the joint shaft 3 respectively, The lower cam 4 and the upper cam 5 form a closed eccentric circle, th...
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The invention discloses a dual-cam-disk output speed changing joint driven by a steel wire, and relates to a speed changing joint; the dual-cam-disk output speed changing joint solves the problems of big output torque of a motor, relatively low movement precision of the joint and high cost when an exoskeleton joint movement is realized by the motor speed regulation. The dual-cam-disk output speed changing joint comprises an input shaft, a supporting bracket, a joint shaft, a lower cam, an upper cam, a 1# wire rope and a 2# wire rope; the joint shaft is rotationally installed on the supporting bracket, and the input shaft is rotationally installed on the supporting bracket and the joint shaft; the lower cam and the upper cam are arranged at both sides of the input shaft and fixedly mounted on the joint shaft; the lower cam and the upper cam are formed to be a closed eccentric circle; the 1# wire rope is paved on an upper arc rope groove and then coiled on the input shaft; the 2# wire rope is paved on a lower arc rope groove and then coiled on the input shaft. The dual-cam-disk output speed changing joint is applied to the exoskeleton or a humanoid robot joint.
Description
technical field [0001] The invention relates to a speed-changing joint, in particular to a double-cam output speed-changing joint driven by steel wires used on a 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 problems of motor speed regulation to realize exoskeleton joint motion, high motor output torque, low joint motion precision and high cost, and further provides a double-cam disc output speed-changing joint utilizing steel wire transmission. [0004] The technical scheme that the present invention takes for solving the above problems is: [0005] The double...
Claims
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IPC IPC(8): B25J17/00B25J17/02B25J9/00
CPCB25J9/0006B25J17/00B25J17/02
Inventor 朱延河张宗伟隋东宝赵杰
Owner HARBIN INST OF TECH