Dual-input shaft variable speed ratio joint using steel wire transmission
A technology with dual input shafts and variable speed ratios, applied in manufacturing tools, manipulators, joints, etc., can solve the problems of large motor output torque, poor real-time performance, and large motor occupation space, and achieve high real-time performance, good dynamic characteristics, and improved energy. The effect of utilization and transmission efficiency
Active Publication Date: 2019-03-26
HARBIN INST OF TECH
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Problems solved by technology
[0003] The present invention aims to solve the existing problems that motor speed regulation is used to realize robot joint motion, the motor occupies a large space, the motor output torque is relatively large, and the real-time performance is poor, and further provides a dual-input shaft variable speed ratio joint using steel wire transmission.
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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 4 Explain that the dual-input shaft transmission ratio joint using steel wire transmission includes a driven shaft 1, a driving shaft 2, a support frame 3, a cam 4, a joint shaft 5, a No. 1 steel wire rope 6, a No. 2 steel wire rope 7 and a No. 3 steel wire rope 8;
[0017] The joint shaft 5 is rotatably mounted on the support frame 3, the driving shaft 2 and the driven shaft 1 are arranged side by side, the axial direction of the driving shaft 2 is perpendicular to the axial direction of the joint shaft 5, the driving shaft 2 and the driven shaft 1 The driving shaft 1 is rotatably mounted on the support frame 3 and the joint shaft 5, and the cam 4 is arranged between the driving shaft 2 and the driven shaft 1 and fixed on the joint shaft 5 The edge of the wheel surf...
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The invention discloses a dual-input-shaft gear ratio joint driven by a steel wire, and relates to a speed changing joint; the dual-input-shaft gear ratio joint solves the problems that motor space is big, output torque of the motor is big and the instantaneity is poor when the robot joint movement is realized by applying motor speed regulation. The dual-input-shaft gear ratio joint comprises a driven shaft, a driving shaft, a supporting bracket, a cam, a joint shaft, a 1# wire rope, a 2# wire rope and a 3# wire rope; the joint shaft is rotationally mounted on the supporting bracket; the active shaft and the driven shaft are rotationally installed on the supporting bracket and the joint shaft; the cam is arranged between the active shaft and the driven shaft and fixedly installed on the joint shaft; both ends of the 1# wire rope are fixedly installed on the active shaft, and one end of the 2# wire rope is fixed on one end of the driven shaft close to the joint shaft; one end of the 3# wire rope is fixed on one end of the active shaft far from the joint shaft. The dual-input-shaft gear ratio joint is applied to the robot joint.
Description
technical field [0001] The invention relates to a variable-speed joint, in particular to a dual-input-shaft variable-speed-ratio joint used on a robot and driven by steel wires. Background technique [0002] For robots, joint motion control is a crucial part. At present, the method of directly controlling the motor speed is mostly used. This method needs to consider the motor power, maximum output torque and dynamic response. The motor has a large burden and a large output torque, which leads to an increase in motor size and cost, and the real-time performance is not ideal. Contents of the invention [0003] The present invention aims to solve the existing problems that motor speed regulation is used to realize robot joint motion, the motor occupies a large space, the motor output torque is relatively large, and the real-time performance is poor, and further provides a dual-input shaft variable speed ratio joint using steel wire transmission. [0004] The technical scheme...
Claims
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IPC IPC(8): B25J17/00B25J17/02
CPCB25J17/00B25J17/02
Inventor 朱延河隋东宝马舜赵杰
Owner HARBIN INST OF TECH