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Frictionless rope-driven passive decoupling mechanism and method for decoupling and reducing friction

A rope-driven, frictionless technology, used in manipulators, transmission devices, mechanical equipment, etc., to achieve the effect of improving service life, improving application effect, and improving transmission efficiency

Active Publication Date: 2020-11-20
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In order to solve the friction problem existing in the existing decoupling technology, the present invention provides a frictionless rope passive decoupling mechanism, which has obvious friction reduction effect and is easy to implement

Method used

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  • Frictionless rope-driven passive decoupling mechanism and method for decoupling and reducing friction
  • Frictionless rope-driven passive decoupling mechanism and method for decoupling and reducing friction

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Embodiment Construction

[0039] The accompanying drawings disclose non-restrictively the structure diagrams involved in the present invention and preferred implementations. The technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0040] see figure 1 , 2 As shown, a frictionless mechanism for passive decoupling of drive cable motion for a cable-driven tandem manipulator is provided. From front to back, it includes the joint base 5, the fixed wheel 1, the follower wheel set 2, the driving wheel 3 and the current joint connecting rod 4; it also includes the central shaft 213; wherein the fixed wheel 1 is fixedly connected to the joint base 5 and cannot rotate; Both the fixed wheel 1 and the follower wheel set 2 are installed on the central shaft 213 through bearings and can rotate relatively, but the axial displacement is limited; the driving wheel 3 is fixedly connected to the central shaft 213 to rotate together, and is fixedly...

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Abstract

The invention discloses a friction-free rope-driven passive uncoupling mechanism and an uncoupling antifriction method thereof and relates to the field of rope-driven mechanical arms. The problems ofmovement coupling and friction of driving ropes between a plurality of joints are solved. The friction-free rope-driven passive uncoupling mechanism comprises a fixing wheel, a driven wheel disc set,a driving wheel, a driving guide line disc and an uncoupling guide line disc. The driving wheel is connected with a joint connecting rod, and the fixing wheel is connected with a joint base. An uncoupling rope winds along a rope groove of the uncoupling guide line disc and a pulley of a center wheel in the forward and reverse directions to drive the driven wheel disc set to rotate at the speed of1 / 2 of the rotating speed of the joint connecting rod. The driving rope of a rear end joint winds along a rope groove of the driving guide line disc and the pulley of the center wheel, the displacement change, caused by rotating of the joint connecting rod, of the driving rope and the displacement change caused by rotating of the driven wheel disc set are mutually counteracted to achieve movementcoupling of the rope, the rope is guided by the pulley, and thus friction can be ignored. The friction-free rope-driven passive uncoupling mechanism is compact in structure, reliable, free of the friction characteristic and capable of ensuring joint accurate force position control; and modularized design is adopted, and the application range is wide.

Description

technical field [0001] The invention relates to a frictionless rope-driven passive decoupling mechanism and a decoupling and anti-friction method thereof, in particular to a multi-joint rope-driven mechanical arm system coupled in series motion and its precise force-position control. Background technique [0002] At present, the widely used robotic arm has large volume and mass, complex structure, high rigidity, low load-to-weight ratio, high energy consumption and low efficiency for grabbing loads. In order to reduce the weight and moment of inertia of the manipulator, in recent years, many researchers have applied the rope drive technology to the tandem manipulator to reduce the moving mass and volume of the manipulator, but at the same time it will introduce the problem of joint coupling. [0003] In the existing decoupling technology, a decoupling method is described in the passive decoupling mechanism and its decoupling method for rope motion coupling (patent number: 20...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/10B25J17/02F16H7/04
CPCB25J9/104B25J9/1045B25J17/025F16H7/04
Inventor 华达人王尧尧陈柏缪群华李彬彬田波赵锦波曹燕飞蒋素荣吴洪涛
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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