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Rope drive single-freedom-degree module and multi-freedom-degree mechanism adopting module

A rope-driven, degree-of-freedom technology, applied to manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as difficult installation and disassembly, increased volume and quality, and increased output torque, etc., to reduce mass and light structure , Increase the effect of pulling force

Inactive Publication Date: 2019-01-11
HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In this technical solution, the motor and harmonic reducer are used to control, while increasing the output torque, the overall structure is larger, the coordination is too cumbersome, and the installation and disassembly are not easy.
[0006] Based on the above, it can be seen that in the prior art, there is still the problem of how to improve the output load capacity of the joint module while avoiding increasing the volume and quality

Method used

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  • Rope drive single-freedom-degree module and multi-freedom-degree mechanism adopting module
  • Rope drive single-freedom-degree module and multi-freedom-degree mechanism adopting module
  • Rope drive single-freedom-degree module and multi-freedom-degree mechanism adopting module

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0044] like figure 1 As shown in -7, a rope-driven single-degree-of-freedom module includes a fixed platform 1, a movable platform 2, a connecting branch chain 3 and a driving branch chain 4.

[0045] Wherein, connecting branch chain 3 comprises supporting link 31 and rotating bearing, as figure 1 and figure 2 As shown, one end of the support connecting rod 31 is hinged to the fixed platform 1 through the first rotating bearing 32, and the other end of the supporting connecting rod 31 is hinged to the movable platform 2 through the second rotating bearing 33, in order to improve the connection between the supporting connecting rod 31 and the fixed platform 1. 1. The stability of the relative rotation between the movable platforms 2, the fixed platform 1 and the movable platform 2 can also be provided with an indented bearing seat structure 34 for installing and connecting bearings, so as to further improve the compactness of the structure.

[0046] See you again figure 2 ...

Embodiment 2

[0057] like Figure 8 As shown, a rope-driven single-degree-of-freedom module, on the basis of Embodiment 1, the movable platform 2 and the fixed platform 1 in this embodiment are offset to form a contact surface 5, wherein the contact surface 5 is a circular arc noodle.

[0058] see Figure 8 , in order to improve the stability of operation, the movable platform 2 is in contact with the fixed platform 1 during the rotation process relative to the fixed platform 1, and the contact position between the movable platform 2 and the fixed platform 1 changes, thus forming a gap between the fixed platform 1 and the movable platform 2 Both form a continuous contact surface 5 with a certain radian. In order to prevent slippage between the two, a gear segment 51 formed by outwardly protruding teeth is provided on the contact surface. The gear segment of the movable platform 2 and the fixed platform 1 The mutual meshing between the gear segments can greatly improve the smoothness of ro...

Embodiment 3

[0060] like Figure 9 As shown, a rope-driven single-degree-of-freedom module, the difference between this embodiment and Embodiment 1 is that the distance between the first fixed pulley 41 and the first rotating bearing 32 is the same as the distance between the second fixed pulley 42 and the first rotating bearing The distance between 32 is different, the distance between the first movable pulley 43 and the second rotary bearing 33 is different from the distance between the second movable pulley 44 and the second rotary bearing 33.

[0061] Among them, point A1 represents the position of the first movable pulley 43, point B1 represents the position of the second movable pulley 44, point C1 represents the position of the first fixed pulley 41, point D1 represents the position of the second fixed pulley 42, and H1 represents the supporting link 31 ; The rope L in this embodiment 3 and rope L 4 are not connected, at this time, the rope L 3 and rope L 4 The rate of change of...

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Abstract

The invention provides a rope drive single-freedom-degree module and a multi-freedom-degree mechanism adopting the module. The single-freedom-degree module comprises a fixed platform, a movable platform, a connection branch and a drive branch; the drive branch comprises a first fixed pulley, a second fixed pulley, a first movable pulley, a second movable pulley, two ropes and a rope driver; the first fixed pulley and the second fixed pulley are arranged on the fixed platform, and are arranged on the two sides of the connection branch, the first movable pulley and the second movable pulley arearranged on the movable platform, and are arranged on the two sides of the connection branch, and the first fixed pulley and the first movable pulley are arranged on the same side of the connection branch; one end of one rope is fixed relative to the first fixed pulley, the other end of the rope winds around the first movable pulley to be connected to the rope driver, one end of the other rope isfixed relative to the second fixed pulley, and the other end of the other rope winds around the second movable pulley to be connected to the rope driver. The module can be suitable for the occasion with the large load, and has the advantages of being small in size and small in mass.

Description

technical field [0001] The invention belongs to the technical field of robot joints, and in particular relates to a cable-driven single-degree-of-freedom module and a multi-degree-of-freedom mechanism using the same. Background technique [0002] With the continuous development of robot technology, robots are more and more widely used in life and production. However, due to the need for improvement and maturity of related technologies, there is still a long way to go for large-scale, low-cost and multi-field applications. Existing robots often need to be adaptively designed for different applications, such as service robots or industrial robots. It is difficult for such robots to have functional scalability and configuration reconfigurability, resulting in a long robot development cycle. , application limitations and other issues seriously restrict the promotion and application of robots in many fields. At present, the standardization and modularization of robot functional ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08B25J9/00
CPCB25J9/003B25J9/08
Inventor 李兵刘飞徐文福宁英豪宋炎书吴佳豪
Owner HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL