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Driving device for discrete rotation of robot double freedom joints

A technology of driving device and degree of freedom, which is applied in the direction of manipulators, manufacturing tools, joints, etc., can solve the problems of complex robot structure and high energy consumption, and achieve the effect of simple and compact structure, saving energy and space

Active Publication Date: 2019-02-01
CHANGZHOU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] The joint rotation of a robot usually requires a motor to drive a joint movement, which leads to complex structures and high energy consumption for robots with multi-degree-of-freedom joints

Method used

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  • Driving device for discrete rotation of robot double freedom joints

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Embodiment Construction

[0014] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0015] see figure 1 As shown, a robot dual-degree-of-freedom joint discrete rotation drive device of the present invention includes a special-shaped gear 1, a pinion A2 and a pinion B3 that are externally meshed with the special-shaped gear 1 .

[0016] see figure 1 As shown, the circumference of the special-shaped gear 1 is composed of meshing teeth 11 and a smooth surface 12. The meshing teeth 11 mesh with the pinion A2 and pinion B3 for transmission, and the minimum distance between the smooth surface 12 and the pinion A2 and pinion B3 is not less than 2 cm. .

[0017] see figure 1 As shown, the tooth groove of the pinion A2 is equipped with a push rod A21 that allows it to rotate in one direction, and the other end of the push rod 21 is installed on the equipment rack with a hinge A22; To the push rod B31 that rotates, the oth...

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Abstract

The invention discloses a driving device for discrete rotation of robot double freedom joints, and belongs to the field of robot joint driving. The driving device comprises a special-shaped gear, andtwo pinion gears A and B externally meshing with the special-shaped gear, wherein the circumference of the special-shaped gear is composed of meshing teeth and a smooth surface; the meshing teeth meshwith the pinion gears A and B to rotate; the minimum distance between the smooth surface and the pinion gears A and B is not less than 2 centimeters; a tooth groove of the pinion gear A is provided with a push rod A allowing one-way rotation of the pinion gear A; the other end of the push rod A is arranged on a machine frame through a hinge A; a tooth groove of the pinion gear B is provided witha push rod B allowing one-way rotation of the pinion gear B; and the other end of the push rod B is arranged on the machine frame through a hinge B. The driving device is of a simple and compact structure, achieves single-motor driven double-freedom stepwise rotation, and can be used for robot joints.

Description

technical field [0001] The invention mainly relates to the field of joint drive of robots, in particular to a drive device for discrete rotation of two-degree-of-freedom joints of a robot. Background technique [0002] The joint rotation of a robot usually requires a motor to drive a joint motion, which leads to a complex structure and high energy consumption of a robot with multi-degree-of-freedom joints. Since the adjacent joints of the robot are related to each other and have a certain sequence, especially the leg joints in the walking process. Therefore, it is of great significance to simplify the structure of the robot to relate to a single-machine driving two-degree-of-freedom rotation driving device. Contents of the invention [0003] The technical problem to be solved in the present invention is: aiming at the technical problems existing in the prior art, the present invention provides a driving device with a simple and compact structure, a single-motor-driven dou...

Claims

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Application Information

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IPC IPC(8): B25J17/00
CPCB25J17/00
Inventor 李晓艳江鹏班书昊王知鸷吴王平苗乃明
Owner CHANGZHOU UNIV
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