A two-way decoupling drive device
A technology of driving device and driving shaft, which is applied in the direction of program-controlled manipulators, manufacturing tools, manipulators, etc., which can solve the problems of complex structure of asymmetric joints and asymmetric joints, and achieve the effect of maintaining the tension state of the cables
Active Publication Date: 2020-10-30
BEIJING MECHANICAL EQUIP INST
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[0004] In view of the above analysis, the embodiment of the present invention aims to provide a two-way decoupling drive device to solve the existing problem that one motor cannot be used to drive asymmetrical joints or one motor is used to drive asymmetrical joints with complex structures
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[0029] Attached below Figure 1-4 To specifically describe the preferred embodiment of the present invention, wherein, the appended Figure 1-4 It constitutes a part of the present application and is used together with the embodiments of the present invention to explain the principles of the present invention, and is not intended to limit the scope of the present invention.
[0030] A specific embodiment of the present invention discloses a bidirectional decoupling driving device. Including: driving wheel 3, motor 4, chain 5, driven wheel A7, driven wheel B8, pull wire A10, pull wire B11 and switcher 12;
[0031] During implementation, the driving wheel 3 rotates under the drive of the motor 4, the driving wheel 3 meshes with the chain 5, and the other end of the chain 5 meshes with the driven wheel A7 or the driven wheel B10. The motor 4 drives the driving wheel 3 to rotate, and the torque of the driving wheel 3 is transmitted to the driven wheel A7 or the driven wheel B10 ...
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The invention relates to a bi-directional decoupling drive device, and belongs to the field of bi-directional drive. The problems that in the prior art, when asymmetrical drive joints driven by pull wires are used for bi-directional driving, two motors are adopted for driving, and consequently a drive system is complicated in structure and inconvenient to operate are solved. According to the bi-directional decoupling drive device provided by the invention, a motor is adopted to drive a driving wheel to rotate, the driving wheel meshes with a chain, the other end of the chain is switched over through a switcher so as to mesh with a driven wheel A or a driven wheel B, a pull wire A is woundin an outer edge groove of the driven wheel A and is externally connected with a load, and a pull wireB is woundin an outer edge groove of the driven wheel B and is externally connected with a load. According to the bi-directional decoupling drive device provided by the invention, one motor drives theasymmetrical drive joints, and when the driving wheel drives one driven wheel through the chain, the other driven wheel is located at the free state. Coil springs are arranged on the driven wheel A and the driven wheel B, so that when the loads pull the pull wires to be unwound, the pull wires can always keep at the tensioning state.
Description
technical field [0001] The invention relates to the technical field of bidirectional driving, in particular to a bidirectional decoupling driving device. Background technique [0002] When the asymmetrically driven joints driven by pull wires need two-way driving, because the lengths of the two directions of the joints are inconsistent, it is generally necessary to use two independent motors for driving, resulting in a complex system. The present invention proposes a two-way decoupling The drive device adopts a motor to realize bidirectional decoupling drive, and the system is simple. [0003] The present invention mainly relates to the fields of rigid exoskeleton, flexible exoskeleton, etc. A single motor is used to realize bidirectional drive of asymmetrically driven joints, which can reduce the installed number of drive motors, further reduce the weight of the system, and solve the problem of the large number of drive motors in the existing system and the weight of the sy...
Claims
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IPC IPC(8): B25J9/00B25J9/10B25J17/00
CPCB25J9/0006B25J9/10B25J9/104B25J17/00
Inventor 王道臣崔翔骆丹媚吕鑫李冠呈刘昊张利剑
Owner BEIJING MECHANICAL EQUIP INST