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Three-degree-of-freedom robot leg system based on synchronous belt drive

A timing belt transmission and degree of freedom technology, applied in the field of robotics, can solve problems such as large joint modules, achieve the effects of reducing weight, improving dynamic response characteristics, and ensuring structural strength

Active Publication Date: 2019-07-09
NUCLEAR POWER INSTITUTE OF CHINA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

From a structural point of view, it is still a typical design method of a series multi-joint robot. Each joint is directly driven by a motor and a reducer, resulting in a large joint module, and the motor can only be decelerated by an expensive harmonic reducer.

Method used

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  • Three-degree-of-freedom robot leg system based on synchronous belt drive
  • Three-degree-of-freedom robot leg system based on synchronous belt drive
  • Three-degree-of-freedom robot leg system based on synchronous belt drive

Examples

Experimental program
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Effect test

Embodiment

[0043] image 3 Among them, two mounting plates protrude from the lower side of the robot body, which are connected with the ball screw mounting rod seat through the bearing;

[0044] The hip joint "abduction / adduction" driving motor and its integrated gear box are also installed on the mounting plate on the lower side of the robot body, and the driving force of the joint "abduction / adduction" is transmitted to the hip joint "outside" through gears and gears. "Extension / Adduction" motion base;

[0045] The "abduction / adduction" movement base of the hip joint is fixedly connected with the ball screw mounting rod seat; the front end of the ball screw mounting rod seat protrudes through the inner ring of the bearing, and the hip joint "extension / bending" driving motor is installed;

[0046] Such as Figure 4 As shown in the figure, the screw installed inside the ball screw mounting rod base rotates under the drive of the motor to push the ball screw nut to move left and right; ...

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Abstract

The invention belongs to the technical field of robots, and particularly relates to a three-degree-of-freedom robot leg system based on synchronous belt drive. The purpose of the system is to conductlightweight process on thigh and calf parts of a robot as much as possible, and drive, decelerate and power transmission links of all motors are placed on the body of the robot. A foot robot body (1),a hip 'outreach / adduction' drive motor, an integrated gearbox (2), a gear A (3), a hip 'outreach / adduction' drive motor (4), a gear B (5), a hip 'outreach / adduction' exercise base (6), a thigh connecting rod (7), a foot hexagonal rubber block (8), a hip 'outreach / adduction' drive motor (9), a bearing (10), a ball screw mounting rod seat (11), a ball screw nut connecting shaft (12), a hip push rod(13), a calf connecting rod (14) and a ball screw (15) are included.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a three-degree-of-freedom robot leg system based on synchronous belt transmission. Background technique [0002] At present, China is vigorously implementing "Made in China 2025". Robots are the focus and hot spot leading transformation and upgrading, and their technology is developing rapidly. It will be a development for robots to replace human beings to enter complex environments that are difficult for human beings to carry out daily monitoring and maintenance. trend. [0003] With the rapid development of robotics technology, it will be a development trend for robots to replace human beings to enter complex environments that are difficult for human beings to carry out daily monitoring and maintenance work. Facilities and equipment maintenance, repair and emergency response capabilities are also of great significance. [0004] In these special environments, such a...

Claims

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Application Information

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IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 张超瓮松峰罗英余志伟湛卉董岱林穆伟谭宏伟黄辉
Owner NUCLEAR POWER INSTITUTE OF CHINA
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