Lightweight foldable one-way driving robot joint

Abstract

The invention relates to a lightweight foldable one-way driving robot joint. The lightweight foldable one-way driving robot joint comprises a power system, a steel rope transmission device, a joint rotation steel rope pulley, a joint upper connection part, a joint lower connection part and a joint shaft shell; and the joint upper connection part is of a hollow structure, both the power system and the steel rope transmission device are installed in the joint upper connection part, the joint upper connection part and the joint shaft shell are connected, the power system can drive a steel rope on the steel rope transmission device to conduct linear motion, the steel rope on the steel rope transmission device is wound around the joint rotation steel rope pulley, the joint rotation steel rope pulley is rotatably arranged on the joint shaft shell, the joint lower connection part is installed on the joint rotation steel rope pulley, and the steel rope of the steel rope transmission device drives the joint rotation steel rope pulley to rotate, so that the joint lower connection part is driven to be unfolded and folded relative to the joint upper connection part. The lightweight foldable one-way driving robot joint is suitable for hip joints, knee joints and ankle joints of legged robots, hopping robots and the like.

Description

technical field [0001] The invention relates to a robot, which belongs to the application field of robot technology, in particular to a light-weight and foldable one-way drive robot joint. It is especially suitable for hip, knee and ankle joints of legged robots and bouncing robots. Background technique [0002] In the application field of robots, legged robots and bouncing robots are very unique design configurations. Compared with wheel-driven, crawler-type, peristaltic-type and other driving forms, they have better adaptability to complex ground environments, especially multi-legged and bouncing robots, which have excellent obstacle-surmounting performance. [0003] However, in the design of the leg joints of multi-legged and bouncing robots, the hip, knee, and ankle joints along the sagittal plane often require a large driving torque, especially a large peak torque and peak power. This poses a great challenge to the configuration design and driving mode of the robot jo...

AI Technical Summary

Problems solved by technology

[0004] Therefore, the traditional robot joint drive adopts the form of servo motor accelerator and decelerator, which is relatively large in size and mass, and also poses a challenge to the design of the rotation range of the robot joint, and it is difficult to reach 180°

In addition, since the average joint torque and power of robot leg joints are often low, but their peak torque and power are high, ordinary robot joint reducers, such as planetary gear reducers, or harmonic reducers, etc., often The peak torque is about 3 times of the rated torque, and its power density is small

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