Lightweight and foldable unidirectional drive robot joint

Abstract

A lightweight foldable unidirectional drive robot joint, which includes a power system, a wire rope transmission, a joint rotating wire rope pulley, an upper joint connection, a lower joint connection and a joint shaft housing; the joint upper connection is a hollow structure, and the power Both the system and the wire rope transmission device are installed in the joint upper connector, which is connected to the joint shaft shell. The power system can drive the wire rope on the wire rope transmission device to make a linear motion, and the wire rope on the wire rope transmission device is wound around the joint to rotate the wire rope pulley. The joint rotation wire rope pulley is rotatably arranged on the joint shaft shell, the joint lower connection piece is installed on the joint rotation wire pulley, and the steel wire rope of the wire rope transmission device drives the joint rotation wire pulley to rotate and drives the joint lower connection piece relative to the joint upper connection piece Expand and collapse. The invention is suitable for hip, knee and ankle joints of legged robots, bouncing 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

Images