Coupled three-degree-of-freedom tendon-driven robot joint
A robot joint and tendon-driven technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., to achieve the effects of avoiding damage, good flexibility, and good impact resistance
Active Publication Date: 2022-06-10
JIHUA LAB
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Problems solved by technology
[0003]However, the existing coupled drive joints generally use differential mechanisms (differential mechanisms through gear transmission) to realize the coupling of two drive motors and joints with two degrees of freedom. At present, there is no coupled drive joint that can realize the coupling of three drive motors and joints with three degrees of freedom (rotation, pitch and yaw), and the existing coupled drive joints are less flexible because they use differential mechanisms to achieve coupling. Poor, weak impact resistance, easy to damage under external impact
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[0039] Wherein, the first tendon rope 7 , the second tendon rope 8 , and the third tendon rope 9 are all elastic tendon ropes to provide a cushioning effect and ensure the impact resistance of the coupled three-degree-of-freedom tendon-driven robot joint.
[0040] In some preferred implementations, see Figure 7 , 8 The transmission mechanism 3 includes three take-up and pay-off reels 301, and the three X-axis drive wheels 4 are respectively sleeved on the three take-up and pay-off reels 301; there is a gap between the take-up and pay-off reels 301 and the corresponding X-axis drive wheels 4 (The gap is used to accommodate the corresponding tendon rope) and can be rotated relatively; the X-axis drive wheel 4 is provided with two wire holes 401 through the inner and outer peripheral surfaces, the first tendon rope 7 and the second tendon rope 8 and the third tendon rope 9 respectively pass through the two wire holes 401 of the corresponding X-axis driving wheel 4 and are wound...
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The invention belongs to the technical field of robots, and discloses a coupled three-degree-of-freedom tendon-driven robot joint which is characterized in that three X-axis driving wheels are driven to rotate through three driving motors respectively, and then the three X-axis driving wheels drive Z-axis driving wheels and Y-axis driving wheels to rotate through three tendon ropes; therefore, the rotation of the rotary connecting frame and the pitching connecting frame is realized; according to the three-degree-of-freedom joint, coupling of the three driving motors and the three-degree-of-freedom joint is achieved, due to the fact that the driving wheels are connected through the tendon ropes, compared with a gear transmission mode, flexibility is better, when the device is subjected to external impact force, the elasticity of the tendon ropes provides a buffering effect, and therefore the device is effectively prevented from being damaged under the effect of the external impact force, and the impact resistance is good.
Description
technical field [0001] The present application relates to the field of robot technology, in particular, to a coupled three-degree-of-freedom tendon-driven robot joint. Background technique [0002] At present, most robot joints are driven by decoupling drive, that is, the drive motor corresponds to the degree of freedom one by one, and a single motor only drives a single degree of freedom. Therefore, the increase of the rotational torque of a single joint can only be realized by the reduction ratio. For this reason, there are still some robot joints in the prior art that are coupling-driven joints, whose multiple motors correspond to multiple rotational degrees of freedom. The torque output characteristics are improved at the cost of speed. [0003] However, the existing coupling-driven joints generally use differential mechanisms (differential mechanisms through gear transmission) to realize the coupling of two drive motors and joints with two degrees of freedom. At presen...
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IPC IPC(8): B25J17/00B25J9/10
CPCB25J17/00B25J9/104B25J9/1075
Inventor 谢雄敦许金鹏温志庆
Owner JIHUA LAB