Two-stage joint speed reducer for robot hand controller

Abstract

The invention discloses a two-stage joint speed reducer for a robot hand controller, and relates to the technical field of hand controllers, the two-stage joint speed reducer comprises a rack, and a driving module, a first speed reduction module and a second speed reduction module which are mounted on the rack, the output end of the driving module is connected with the input end of the first speed reduction module, and the output end of the second speed reduction module is connected with the output end of the second speed reduction module; the output end of the first speed reduction module is connected with the input end of the second speed reduction module, the output end of the second speed reduction module is used for power output, an output shaft of the driving module, an input shaft of the first speed reduction module and an output shaft of the second speed reduction module are coaxially arranged, and one of the first speed reduction module and the second speed reduction module adopts a synchronous belt for speed reduction. And the other is decelerated by a steel wire rope. The speed reducer is small in size, large in reduction ratio and good in reverse driving performance.

Description

Technical Field

[0001] The present invention relates to the technical field of hand controllers, and in particular to a double-stage joint reducer for a robot hand controller. Background Art

[0002] In the field of robot remote control, achieving the operator's sense of presence is one of the core goals of technological development, which is directly related to the accuracy and efficiency of remote operation. In order to achieve this goal, the hand controller needs to be able to output large feedback force, that is, to generate a large enough joint torque to simulate the operation feeling in the real environment. For this reason, the design of the hand controller often needs to be equipped with a deceleration device at the key joints to enhance the output torque and cope with the high load requirements that may be encountered in remote control operations.

[0003] However, among the common robot joint reducers, harmonic reducers and rotary vector reducers (RV reducers) can provide a larger reduction ratio, but their resistance is too large and their reverse driving performance is poor. They are generally not suitable for robot hand controllers without force sensors. Ordinary synchronous belt reducers have relatively small resistance, but their reduction ratio is small and they are often large in size. While increasing the load on the hand controller, they cannot effectively increase the output torque of the joint, which seriously affects the force feedback performance of the teleoperated hand controller. Summary of the invention

[0004] The purpose of the present invention is to provide a two-stage joint reducer for a robot hand controller to solve the problems existing in the above-mentioned prior art, with a small size, a large reduction ratio, and good reverse driving performance.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] The present invention provides a two-stage joint reducer for a robot hand controller, comprising a frame, and a drive module, a first reduction module and a second reduction module installed on the frame, wherein the output end of the drive module is connected to the input end of the first reduction module, the output end of the first reduction module is connected to the input end of the second reduction module, the output end of the second reduction module is used for power output, and the output shaft of the drive module, the input shaft of the first reduction module and the output shaft of the second reduction module are all coaxially arranged, and one of the first reduction module and the second reduction module adopts synchronous belt deceleration, and the other adopts wire rope deceleration.

[0007] Preferably, the first deceleration module uses the synchronous belt for deceleration, and the second deceleration module uses the wire rope for deceleration.

[0008] Preferably, the first deceleration module includes a small pulley, a large pulley and the synchronous belt, the small pulley is coaxially connected to the output shaft of the driving module, the large pulley is connected to the small pulley through the synchronous belt transmission, and the large pulley is coaxially connected to the input end of the second deceleration module.

[0009] Preferably, the second deceleration module includes a small pulley, a large pulley and the wire rope, the small pulley is coaxially connected to the large pulley, and the large pulley and the small pulley are connected through the wire rope transmission, the large pulley is hollow inside, and the drive module is coaxially installed inside the large pulley, and the output shaft of the drive module can extend out of the large pulley and be coaxially connected to the small pulley.

[0010] Preferably, the first deceleration module also includes a plurality of tensioning wheels, each of which is located on the outside of the synchronous belt, and is used to tension the synchronous belt; the second deceleration module also includes a plurality of tensioning bolts and a plurality of adjusting studs corresponding to each other, one end of each of the steel wire ropes is connected to an adjusting stud, one end of the tensioning bolt is screwed into the interior of the adjusting stud, and the other end of the tensioning bolt is fixed to the large rope pulley, and when the connection position between the tensioning bolt and the adjusting stud is adjusted, the tension of the steel wire rope can be adjusted.

[0011] Preferably, an end cover is installed on each side of the large rope pulley, a hole is reserved in the middle of the end cover, and the end cover on one side forms a mounting plane for the drive module.

[0012] Preferably, the output shaft of the driving module, the shaft of the small pulley and the shaft of the large pulley are all cantilevered, and the small pulley and the large pulley are connected by bolts; the small pulley and the large pulley are both located outside the frame, and the two sides of the frame are respectively encapsulated by a left end cover and a right end cover, and the small pulley and the large pulley are located inside the right end cover, and a wiring hole is provided at one end of the left end cover, and the wiring hole is used for the wires of the driving module to pass through.

[0013] Preferably, at least one side of the small pulley is installed with a small rib, and at least one side of the large pulley is installed with a large rib, and both the small rib and the large rib are used to prevent the synchronous belt from falling out.

[0014] Preferably, a plurality of module interfaces are provided on the frame and at the output end of the second reduction module, and the module interfaces are used to realize outward power output, and the module interfaces are also used as backup interfaces to connect external devices.

[0015] Preferably, the driving module is a driving motor, and the driving motor is a brushless DC servo motor.

[0016] Compared with the prior art, the present invention has achieved the following technical effects:

[0017] The present invention provides a two-stage joint reducer for a robot hand controller, wherein the output end of a driving module is connected to the input end of a first reduction module, the output end of the first reduction module is connected to the input end of a second reduction module, and the output end of the second reduction module is used for power output, thereby realizing two-stage reduction through the cooperation of the first reduction module and the second reduction module, and the output shaft of the driving module, the input shaft of the first reduction module and the output shaft of the second reduction module are all coaxially arranged, thereby optimizing the structural space layout, and this design significantly reduces the overall volume of the two-stage joint reducer for a robot hand controller on the premise of satisfying the joint torque output, thereby improving the compactness of the hand controller structure; in the first reduction module and the second reduction module, one adopts a synchronous belt for reduction, and the other adopts a wire rope for reduction, and compared with the traditional gear transmission, this two-stage composite transmission mode not only avoids the inherent backlash problem in the gear transmission, but also effectively reduces the friction in the transmission process, thereby enhancing the reverse driving performance of the two-stage joint reducer for the robot hand controller, and making the control of the hand controller smoother, and at the same time, the two-stage reduction design also increases the transmission ratio, thereby realizing a higher joint torque output, thereby meeting the needs of robot teleoperation control. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a structural schematic diagram of a double-stage joint reducer used for a robot hand controller in the present invention;

[0020] Figure 2 This is a schematic diagram of the internal structure of a two-stage joint reducer used for a robot hand controller in the present invention;

[0021] Figure 3 It is a schematic diagram of the assembly structure between the large rope pulley, the frame and the driving motor in the present invention;

[0022] Figure 4 It is a schematic diagram of the assembly structure between the large pulley and the small rope pulley in the present invention;

[0023] Figure 5 It is a schematic diagram of the connection relationship between the first deceleration module and the tensioning wheel in the present invention;

[0024] Figure 6It is a schematic diagram of the connection between the adjusting stud and the tensioning bolt in the present invention;

[0025] Figure 7 An example diagram of a hand controller equipped with the double-stage joint reducer for a robot hand controller of the present invention;

[0026] In the figure: 1-frame, 2-right end cover, 3-left end cover, 4-wiring hole, 5-large rope pulley, 6-tensioning bolt, 7-module interface, 8-small rope pulley, 9-large pulley, 10-small pulley, 11-motor output shaft, 12-drive motor, 13-small retaining ring, 14-small retaining edge, 15-end cover, 16-large retaining edge, 17-tensioning pulley, 18-synchronous belt, 19-wire rope, 20-adjusting stud. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] The purpose of the present invention is to provide a two-stage joint reducer for a robot hand controller to solve the problems existing in the prior art, with a small size, a large reduction ratio, and good reverse driving performance.

[0029] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0030] like Figure 1-Figure 7As shown, this embodiment provides a two-stage joint reducer for a robot hand controller, including a frame 1, and a driving module, a first reduction module and a second reduction module installed on the frame 1, the output end of the driving module is connected to the input end of the first reduction module, the output end of the first reduction module is connected to the input end of the second reduction module, and the output end of the second reduction module is used for power output, and then the two-stage reduction is realized through the cooperation of the first reduction module and the second reduction module, the output shaft of the driving module, the input shaft of the first reduction module and the output shaft of the second reduction module are all coaxially arranged, and the structural space layout is optimized. This design not only meets the joint torque output, but also significantly reduces The overall volume of the two-stage joint reducer for the robot hand controller is reduced, and the compactness of the hand controller structure is improved; in the first reduction module and the second reduction module, one uses a synchronous belt 18 for reduction, and the other uses a wire rope 19 for reduction. Compared with the traditional gear transmission, this two-stage compound transmission method not only avoids the inherent backlash problem in the gear transmission, but also effectively reduces the friction in the transmission process, enhances the reverse drive performance of the two-stage joint reducer for the robot hand controller, and makes the operation of the hand controller smoother. At the same time, the two-stage reduction design also increases the transmission ratio, thereby achieving higher joint torque output to meet the needs of robot remote operation control.

[0031] Specifically, the first deceleration module uses a synchronous belt 18 for deceleration, and the second deceleration module uses a steel wire rope 19 for deceleration.

[0032] The first reduction module includes a small pulley 10, a large pulley 9 and a synchronous belt 18. The small pulley 10 is coaxially connected to the output shaft of the driving module to realize power input. The large pulley 9 is connected to the small pulley 10 through the synchronous belt 18, and the large pulley 9 is driven to rotate through the small pulley 10 to realize the first stage of reduction. The large pulley 9 is coaxially connected to the input end of the second reduction module to realize power transmission.

[0033] The second reduction module includes a small pulley 8, a large pulley 5 and a wire rope 19. The small pulley 8 is coaxially connected to the large pulley 9 to transmit the power of the first reduction module to the second reduction module. The large pulley 5 and the small pulley 8 are connected through the wire rope 19, and then the large pulley 5 is driven to rotate through the small pulley 8 to achieve the second stage of reduction. The large pulley 5 is hollow inside to form a accommodating space. The drive module is coaxially installed inside the large pulley 5. The output shaft of the drive module can extend out of the large pulley 5 and be coaxially connected to the small pulley 10, so that the drive module, the large pulley 5 and the small pulley 10 are all coaxial, which greatly optimizes the structural space layout, significantly reduces the overall volume, and improves the compactness of the hand controller structure.

[0034] In order to ensure stability during the deceleration process, the first deceleration module also includes a plurality of tensioning wheels 17, each of which is located on the outside of the synchronous belt 18. The tensioning wheel 17 and the bearings on the frame 1 are used to tension the synchronous belt 18, and the tensioning wheel 17 can be installed on the frame 1 through an arc hole, and then the tensioning adjustment of the synchronous belt 18 is achieved by moving the position of the tensioning wheel 17 to ensure stability during the first stage of deceleration; the second deceleration module also includes a plurality of tensioning bolts 6 and a plurality of adjusting studs 20 corresponding to each other, one end of each steel wire rope 19 is connected to an adjusting stud 20, one end of the tensioning bolt 6 is screwed into the interior of the adjusting stud 20, and the other end of the tensioning bolt 6 is fixed on the large rope pulley 5. When adjusting the connection position between the tensioning bolt 6 and the adjusting stud 20, that is, when adjusting the length of the tensioning bolt 6 screwed into the adjusting stud 20, the tensioning degree of the steel wire rope 19 can be adjusted to ensure stability during the second stage of deceleration.

[0035] An end cover 15 is installed on each side of the large rope pulley 5. A hole is reserved in the middle of the end cover 15, and the end cover 15 on one side forms the installation plane of the drive module to achieve stable installation of the drive module. The large rope pulley 5 is installed on the frame 1 through a bearing. The end cover 15 is designed with reserved holes and grooves so that the outer ring of the bearing can be embedded in the groove of the end cover 15, and the inner ring of the bearing cooperates with the frame 1 to ensure the smooth rotation of the large rope pulley 5. The frame 1 adopts a split structure, and a part of the frame 1 can enter the reserved hole of the end cover 15, which provides fixed support and centering effect for the installation of the drive module.

[0036] The output shaft of the driving module, the shaft of the small pulley 8 and the shaft of the large pulley 9 are all cantilevered, and the small pulley 8 and the large pulley 9 are split and connected by bolts; the small pulley 10 and the large pulley 9 are both located outside the frame 1, and the two sides of the frame 1 are respectively encapsulated by the left end cover 3 and the right end cover 2, and the small pulley 10 and the large pulley 9 are located in the right end cover 2, and a wiring hole 4 is provided at one end of the left end cover 3, and the wiring hole 4 is used for the wires of the driving module to pass through, thereby facilitating the wiring layout and maintenance of the driving module.

[0037] A small rib 14 is installed on at least one side of the small pulley 10, a small retaining ring 13 is also installed on at least one side of the small pulley 10, and a large rib 16 is installed on at least one side of the large pulley 9. The small rib 14 and the large rib 16 are both used to prevent the synchronous belt 18 from axially disengaging, thereby avoiding affecting the normal deceleration work due to the disengagement of the synchronous belt 18.

[0038] In order to improve adaptability, multiple module interfaces 7 are provided on the frame 1 and the output end of the second reduction module. The module interface 7 is used to realize outward power output. The module interface 7 is also used as a backup interface to connect external devices, so that the installation position and subsequent connection components of the two-stage joint reducer for the robot hand controller can be customized. The design of the module interface 7 allows the hand controller to be quickly and flexibly reorganized according to needs to adapt to the control requirements of the two-stage joint reducer for the robot hand controller with different configurations, thereby not only enhancing the versatility and adaptability of the two-stage joint reducer for the robot hand controller, but also simplifying the adaptation process of the hand controller to various robot configurations, thereby improving the overall efficiency and expansion capability of the system.

[0039] The driving module is a driving motor 12 , and the driving motor 12 is a brushless DC servo motor. The motor output shaft 11 of the driving motor 12 is connected to the small pulley 10 .

[0040] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A two-stage joint reducer for a robot hand controller, characterized in that: It includes a frame, and a driving module, a first reduction module and a second reduction module installed on the frame, the output end of the driving module is connected to the input end of the first reduction module, the output end of the first reduction module is connected to the input end of the second reduction module, the output end of the second reduction module is used for power output, and the output shaft of the driving module, the input shaft of the first reduction module and the output shaft of the second reduction module are all coaxially arranged, and one of the first reduction module and the second reduction module adopts synchronous belt deceleration, and the other adopts wire rope deceleration.

2. The double-stage joint reducer for a robot hand controller according to claim 1, characterized in that: The first deceleration module uses the synchronous belt for deceleration, and the second deceleration module uses the wire rope for deceleration.

3. The double-stage joint reducer for a robot hand controller according to claim 2, characterized in that: The first deceleration module includes a small pulley, a large pulley and the synchronous belt, the small pulley is coaxially connected to the output shaft of the driving module, the large pulley is connected to the small pulley through the synchronous belt transmission, and the large pulley is coaxially connected to the input end of the second deceleration module.

4. The double-stage joint reducer for a robot hand controller according to claim 3, characterized in that: The second deceleration module includes a small pulley, a large pulley and the wire rope, the small pulley is coaxially connected to the large pulley, and the large pulley and the small pulley are connected through the wire rope transmission, the large pulley is hollow inside, and the driving module is coaxially installed inside the large pulley, and the output shaft of the driving module can extend out of the large pulley and be coaxially connected to the small pulley.

5. The double-stage joint reducer for a robot hand controller according to claim 4, characterized in that: The first deceleration module also includes a plurality of tensioning wheels, each of which is located on the outside of the synchronous belt and is used to tension the synchronous belt; the second deceleration module also includes a plurality of tensioning bolts and a plurality of adjusting studs corresponding to each other, one end of each of the steel wire ropes is connected to an adjusting stud respectively, one end of the tensioning bolt is screwed into the interior of the adjusting stud, and the other end of the tensioning bolt is fixed to the large rope pulley, and when the connection position between the tensioning bolt and the adjusting stud is adjusted, the tension of the steel wire rope can be adjusted.

6. The double-stage joint reducer for a robot hand controller according to claim 4, characterized in that: An end cover is installed on each of the two sides of the large rope pulley, a hole is reserved in the middle of the end cover, and the end cover on one side forms a mounting plane for the driving module.

7. The double-stage joint reducer for a robot hand controller according to claim 4, characterized in that: The output shaft of the driving module, the shaft of the small pulley and the shaft of the large pulley are all cantilevered, and the small pulley and the large pulley are connected by bolts; the small pulley and the large pulley are both located outside the frame, and the two sides of the frame are respectively encapsulated by a left end cover and a right end cover, and the small pulley and the large pulley are located inside the right end cover, and a wiring hole is provided at one end of the left end cover, and the wiring hole is used for the wires of the driving module to pass through.

8. The double-stage joint reducer for a robot hand controller according to claim 7, characterized in that: A small rib is installed on at least one side of the small pulley, and a large rib is installed on at least one side of the large pulley. Both the small rib and the large rib are used to prevent the synchronous belt from falling out.

9. The double-stage joint reducer for a robot hand controller according to claim 1, characterized in that: The frame and the output end of the second deceleration module are both provided with a plurality of module interfaces, the module interfaces are used to realize outward power output, and the module interfaces are also used as backup interfaces to connect external devices.

10. The double-stage joint reducer for a robot hand controller according to claim 1, characterized in that: The driving module is a driving motor, and the driving motor is a brushless DC servo motor.

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