Variable diameter cam driven mechanical arm joint

Abstract

The application discloses a variable-diameter cam transmission mechanical arm joint, which comprises a joint arm frame, two groups of hydraulic drive cylinders, two groups of roller sliding components, two groups of cam rocker arms, two groups of joint bearing push rods, a cross connection shaft and a terminal connection component. The hydraulic drive cylinder drives the roller to move along the variable-diameter closed groove of the input end of the cam rocker arm through the roller sliding component, so that the cam rocker arm swings, and the terminal connection component is driven to swing around the two mutually perpendicular axes of the cross connection shaft through the joint bearing push rod. The two groups of symmetrical transmission branch chains realize the pitch, yaw and compound attitude adjustment through the equal displacement same direction movement, equal displacement reverse movement or unequal displacement cooperative movement. The center line of the variable-diameter closed groove is designed according to the preset piston rod displacement-cam rocker arm angle relationship or the cam rocker arm output torque-angle relationship, the inner groove wall and the outer groove wall form two-way limiting for the roller, so that the continuity, stability and load carrying reliability of the joint reversing transmission are improved.

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