CN106737829A - A kind of steel wire bi-directional drive gear ratio exports rotary joint - Google Patents
A kind of steel wire bi-directional drive gear ratio exports rotary joint Download PDFInfo
- Publication number
- CN106737829A CN106737829A CN201710050383.7A CN201710050383A CN106737829A CN 106737829 A CN106737829 A CN 106737829A CN 201710050383 A CN201710050383 A CN 201710050383A CN 106737829 A CN106737829 A CN 106737829A
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- China
- Prior art keywords
- steel wire
- input shaft
- cam
- joint
- shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 73
- 239000010959 steel Substances 0.000 title claims abstract description 73
- 238000004804 winding Methods 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 6
- 230000033228 biological regulation Effects 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 210000000629 knee joint Anatomy 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000000323 shoulder joint Anatomy 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
一种钢丝双向驱动变速比输出旋转关节，它涉及一种变速旋转关节，以解决现有采用电机调速实现外骨骼关节运动，电机输出扭矩较大，关节运动精度较低的问题，它包括输入轴、一号钢丝绳、凸轮、二号钢丝绳和关节轴；所述关节轴安装在支架上，所述输入轴转动安装在支架和关节轴上，所述一号钢丝绳的一端与所述凸轮的远离所述关节轴的一端固接，所述一号钢丝绳铺设在所述圆弧形绳槽后缠绕在所述输入轴上，所述一号钢丝绳的另一端固定在所述输入轴上，所述二号钢丝绳的一端与所述凸轮的邻近所述关节轴的一端固接，所述二号钢丝绳铺设在所述圆弧形绳槽后缠绕在所述输入轴上，所述二号钢丝绳的另一端固定在所述输入轴上。本发明用于外骨骼机器人关节。
A steel wire two-way drive variable speed ratio output rotary joint, which relates to a variable speed rotary joint to solve the existing problem of using motor speed regulation to realize exoskeleton joint motion, the motor output torque is large, and the joint motion accuracy is low. It includes input Shaft, No. 1 steel wire rope, cam, No. 2 steel wire rope and joint shaft; the joint shaft is installed on the bracket, the input shaft is rotatably mounted on the bracket and the joint shaft, and one end of the No. 1 steel wire rope is far away from the cam One end of the joint shaft is fixed, the No. 1 steel wire rope is laid on the arc-shaped rope groove and wound on the input shaft, and the other end of the No. 1 steel wire rope is fixed on the input shaft. One end of the No. 2 steel wire rope is affixed to the end of the cam adjacent to the joint shaft. The No. 2 steel wire rope is laid on the arc-shaped rope groove and then wound on the input shaft. The other No. 2 steel wire rope One end is fixed on the input shaft. The invention is used for exoskeleton robot joints.
Description
Technical field
The present invention relates to a kind of speed-changing rotation joint, and in particular to the two-way drive of steel wire used on a kind of exoskeleton robot
Dynamic gear ratio output rotary joint.
Background technology
For exoskeleton robot, joint motions are controlled it is critical that a ring.Current existing joint speed governing
Design is mostly that based on controlled motor rotating speed, this motion design precision is relatively low, higher to motor requirement, and motor burden is big,
So as to the volume for causing motor increases with cost.
The content of the invention
The present invention is to realize ectoskeleton joint motions to solve existing use electric machine speed regulation, and motor output torque is larger, closes
The relatively low problem of section kinematic accuracy, and then a kind of steel wire bi-directional drive gear ratio output rotary joint is provided.
The present invention is adopted the technical scheme that to solve the above problems：A kind of steel wire bi-directional drive gear ratio output rotation is closed
Section includes input shaft, steel wire rope, cam, No. two steel wire ropes and a joint shaft；
The joint shaft is rack-mount, and the input shaft is rotatably installed on support and joint shaft, and the cam turns
Dynamic to be arranged on the joint shaft, the axial direction of the input shaft is axially vertical with the joint shaft, on the wheel face of the cam
Be machined with the circular arc grooving of lay winding wire ropes, one end of a steel wire rope and the cam away from the joint shaft
One end is affixed, and a steel wire rope is wrapped on the input shaft after being laid on the circular arc grooving, a steel wire
The other end of rope is fixed on the input shaft, one end and the neighbouring described joint shaft of the cam of No. two steel wire ropes
One end is affixed, and No. two steel wire ropes are wrapped on the input shaft after being laid on the circular arc grooving, No. two steel wires
The other end of rope is fixed on the input shaft, and a steel wire rope and No. two steel wire ropes are same in the ran of input shaft
Direction winds.
The beneficial effects of the invention are as follows：First, speed change is carried out using cam structure, it is possible to decrease to the need of motor output torque
Ask, play a part of two stage reducer, while transmission ratio-variable.2nd, the structure has a more preferable dynamic characteristic, real-time compared with
Height, is driven more accurate.Because people is in normal walking, the corner of cam about at 0 °~35 °, now to ectoskeleton knee joint
Exert oneself and do not require, however it is necessary that at a high speed；People go upstairs or from squatting down to standing up during, the corner of cam is approached
135 °, angle is bigger, and the requirement to exerting oneself is bigger, without at a high speed, because motor output torque is constant, and common driver
Structure cannot meet this requirement.The outline radius of this cam increases with the increase of corner, and gearratio increases therewith, therefore,
Can be provided in small angle tower rotating speed high, it is small exert oneself, in big corner provide the slow-speed of revolution, exert oneself greatly.Using steel wire rope and cam
Rational power distribution is carried out, realizes that motor drives exoskeleton robot or anthropomorphic robot, realize that knee joint or limb elbow are closed
Section and shoulder joint etc. bend and stretch the motion of the free degree, improve capacity usage ratio and transmission efficiency.
Brief description of the drawings
Fig. 1 is dimensional structure diagram of the invention；Fig. 2 is overall structure front view of the invention；Fig. 3 is the A-A of Fig. 2
Direction view.
Specific embodiment
Further illustrate technical scheme below in conjunction with the accompanying drawings and by specific embodiment.
With reference to Fig. 1-Fig. 3 explanations, a kind of steel wire bi-directional drive gear ratio output rotary joint includes 1, steel of input shaft
Cord 2, cam 3, No. two steel wire ropes 4, joint shaft 5 and supports 6；
The joint shaft 5 is rotatably installed on the support 6, and the input shaft 1 is rotatably installed in support 6 and joint shaft 5
On, the cam 3 is packed on the joint shaft 5, and the axial direction of the input shaft 1 is axially vertical with the joint shaft 5；
The circular arc grooving 3-1 of lay winding wire ropes, the one of a steel wire rope 2 are machined with the wheel face of the cam 3
End is affixed with one end away from the joint shaft 5 of the cam 3, and a steel wire rope 2 is laid on the circular groove
It is wrapped in after 3-1 on the input shaft 1, the other end of a steel wire rope 2 is fixed on the input shaft 1；
One end of No. two steel wire ropes 4 is affixed with one end of the neighbouring described joint shaft 5 of the cam 3, described No. two
Steel wire rope 4 is wrapped on the input shaft 1 after being laid on the circular arc grooving 3-1, and the other end of No. two steel wire ropes 4 is consolidated
It is scheduled on the input shaft 1, a steel wire rope 2 and No. two steel wire ropes 4 are twined in the ran of input shaft 1 for equidirectional
Around.Input shaft 1 is rotatably installed on support 6 and joint shaft 5 by bearing.
Motor reducer output end is driven to be connected with input shaft 1 and transmits torque to input shaft 1 by key in fig. 2.It is convex
It is continuous design to have the circular arc grooving 3-1 for winding rope rope, circular arc grooving 3-1 on the wheel face of wheel 3.
One end of a number steel wire rope 2 is held away from one end of the joint shaft 5, regards the large radius end of cam 3 as, through convex
The circular arc grooving 3-1 windings of wheel 3 and the inwall of input shaft 1 (divide interior to outer wall or outer wall inward wall relative to cam 3
After being wound on outward), an end of steel wire rope 2 is fixed on input shaft 1；Similarly, one end of No. two steel wire ropes 4 is fixed on cam 3
Neighbouring described joint shaft 5 one end, regard the minor radius end of cam 3 as, through cam 3 circular arc grooving 3-1 winding and be input into
After the inwall of axle 1 on outer wall or outer wall inward wall (dividing inside and outside relative to cam 4) to winding, No. two ends of steel wire rope 4
It is fixed on input shaft 1.Effect is that a steel wire rope 2 and No. two steel wire ropes 4 are twined in the same direction on input shaft 1 on the whole
Around.When motor belt motor driven input shaft 1 rotates in an anti-clockwise direction (from terms of input shaft installation end), No. two steel wire ropes 4 are left on cam 3
Circular arc grooving 3-1 be wound on input shaft 1 simultaneously, and steel wire rope 2 leaves input shaft 1 simultaneously in cam 3
It is wound on circular arc grooving 3-1, pulls cam 3 around joint shaft 5 along side counterclockwise eventually through No. two pulling force of steel wire rope 4
To rotation (viewed from above)；When motor belt motor driven input shaft 1 rotationally clockwise (from terms of input shaft installation end) when, a steel
Cord 2 leaves the circular arc grooving 3-1 on cam 3 while being wound on input shaft 1, and No. two steel wire ropes 4 leave input
Axle 1 is wound on the circular arc grooving 3-1 of cam 3 simultaneously, eventually through the pulling force of steel wire rope 2 pull cam 3 around
Joint shaft 5 is rotated in the clockwise direction (viewed from above).
Illustrated with reference to Fig. 1 and Fig. 2, a kind of steel wire bi-directional drive gear ratio output rotary joint also includes two fixed blocks 7,
Process fluted 7-1 on the fixed block 7, two fixed blocks 7 be separately mounted to the cam 3 away from the joint shaft
One end of the neighbouring described joint shaft 5 of 5 one end and the cam 3, one end of a steel wire rope 2 is packed in the cam
In the groove 7-1 of the fixed block 7 set on 3 one end away from the joint shaft 5, one end of No. two steel wire ropes 4
It is packed in the groove 7-1 of the fixed block 7 set on one end of the neighbouring described joint shaft 5 of the cam 3.So set
Put, a steel wire rope 2 and No. two steel wire ropes 4 connect reliability, a steel wire rope 1 and No. two steel wire ropes 4 are fixed in solid by jackscrew 8
Determine in the groove 7-1 of block 7.
Illustrated with reference to Fig. 1, in order to improve transmission efficiency, convenient use, input shaft 1 is multi-diameter shaft, the input shaft 1 it is small
Diameter end is rotatably installed on the joint shaft 5, and the larger diameter end of the input shaft 1 is rotatably installed on the support 6.Input
The smaller diameter end and larger diameter end of axle 1 are arranged on joint shaft 5 and support 6 each via bearing, are arranged such, easy to use,
Simple structure.
Illustrated with reference to Fig. 1, support 6 includes level board 6-1 and riser 6-2, and one is vertically installed with the level board 6-1
Riser 6-2, the input shaft 1 is vertically arranged and is rotatably installed on the level board 6-1, the pass with the level board 6-1
Nodal axisn 5 is vertically arranged and is rotatably installed on the riser 6-2 with the riser 6-2, and the cam 3 is arranged in the riser 6-
Between 2 and the input shaft 1.It is arranged such, the simple structure of support 6 of right-angle structure, easy to use and reliable, can meet actually makes
Use demand.
Illustrated with reference to Fig. 3, an arc-shaped convex 3-2 be provided with the side of the cam 3 adjacent with input shaft 1,
It is convex with described that the arc-shaped convex 3-2 forms circular arc grooving 3-1, the arc-shaped convex 3-2 with the side of the cam 3
There is knuckle between wheel 3.It is arranged such, it is easy to process, it is easy to use, meet the design requirements and the actual needs.
Operation principle
Principle：As Fig. 2 is illustrated, when the input shaft 1 that radius is r is with ω1During uniform rotation, the curvature of circular arc grooving 3-1
Radius is ω for the rotating speed of the cam 3 of R (θ)2.Then input shaft 1 is equal with the linear velocity on the outline of circular arc grooving 3-1 obtains
Arrive：rω1=R (θ) ω2, gearratio：Only need to rationally design the curvature half of the circular arc grooving 3-1 of cam 3
Footpath R (θ), when motor is with permanent rotational speed omega1During input, it is possible to the speed change joint output ω needed for obtaining2。
The present invention is disclosed as above with preferable case study on implementation, but is not limited to the present invention, any to be familiar with this specialty
Technical staff, without departing from the scope of the present invention, when can utilize the disclosure above structure and technology contents do
Go out a little change or be modified to the equivalence enforcement case of equivalent variations, but it is every without departing from technical solution of the present invention
Hold, according to any simple modification, equivalent variations and modification that technical spirit of the invention is made to above case study on implementation, still belong to
Technical solution of the present invention scope.
Claims (5)
1. a kind of steel wire bi-directional drive gear ratio exports rotary joint, it is characterised in that：It includes input shaft (1), a steel wire
Rope (2), cam (3), No. two steel wire ropes (4), joint shaft (5) and supports (6)；
The joint shaft (5) is rotatably installed on the support (6), and the input shaft (1) is rotatably installed in support (6) and joint
On axle (5), the cam (3) is packed on the joint shaft (5), axial direction and the joint shaft (5) of the input shaft (1)
It is axially vertical；The circular arc grooving (3-1) of lay winding wire ropes, a steel wire rope are machined with the wheel face of the cam (3)
(2) one end is affixed with one end away from the joint shaft (5) of the cam (3), and a steel wire rope (2) is laid on institute
It is wrapped on the input shaft (1) after stating circular arc grooving (3-1), the other end of a steel wire rope (2) is fixed on described
On input shaft (1)；
One end of No. two steel wire ropes (4) is affixed with one end of the neighbouring described joint shaft (5) of the cam (3), and described two
Number steel wire rope (4) is wrapped on the input shaft (1) after being laid on the circular arc grooving (3-1), No. two steel wire ropes (4)
The other end be fixed on the input shaft (1), a steel wire rope (2) and No. two steel wire ropes (4) are in input shaft (1)
Ran be equidirectional winding.
2. a kind of steel wire bi-directional drive gear ratio exports rotary joint according to claim 1, it is characterised in that：Described one kind
Steel wire bi-directional drive gear ratio output rotary joint also includes two fixed blocks (7), processes fluted on the fixed block (7)
(7-1), two fixed blocks (7) be separately mounted to the cam (3) away from one end of the joint shaft (5) and described convex
Take turns one end of the neighbouring described joint shaft (5) of (3), one end of a steel wire rope (2) be packed in the cam (3) away from
In the groove (7-1) of the fixed block (7) set on one end of the joint shaft (5), one end of No. two steel wire ropes (4)
It is packed in the groove (7-1) of the fixed block (7) set on one end of the neighbouring described joint shaft (5) of the cam (3).
3. a kind of steel wire bi-directional drive gear ratio according to claim 1 or claim 2 exports rotary joint, it is characterised in that：It is described
Input shaft (1) is multi-diameter shaft, and the smaller diameter end of the input shaft (1) is rotatably installed on the joint shaft (5), the input shaft
(1) larger diameter end is rotatably installed on the support (6).
4. a kind of steel wire bi-directional drive gear ratio exports rotary joint according to claim 3, it is characterised in that：The support
(6) including level board (6-1) and riser (6-2), a riser (6-2) is vertically installed with the level board (6-1), it is described defeated
Enter axle (1) to be vertically arranged and be rotatably installed on the level board (6-1) with the level board (6-1), the joint shaft (5) with
The riser (6-2) is vertically arranged and is rotatably installed on the riser (6-2), and the cam (3) is arranged in the riser (6-
2) and the input shaft (1) between.
5. a kind of steel wire bi-directional drive gear ratio exports rotary joint according to claim 4, it is characterised in that：With input shaft
(1) arc-shaped convex (3-2), the arc-shaped convex (3-2) and institute are provided with the side of the adjacent cam (3)
The side for stating cam (3) forms circular arc grooving (3-1), has between the arc-shaped convex (3-2) and the cam (3)
Cross fillet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710050383.7A CN106737829B (en) | 2017-01-23 | 2017-01-23 | A steel wire bidirectional drive speed change ratio output rotary joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710050383.7A CN106737829B (en) | 2017-01-23 | 2017-01-23 | A steel wire bidirectional drive speed change ratio output rotary joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106737829A true CN106737829A (en) | 2017-05-31 |
| CN106737829B CN106737829B (en) | 2019-04-30 |
Family
ID=58942664
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710050383.7A Active CN106737829B (en) | 2017-01-23 | 2017-01-23 | A steel wire bidirectional drive speed change ratio output rotary joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106737829B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6122981A (en) * | 1998-10-09 | 2000-09-26 | Matteo; Joseph C. | Triple epicyclic differential transmission |
| US6263755B1 (en) * | 1999-02-10 | 2001-07-24 | New York University | Robotic manipulator and method |
| CN103213137A (en) * | 2013-04-16 | 2013-07-24 | 清华大学 | Cam type quick grabbing under-actuated robot hand device |
| CN105598999A (en) * | 2016-03-21 | 2016-05-25 | 哈尔滨工业大学 | Step cam output type rotary joint driven by steel wire |
-
2017
- 2017-01-23 CN CN201710050383.7A patent/CN106737829B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6122981A (en) * | 1998-10-09 | 2000-09-26 | Matteo; Joseph C. | Triple epicyclic differential transmission |
| US6263755B1 (en) * | 1999-02-10 | 2001-07-24 | New York University | Robotic manipulator and method |
| CN103213137A (en) * | 2013-04-16 | 2013-07-24 | 清华大学 | Cam type quick grabbing under-actuated robot hand device |
| CN105598999A (en) * | 2016-03-21 | 2016-05-25 | 哈尔滨工业大学 | Step cam output type rotary joint driven by steel wire |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106737829B (en) | 2019-04-30 |
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