CN106737829B - A steel wire bidirectional drive speed change ratio output rotary joint - Google Patents
A steel wire bidirectional drive speed change ratio output rotary joint Download PDFInfo
- Publication number
- CN106737829B CN106737829B CN201710050383.7A CN201710050383A CN106737829B CN 106737829 B CN106737829 B CN 106737829B CN 201710050383 A CN201710050383 A CN 201710050383A CN 106737829 B CN106737829 B CN 106737829B
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- China
- Prior art keywords
- wirerope
- joint
- input shaft
- cam
- shaft
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 20
- 239000010959 steel Substances 0.000 title claims abstract description 20
- 230000002457 bidirectional effect Effects 0.000 title 1
- 238000004804 winding Methods 0.000 claims description 9
- 230000007704 transition Effects 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 6
- 230000005540 biological transmission Effects 0.000 description 7
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000002310 elbow joint Anatomy 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 210000000323 shoulder joint Anatomy 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
A kind of steel wire bi-directional drive gear ratio output rotary joint, it is related to a kind of speed-changing rotation joint, it is existing using electric machine speed regulation realization ectoskeleton joint motions to solve, motor output torque is larger, the lower problem of joint motions precision, it includes input shaft, No.1 wirerope, cam, No. two wirerope and joint shaft；The joint shaft is rack-mount, the input shaft is rotatably installed on bracket and joint shaft, one end of the No.1 wirerope and one end far from the joint shaft of the cam are affixed, the No.1 wirerope is wrapped on the input shaft after being laid on the arc-shaped rope groove, the other end of the No.1 wirerope is fixed on the input shaft, one end of No. two wirerope and one end of the neighbouring joint shaft of the cam are affixed, No. two wirerope are wrapped on the input shaft after being laid on the arc-shaped rope groove, the other end of No. two wirerope is fixed on the input shaft.The present invention is used for exoskeleton robot joint.
Description
Technical field
The present invention relates to a kind of speed-changing rotation joints, and in particular to the two-way drive of steel wire used on a kind of exoskeleton robot
Dynamic gear ratio exports rotary joint.
Background technique
For exoskeleton robot, joint motions control is a vital ring.Existing joint speed regulation at present
Design is to control based on motor speed mostly, and this motion design precision is lower, more demanding to motor, and motor burden is big,
So as to cause the volume and increased costs of motor.
Summary of the invention
The present invention is to realize ectoskeleton joint motions using electric machine speed regulation for solution is existing, and motor output torque is larger, closes
The lower problem of kinematic accuracy is saved, and then a kind of steel wire bi-directional drive gear ratio output rotary joint is provided.
The technical solution adopted by the present invention to solve the above problem is as follows: a kind of steel wire bi-directional drive gear ratio output rotation is closed
Section includes input shaft, No.1 wirerope, cam, No. two wirerope and joint shaft；
The joint shaft is rack-mount, and the input shaft is rotatably installed on bracket and joint shaft, and the cam turns
Dynamic to be mounted 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
It is machined with the arc-shaped rope groove of winding wire ropes, the separate joint shaft of one end and cam of the No.1 wirerope
One end is affixed, and the No.1 wirerope is wrapped on the input shaft after being laid on the arc-shaped rope groove, the No.1 steel wire
The other end of rope is fixed on the input shaft, the neighbouring joint shaft of one end and cam of No. two wirerope
One end is affixed, and No. two wirerope are wrapped on the input shaft after being laid on the arc-shaped rope groove, No. two steel wires
The other end of rope is fixed on the input shaft, and the No.1 wirerope and No. two wirerope are same in the rope section of input shaft
Direction winding.
The beneficial effects of the present invention are: one, using cam structure carry out speed change, the need to motor output torque can be reduced
It asks, plays the role of two stage reducer, while transmission ratio-variable.
Two, the structure has better dynamic characteristic, and real-time is higher, is driven more accurate.Since people is in normal walking
When, about at 0 °~35 °, power output kneed to ectoskeleton does not require the corner of cam at this time, but needs high speed；People exists
Go upstairs or from squatting down to standing up during, for the corner of cam close to 135 °, angle is bigger, and the requirement to power output is bigger, and
High speed is not needed, since motor output torque is constant, common transmission mechanism is unable to satisfy this requirement.The outer profile of this cam half
Diameter increases with the increase of corner, and transmission ratio increases with it, and therefore, high revolving speed, small power output can be provided in small angle tower,
The slow-speed of revolution, big power output are provided when big corner.Reasonable power distribution is carried out using wirerope and cam, realizes motor driven dermoskeleton
Bone robot or anthropomorphic robot are realized that knee joint or limb elbow joint and shoulder joint etc. bend and stretch the movement of freedom degree, are improved
Capacity usage ratio and transmission efficiency.
Detailed description of the invention
Fig. 1 is schematic perspective view of the invention；
Fig. 2 is overall structure main view of the invention；
Fig. 3 is the A-A direction view of Fig. 2.
Specific embodiment
To further illustrate the technical scheme of the present invention below with reference to the accompanying drawings and specific embodiments.
Illustrate in conjunction with Fig. 1-Fig. 3, a kind of steel wire bi-directional drive gear ratio output rotary joint includes input shaft 1, No.1 steel
Cord 2,3, No. two wirerope 4 of cam, joint shaft 5 and bracket 6；
The joint shaft 5 is rotatably installed on the bracket 6, and the input shaft 1 is rotatably installed in bracket 6 and joint shaft 5
On, the cam 3 is rotatably installed on the joint shaft 5, and the axial direction of the input shaft 1 is axially vertical with the joint shaft 5；
It is machined with the arc-shaped rope groove 3-1 of winding wire ropes on the wheel face of the cam 3, the one of the No.1 wirerope 2
End and one end far from the joint shaft 5 of the cam 3 are affixed, and the No.1 wirerope 2 is laid on the circular groove
It is wrapped in after 3-1 on the input shaft 1, the other end of the No.1 wirerope 2 is fixed on the input shaft 1；
One end of No. two wirerope 4 and one end of the neighbouring joint shaft 5 of the cam 3 are affixed, and described No. two
Wirerope 4 is wrapped on the input shaft 1 after being laid on the arc-shaped rope groove 3-1, and the other end of No. two wirerope 4 is solid
It is scheduled on the input shaft 1, the No.1 wirerope 2 and No. two wirerope 4 are twined in the rope section of input shaft 1 to be equidirectional
Around.Input shaft 1 is rotatably installed on bracket 6 and joint shaft 5 by bearing.
Motor reducer output end is connect with input shaft 1 by key transmission and transmits torque to input shaft 1 in Fig. 2.It is convex
Having the arc-shaped rope groove 3-1 for winding rope rope, arc-shaped rope groove 3-1 on the wheel face of wheel 3 is continuous design.
One end of No.1 wirerope 2 is held away from one end of the joint shaft 5, regards the large radius end of cam 3 as, through convex
The arc-shaped rope groove 3-1 winding of wheel 3 and the inner wall of input shaft 1 (divide interior to outer wall or outer wall inward wall relative to cam 3
After winding on outside), 2 end of No.1 wirerope is fixed on input shaft 1；Similarly, one end of No. two wirerope 4 is fixed on cam 3
The neighbouring joint shaft 5 one end, regard the minor radius end of cam 3 as, arc-shaped rope groove 3-1 winding and input through cam 3
After the inner wall of axis 1 is wound on outer wall or outer wall inward wall (dividing relative to cam 4 inside and outside), the end of No. two wirerope 4
It is fixed on input shaft 1.Effect is that No.1 wirerope 2 and No. two wirerope 4 twine in the same direction on input shaft 1 on the whole
Around.When motor band driven input shaft 1 rotates in an anti-clockwise direction (in terms of input shaft installation end), No. two wirerope 4 are left on cam 3
Arc-shaped rope groove 3-1 simultaneously be wound on input shaft 1, and No.1 wirerope 2 leave input shaft 1 simultaneously in cam 3
It is wound on arc-shaped rope groove 3-1, pulls cam 3 around joint shaft 5 along side counterclockwise eventually by the pulling force of No. two wirerope 4
To rotation (viewed from above)；When motor band driven input shaft 1 rotationally clockwise (in terms of input shaft installation end) when, No.1 steel
Cord 2 is left the arc-shaped rope groove 3-1 on cam 3 while being wound on input shaft 1, and No. two wirerope 4 leave input
Axis 1 is wound on the arc-shaped rope groove 3-1 of cam 3 simultaneously, eventually by No.1 wirerope 2 pulling force pull cam 3 around
Joint shaft 5 is rotated in the clockwise direction (viewed from above).
Illustrating in conjunction with Fig. 1 and Fig. 2, a kind of steel wire bi-directional drive gear ratio output rotary joint further includes two fixed blocks 7,
Fluted 7-1 is processed on the fixed block 7, two fixed blocks 7 are separately mounted to the separate joint shaft of the cam 3
One end of the neighbouring joint shaft 5 of 5 one end and the cam 3, one end of the No.1 wirerope 2 is packed in the cam
In the groove 7-1 for the fixed block 7 being arranged on 3 one end far from the joint shaft 5, one end of No. two wirerope 4
It is packed in the groove 7-1 for the fixed block 7 being arranged on one end of the neighbouring joint shaft 5 of the cam 3.So set
It sets, No.1 wirerope 2 and No. two wirerope 4 connect reliably, by the fixed No.1 wirerope 1 of jackscrew 8 and No. two wirerope 4 in solid
Determine in the groove 7-1 of block 7.
Be illustrated with reference to Fig. 1, in order to improve transmission efficiency, be easy to use, input shaft 1 be 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 bracket 6.Input
The smaller diameter end and larger diameter end of axis 1 are mounted on joint shaft 5 and bracket 6 each by bearing, so set, it is easy to use,
Structure is simple.
It is illustrated with reference to Fig. 1, bracket 6 includes being vertically installed with one on level board 6-1 and vertical plate 6-2, the level board 6-1
Vertical plate 6-2, the input shaft 1 and the level board 6-1 are vertically arranged and are rotatably installed on the level board 6-1, the pass
Nodal axisn 5 and the vertical plate 6-2 are vertically arranged and are rotatably installed on the vertical plate 6-2, and the cam 3 is arranged in the vertical plate 6-
Between 2 and the input shaft 1.So set, 6 structure of bracket of right-angle structure is simple, easy to use and reliable, being able to satisfy actually makes
Use demand.
Illustrate in conjunction with Fig. 3, an arc-shaped convex 3-2 be provided on the side of the cam 3 adjacent with input shaft 1,
The side of arc-shaped convex 3-2 and the cam 3 forms arc-shaped rope groove 3-1, the side of arc-shaped convex 3-2 and the cam 3
There is knuckle between face.So set, it is easy to process, it is easy to use, it meets the design requirements and the actual needs.
Working principle
Principle: if Fig. 2 illustrates, when the input shaft 1 that radius is r is with ω1When uniform rotation, the curvature of arc-shaped rope groove 3-1
The revolving speed for the cam 3 that radius is R θ is ω2.Then input shaft 1 is equal with the linear velocity on the outer profile of arc-shaped rope groove 3-1 obtains
It arrives: r ω1=R θ ω2, transmission ratio:The radius of curvature R of the arc-shaped rope groove 3-1 of cam 3 need to only be rationally designed
θ, when motor is with permanent rotational speed omega1When input, so that it may obtain required speed change joint output ω2。
The present invention is disclosed as above with preferable case study on implementation, and however, it is not intended to limit the invention, any to be familiar with this profession
Technical staff, without departing from the scope of the present invention, when the structure and technology contents that can use the disclosure above are done
A little change or it is modified to the equivalence enforcement case of equivalent variations out, but it is all without departing from technical solution of the present invention
Hold, any simple modification, equivalent change and modification done according to the technical essence of the invention to the above case study on implementation still belong to
Technical solution of the present invention range.
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), No.1 steel wire
Rope (2), cam (3), No. two wirerope (4), joint shaft (5) and bracket (6)；
The joint shaft (5) is rotatably installed on the bracket (6), and the input shaft (1) is rotatably installed in bracket (6) and joint
On axis (5), the cam (3) is rotatably installed on the joint shaft (5), the axial direction of the input shaft (1) and the joint shaft
(5) axially vertical；The arc-shaped rope groove (3-1) of winding wire ropes, the No.1 steel are machined on the wheel face of the cam (3)
One end of cord (2) and one end far from the joint shaft (5) of the cam (3) are affixed, and the No.1 wirerope (2) is laid with
It is wrapped on the input shaft (1) after the arc-shaped rope groove (3-1), the other end of the No.1 wirerope (2) is fixed on
On the input shaft (1)；
One end of No. two wirerope (4) and the one end of neighbouring joint shaft (5) of the cam (3) are affixed, and described two
Number wirerope (4) is wrapped on the input shaft (1) after being laid on the arc-shaped rope groove (3-1), No. two wirerope (4)
The other end be fixed on the input shaft (1), the No.1 wirerope (2) and No. two wirerope (4) are in input shaft (1)
Rope section 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
It further includes two fixed blocks (7) that steel wire bi-directional drive gear ratio, which exports rotary joint, is processed on the fixed block (7) fluted
(7-1), two fixed blocks (7) be separately mounted to the cam (3) far from the one end of the joint shaft (5) and described convex
The one end of neighbouring joint shaft (5) of (3) is taken turns, one end of the No.1 wirerope (2) is packed in the separate of the cam (3)
In the groove (7-1) for the fixed block (7) being arranged on one end of the joint shaft (5), one end of No. two wirerope (4)
It is packed in the groove (7-1) for the fixed block (7) being arranged on the one end of neighbouring 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: 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 bracket (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 bracket
(6) include level board (6-1) and vertical plate (6-2), a vertical plate (6-2) is vertically installed on the level board (6-1), it is described defeated
Enter axis (1) and the level board (6-1) be vertically arranged and be rotatably installed on the level board (6-1), the joint shaft (5) with
The vertical plate (6-2) is vertically arranged and is rotatably installed on the vertical plate (6-2), and the cam (3) is arranged in the vertical plate (6-
2) between the input shaft (1).
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) be provided with an arc-shaped convex (3-2) on the side of the adjacent cam (3), arc-shaped convex (3-2) with it is described convex
The side of wheel (3) is formed arc-shaped rope groove (3-1), has transition circle between the arc-shaped convex (3-2) and the cam (3)
Angle.
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 CN106737829A (en) | 2017-05-31 |
| CN106737829B true 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 |
|---|---|
| CN106737829A (en) | 2017-05-31 |
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