CN106826903B - Utilize the biconvex wheel disc output variable speed joint of steel wire drive - Google Patents
Utilize the biconvex wheel disc output variable speed joint of steel wire drive Download PDFInfo
- Publication number
- CN106826903B CN106826903B CN201710050783.8A CN201710050783A CN106826903B CN 106826903 B CN106826903 B CN 106826903B CN 201710050783 A CN201710050783 A CN 201710050783A CN 106826903 B CN106826903 B CN 106826903B
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- Prior art keywords
- cam
- input shaft
- joint
- wirerope
- arc
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
Utilize the biconvex wheel disc output variable speed joint of steel wire drive, it is related to a kind of speed change joint, it is existing using electric machine speed regulation realization ectoskeleton joint motions to solve, motor output torque is larger, the problem of joint motions precision is lower and higher cost, it includes input shaft, support frame, joint shaft, lower cam, overhead cam, No.1 wirerope and No. two wirerope；The joint shaft rotational installation is on the support frame, the input shaft is rotatably installed on support frame and joint shaft, the lower cam and the overhead cam are arranged in the two sides of the input shaft and are packed on the joint shaft respectively, and the lower cam and the overhead cam constitute a closed off-centre operation；The No.1 wirerope is wrapped on the input shaft after being laid on the upper arc-shaped rope groove；No. two wirerope be laid on it is described under be wrapped on the input shaft after arc-shaped rope groove.The present invention is used for ectoskeleton or robot joints.
Description
Technical field
The present invention relates to a kind of speed change joints, and in particular to the double cam using steel wire drive used in a kind of robot
Disk output variable speed 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 problem of saving lower kinematic accuracy and higher cost, and then a kind of biconvex wheel disc output variable speed pass using steel wire drive is provided
Section.
The technical solution adopted by the present invention to solve the above problem is as follows:
Biconvex wheel disc output variable speed joint using steel wire drive include input shaft, support frame, joint shaft, lower cam, on
Cam, No.1 wirerope and No. two wirerope；
The lower cam is identical with the convex wheel construction and is connected as one；The joint shaft is rotatably installed in support frame
On, the input shaft is rotatably installed on support frame and joint shaft, and the axial direction of the axial direction of the input shaft and the joint shaft is hung down
Directly, the lower cam and the overhead cam are arranged in the two sides of the input shaft and are packed on the joint shaft respectively, described
Lower cam and the overhead cam constitute a closed off-centre operation, are machined with arc-shaped rope groove on the side of the overhead cam,
Arc-shaped rope groove is machined with down on the side of the lower cam；
One end of the No.1 wirerope and one end of the neighbouring joint shaft of the overhead cam are affixed, the No.1 steel
Cord is wrapped on the input shaft after being laid on the upper arc-shaped rope groove, and the other end of the No.1 wirerope is fixed on institute
State the upper end of input shaft；One end of No. two wirerope and one end of the neighbouring joint shaft of the lower cam are affixed, institute
State No. two wirerope be laid on it is described under be wrapped on the input shaft after arc-shaped rope groove, the other end of No. two wirerope
It is fixed on the lower end of the input shaft；The rope section of the No.1 wirerope and No. two wirerope on input shaft is equidirectional
Winding.
The beneficial effects of the present invention are: one, using double cam carry out speed change, the demand to motor output torque can be reduced,
And play the role of two stage reducer.Two, the structure has better dynamic characteristic, and transmission ratio can be made constantly to change as requested
Become, real-time is higher, can preferably simulate the motion conditions in joint, cost is relatively low.Since people is in normal walking, cam
About at 0-35 °, power output kneed to ectoskeleton does not require corner at this time, but needs high speed；People go upstairs or from
It squats down to during standing up, for the corner of cam close to 135 °, angle is bigger, and the requirement to power output is bigger, without high speed,
Since motor output torque is constant, common transmission mechanism is unable to satisfy this requirement.The outer profile radius of this cam is with corner
Increase and increase, transmission ratio increases with it, therefore high revolving speed, small power output can be provided in small angle tower, mentions in big corner
For the slow-speed of revolution, big power output.Reasonable power distribution is carried out using rope and cam, realizes motor driven exoskeleton robot or imitative
Robot people realizes that knee joint, limb elbow joint and shoulder joint etc. bend and stretch the movement of freedom degree, improves capacity usage ratio and transmission
Efficiency.
Detailed description of the invention
Fig. 1 is schematic diagram of the three-dimensional structure；
Fig. 2 is the main view of Fig. 2；
Fig. 3 is the A-A direction view of Fig. 2；
Fig. 4 is the B-B direction view of Fig. 2；
Fig. 5 is the left view of Fig. 2；
Fig. 6 is the right 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.
It is illustrated in combination with fig. 1-fig. 6, includes input shaft 1, support frame using the biconvex wheel disc output variable speed joint of steel wire drive
2, joint shaft 3, lower cam 4, overhead cam 5, No.1 wirerope 6 and No. two wirerope 7；
The lower cam 4 is identical with 5 structure of overhead cam and is connected as one；The joint shaft 3 is rotatably installed in branch
On support 2, the input shaft 1 is rotatably installed on support frame 2 and joint shaft 3, the axial direction of the input shaft 1 and the joint shaft
3 it is axially vertical, the lower cam 4 and the overhead cam 5 are arranged in the two sides of the input shaft 1 and are packed in the pass respectively
On nodal axisn 3, the lower cam 4 and the overhead cam 5 constitute a closed off-centre operation, process on the side of the overhead cam 5
There is upper arc-shaped rope groove 5-1, is machined with down arc-shaped rope groove 4-1 on the side of the lower cam 4；
One end of the No.1 wirerope 6 and one end of the neighbouring joint shaft 3 of the overhead cam 5 are affixed, and described one
Number wirerope 6 is wrapped on the input shaft 1 after being laid on the upper arc-shaped rope groove 5-1, the No.1 wirerope 6 it is another
End is fixed on the upper end of the input shaft 1；One end of No. two wirerope 7 and the neighbouring joint shaft 3 of the lower cam 4
One end it is affixed, No. two wirerope 7 be laid on it is described under be wrapped on the input shaft 1 after arc-shaped rope groove 4-1, it is described
The other end of No. two wirerope 7 is fixed on the lower end of the input shaft 1；The No.1 wirerope 6 and No. two wirerope 7 exist
Rope section on input shaft 1 is equidirectional winding.
Motor reducer output end is connect with input shaft 1 by key transmission and transmits torque to input shaft 1 in Fig. 1.On
Arc-shaped rope groove 5-1 continuous cambered design on wheel face, under arc-shaped rope groove 4-1 continuous cambered design on wheel face.
If Fig. 2 illustrates, input shaft 1 is rotated counterclockwise and (is seen from the bottom up), and No. two ropes 7 twine on the lower section of input shaft 1
Around while leave down arc-shaped rope groove 4-1, pull lower cam 4 to be servo-actuated joint shaft 3 and rotate clockwise, at the same time, No.1 steel
Cord 6 winds on upper arc-shaped rope groove 5-1 while leaving the upper end of input shaft 1, during the motion overhead cam 5 and lower cam
4 keep opposing stationary, final that double-cam structure is driven to rotate clockwise.When input shaft 1 rotates clockwise, No.1 rope 6 exists
It is wrapped in the upper end of input shaft 1 while leaving on upper arc-shaped rope groove 5-1, pulls overhead cam 5 to be servo-actuated joint shaft 3 and turns counterclockwise
Dynamic, at the same time, No. two ropes 7 on arc-shaped rope groove 4-1, are being transported under being laid on while leaving on the lower section of input shaft 1
Overhead cam 5 and lower cam 4 keep opposing stationary during dynamic, final that double-cam structure is driven to rotate counterclockwise.Steel cable flexible
Good, intensity is big, improves flexible flexibility and use intensity.
Illustrate in conjunction with Fig. 3 and Fig. 4, in order to improve transmission efficiency, be easy to use, the input shaft 1 is multi-diameter shaft, described defeated
The one end for entering the reduced diameter section of axis 1 is rotatably installed on the joint shaft 3, and the other end of the reduced diameter section of the input shaft 1 turns
It is dynamic to be mounted on support frame as described above 2.So set, easy to use, structure is simple.
It is illustrated in combination with fig. 2, support frame 2 includes level board 2-1 and two vertical plate 2-2, and the two sides of the level board 2-1 are respectively pacified
Equipped with a vertical plate 2-2, two vertical plate 2-2 faces settings, the input shaft 1 and level board 2-1 be vertically arranged and
It is rotatably installed on the level board 2-1, the joint shaft 3 and two vertical plate 2-2 are vertically arranged and are rotatably installed in two
On a vertical plate 2-2, the lower cam 4 and the overhead cam 5 are arranged in the level board 2-1 and two vertical plate 2-
In 2 grooves surrounded.So set, it is simple with reeded 2 structure of support frame, it is easy to use and reliable, it is able to satisfy actual use
Demand.
Illustrate in conjunction with Fig. 1, Fig. 5 and Fig. 6, the biconvex wheel disc output variable speed joint using steel wire drive further includes U-shaped connection
Part 8, the lower cam 4 and overhead cam 5 are connected as one by U-shaped connector 8.So set, structure is simple, it is easy to use,
Lower cam 4 and overhead cam 5 are fixed together as big component, convenient for the rod piece at fixing joint both ends, while guaranteeing 4 He of lower cam
Overhead cam 5 rotates synchronously.
It is illustrated in combination with fig. 1 and fig. 4, arc cam 5-2, the upper circular arc is provided on the side of the overhead cam 5
The side of shape boss 5-2 and the overhead cam 5 forms arc-shaped rope groove 5-1, the upper arc cam 5-2 and the overhead cam
There is knuckle between 5；Lower arc cam 4-2, the lower arc cam 4- are provided on the side of the lower cam 4
2 form arc-shaped rope groove 4-1 with the side of the lower cam 4, have between the lower arc cam 4-2 and the lower cam 4
There is knuckle.
Working principle
If Fig. 6 illustrates, when the input shaft 1 that radius is r is with ω1When uniform rotation, the radius of curvature of arc-shaped rope groove is R
The revolving speed of the lower cam 4 (or overhead cam 5) of (θ) is ω2.The then linear speed on the outer profile of motor input shaft 1 and arc-shaped rope groove
Spend equal obtain: r ω1=R (θ) ω2, transmission ratio:The circular arc of overhead cam 5 or lower cam 4 need to only be rationally designed
The radius of curvature R (θ) of shape rope groove, when motor perseverance rotational speed omega1When input, so that it may obtain required speed change joint output ω2。
When input shaft 1 (is seen) with w from the bottom up in the direction of the clock1When uniform rotation, No.1 wirerope 6 is tensioned, linear speed
DegreeWherein d is the diameter of input shaft 1, and α is the angle of the center line of No.1 wirerope 6 and input shaft 1.No.1 steel wire
Rope 6 rotates overhead cam 5 in generation pulling force, the revolving speed of overhead cam 5With the variation of revolution radius of curvature ρ, w2It can phase
The change answered；Similarly, when input shaft 1 rotates backward, No. two wirerope 7 are tensioned, and lower cam 4 is driven to rotate.Therefore can lead to
Design cam face is crossed, i.e. the size of each position radius of curvature ρ is regular to obtain desired rotation speed change.
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. utilizing the biconvex wheel disc output variable speed joint of steel wire drive, it is characterised in that: it includes input shaft (1), support frame
(2), joint shaft (3), lower cam (4), overhead cam (5), No.1 wirerope (6) and No. two wirerope (7)；
The lower cam (4) is identical with the overhead cam (5) structure and is connected as one；The joint shaft (3) is rotatably installed in
On support frame (2), the input shaft (1) is rotatably installed on support frame (2) and joint shaft (3), the axial direction of the input shaft (1)
Axially vertical with the joint shaft (3), the lower cam (4) and the overhead cam (5) are arranged in the two of the input shaft (1)
Side is simultaneously packed on the joint shaft (3) respectively, and the lower cam (4) and the overhead cam (5) constitute a closed bias
It is round, it is machined with arc-shaped rope groove (5-1) on the side of the overhead cam (5), is machined with down on the side of the lower cam (4)
Arc-shaped rope groove (4-1)；
One end of the No.1 wirerope (6) and the one end of neighbouring joint shaft (3) of the overhead cam (5) are affixed, described
No.1 wirerope (6) is wrapped on the input shaft (1) after being laid on the upper arc-shaped rope groove (5-1), the No.1 steel wire
The other end of rope (6) is fixed on the upper end of the input shaft (1)；One end and the lower cam (4) of No. two wirerope (7)
Neighbouring the joint shaft (3) one end it is affixed, No. two wirerope (7) be laid on it is described under after arc-shaped rope groove (4-1)
It is wrapped on the input shaft (1), the other end of No. two wirerope (7) is fixed on the lower end of the input shaft (1)；It is described
The rope section of No.1 wirerope (6) and No. two wirerope (7) on input shaft (1) is equidirectional winding.
2. the biconvex wheel disc output variable speed joint according to claim 1 using steel wire drive, it is characterised in that: described defeated
Entering axis (1) is multi-diameter shaft, and one end of the reduced diameter section of the input shaft (1) is rotatably installed on the joint shaft (3), described defeated
The other end for entering the reduced diameter section of axis (1) is rotatably installed on support frame as described above (2).
3. the biconvex wheel disc output variable speed joint according to claim 1 or 2 using steel wire drive, it is characterised in that: institute
Stating support frame (2) includes level board (2-1) and two vertical plates (2-2), and the two sides of the level board (2-1) are respectively equipped with one and stand
Plate (2-2), two vertical plate (2-2) face settings, the input shaft (1) and the level board (2-1) are vertically arranged and turn
Dynamic to be mounted on the level board (2-1), the joint shaft (3) is vertically arranged and is rotatablely installed with two vertical plates (2-2)
On two vertical plates (2-2), the lower cam (4) and the overhead cam (5) are arranged in the level board (2-1) and two
In the groove that a vertical plate (2-2) surrounds.
4. the biconvex wheel disc output variable speed joint according to claim 3 using steel wire drive, it is characterised in that: the benefit
It further include U-shaped connector (8) with the biconvex wheel disc output variable speed joint of steel wire drive, the lower cam (4) and overhead cam (5) are logical
U-shaped connector (8) is crossed to be connected as one.
5. the biconvex wheel disc output variable speed joint according to claim 3 using steel wire drive, it is characterised in that: on described
It is provided on the side of cam (5) arc cam (5-2), the upper arc cam (5-2) and the overhead cam (5)
Side is formed arc-shaped rope groove (5-1), has knuckle between the upper arc cam (5-2) and the overhead cam (5)；
Be provided with lower arc cam (4-2) on the side of the lower cam (4), the lower arc cam (4-2) with it is described under it is convex
The side of wheel (4) is formed arc-shaped rope groove (4-1), is had between the lower arc cam (4-2) and the lower cam (4)
Cross fillet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710050783.8A CN106826903B (en) | 2017-01-23 | 2017-01-23 | Utilize the biconvex wheel disc output variable speed joint of steel wire drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710050783.8A CN106826903B (en) | 2017-01-23 | 2017-01-23 | Utilize the biconvex wheel disc output variable speed joint of steel wire drive |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106826903A CN106826903A (en) | 2017-06-13 |
| CN106826903B true CN106826903B (en) | 2019-08-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710050783.8A Active CN106826903B (en) | 2017-01-23 | 2017-01-23 | Utilize the biconvex wheel disc output variable speed joint of steel wire drive |
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| CN (1) | CN106826903B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111300382A (en) * | 2020-03-09 | 2020-06-19 | 北京海益同展信息科技有限公司 | Leg exoskeleton actuating mechanism and exoskeleton robot with same |
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 CN201710050783.8A patent/CN106826903B/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 |
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| Publication number | Publication date |
|---|---|
| CN106826903A (en) | 2017-06-13 |
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