CN108161980A - Joint drive structure, joint of robot and robot - Google Patents
Joint drive structure, joint of robot and robot Download PDFInfo
- Publication number
- CN108161980A CN108161980A CN201810156108.8A CN201810156108A CN108161980A CN 108161980 A CN108161980 A CN 108161980A CN 201810156108 A CN201810156108 A CN 201810156108A CN 108161980 A CN108161980 A CN 108161980A
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- China
- Prior art keywords
- joint
- component
- turntable
- output
- drive structure
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- 230000005540 biological transmission Effects 0.000 claims abstract description 59
- 239000011521 glass Substances 0.000 claims description 28
- 239000000835 fiber Substances 0.000 claims description 25
- 229920001971 elastomer Polymers 0.000 claims description 18
- 239000000806 elastomer Substances 0.000 claims description 18
- 239000003638 chemical reducing agent Substances 0.000 claims description 14
- 230000009466 transformation Effects 0.000 claims description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000009434 installation Methods 0.000 description 6
- 230000003044 adaptive effect Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 239000002360 explosive Substances 0.000 description 2
- 210000000629 knee joint Anatomy 0.000 description 2
- 210000003141 lower extremity Anatomy 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 229910000639 Spring steel Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 210000000544 articulatio talocruralis Anatomy 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000036244 malformation Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000002834 transmittance Methods 0.000 description 1
- 238000004804 winding Methods 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of joint drive structure, the robot using the joint of robot and application of the joint drive structure joint of robot.Wherein, including drive component, transmission component and output precision, the output terminal of the driving component is connected to the input terminal of the transmission component, the output terminal of the transmission component is connected to the input terminal of the output precision, the output precision includes two turntables being oppositely arranged, two turntables rotate under the drive of the transmission component, and the turntable is eccentric structure.Technical scheme of the present invention enables to the output of joint drive structure to realize variable ratio, to meet different use environments, so as to improve the adaptivity of joint drive structure.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of joint drive structure, using the joint drive structure
Joint of robot and application the joint of robot robot.
Background technology
With the development of artificial intelligence technology, mechanical arm, sufficient formula and wearable exoskeleton robot are widely used in respectively
A field.Existing mechanical arm, legged type robot or the output requirement diarthrodial to each master of wearable exoskeleton robot
It is higher, that is, meet high rotating speed, high output using effect, to meet different use environments.
Usually, robot is by groups such as execution structure, driving structure, detection device, control system and complicated machineries
Into；Wherein, driving structure is the actuating unit that machine human hair is driven to go out action, is the very important composition portion of joint of robot
Part.
Existing driving structure is after power source (such as motor, deceleration mechanism) determines, it is difficult to use ring according to different
Border is made corresponding output and is changed, that is, the requirement of variable ratio can not be realized to meet different use occasions, therefore drives knot
The adaptivity of structure is poor.
Invention content
The main object of the present invention is to provide a kind of joint drive structure, it is intended to so that the output of joint drive structure is realized
Variable ratio, to meet different use environments, so as to improve the adaptivity of joint drive structure.
To achieve the above object, joint drive structure proposed by the present invention, including drive component, transmission component and defeated
Go out component, the output terminal of the driving component is connected to the input terminal of the transmission component, and the output terminal of the transmission component connects
The input terminal of the output precision is connected to, the output precision includes two turntables being oppositely arranged, and two turntables are in the biography
It is rotated under the drive of dynamic component, the turntable is eccentric structure.
Optionally, the turntable is sector structure；Alternatively, the turntable is oval structure.
Optionally, the transmission component includes drive shaft and at least two glass wires, one end of the drive shaft
It is connect with the output terminal of the driving component, the other end is rotationally connected with the input terminal of the output precision, each glass
One end of fiber line is connected to the drive shaft, and the other end is connected to the turntable, a glass wire and another institute
The circular direction of glass wire is stated on the contrary, so that the rotation direction of the turntable realizes transformation.
Optionally, the output precision further includes mounting base, and the mounting base has two mounting posts being oppositely arranged, two institutes
The axis for stating mounting post overlaps and perpendicular to the axis of the drive shaft, and a turntable is rotationally connected with an installation
Column；
The glass wire includes the first fiber line and the second fiber line, first fiber line and second fiber
One end of line is all connected to the drive shaft, and the other end is wound in a turntable respectively, and the drive shaft is towards a direction
First fiber line is tensed during rotation so that two turntables around the mounting post along rotating clockwise, the drive shaft
Second fiber line is tensed when being rotated towards other direction so that two turntables are rotated counterclockwise around the mounting post.
Optionally, two turntables are removably connected to two mounting posts respectively.
Optionally, the transmission component further includes elastomer, and the elastomer includes outer ring, inner ring and elastic component, institute
It states outer ring to abut with the inner ring elasticity by the elastic component, the output terminal connection of the outer ring and the driving component, institute
Outer ring is stated to rotate and deform under the drive of the driving component to compress the elastic component driving inner ring rotation, it is described interior
Circle is connect with the output precision.
Optionally, the driving component includes motor, speed reducer and first pulley, the output shaft of the motor and institute
State the input axis connection of speed reducer, the output shaft of the speed reducer is connect with the first pulley, the first pulley with it is described
Outer ring connects.
Optionally, the transmission component further includes the second belt wheel and conveyer belt, first pulley described in the transmission band connection
With second belt wheel so that the first pulley drives second belt wheel rotation, second belt wheel and the outer ring
Connection, so that second belt wheel drives the outer ring rotating.
The invention also provides a kind of joint of robot, the joint of robot includes the first joint portion and second joint
Portion, first joint portion include joint drive structure, the joint drive structure include drive component, transmission component and
Output precision, the output terminal of the driving component are connected to the input terminal of the transmission component, the output terminal of the transmission component
The input terminal of the output precision is connected to, the output precision includes two turntables being oppositely arranged, and two turntables are in described
It is rotated under the drive of transmission component, the turntable is eccentric structure；The output terminal of the output precision of the joint drive structure connects
Meet the second joint portion.
The invention also provides a kind of robot, the robot includes joint of robot, and the joint of robot includes
First joint portion and second joint portion, first joint portion include joint drive structure, and the joint drive structure includes driving
Dynamic component, transmission component and output precision, the output terminal of the driving component are connected to the input terminal of the transmission component,
The output terminal of the transmission component is connected to the input terminal of the output precision, and the output precision includes two turns being oppositely arranged
Disk, two turntables rotate under the drive of the transmission component, and the turntable is eccentric structure；The joint drive structure
The output terminal of output precision connects the second joint portion.
Technical scheme of the present invention, by setting two turntables being oppositely arranged in output precision, and turntable is tied to be eccentric
Structure, and the output shaft of drive component is connected to the input terminal of transmission component, the output terminal of transmission component is connected to output precision,
Then, drive component driving transmission component rotation, and two turntables is driven to rotate simultaneously, since turntable is eccentric structure, therefore its is defeated
Go out then more different than with the variation of rotational angle, so set, can meet different angular positions, different rotating speeds and torque it is defeated
Go out requirement, to meet different use environments, it is achieved thereby that the adaptive driving of variable ratio.
Description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, can be with
Structure according to these attached drawings obtains other attached drawings.
Fig. 1 is the structure diagram of one embodiment of joint drive structure of the present invention；
Fig. 2 is the structure diagram at another visual angle of Fig. 1 joint drive structures；
Fig. 3 is that Fig. 2 turntables rotate the structure diagram after β angles；
Fig. 4 is the structure diagram of another embodiment of joint drive structure of the present invention；
Fig. 5 is the structure diagram at another visual angle of Fig. 4 joint drive structures；
Fig. 6 is that Fig. 5 turntables rotate the structure diagram after θ angles；
Fig. 7 is the explosive view of transmission component in Fig. 4；
Fig. 8 is the explosive view of output precision in Fig. 4.
Drawing reference numeral explanation：
| Label | Title | Label | Title |
| 100 | Joint drive structure | 35 | Drive shaft |
| 10 | Drive component | 37 | Glass wire |
| 11 | Motor | 371 | First fiber line |
| 13 | Speed reducer | 373 | Second fiber line |
| 15 | Fixed seat | 39 | Fixing bracket |
| 17 | First pulley | 391 | Clutch shaft bearing |
| 30 | Transmission component | 50 | Output precision |
| 31 | Second belt wheel | 51 | Turntable |
| 311 | Conveyer belt | 53 | Mounting base |
| 313 | Mounting groove | 531 | Through hole |
| 33 | Elastomer | 533 | Mounting post |
| 331 | Outer ring | 535 | Second bearing |
| 3311 | Installation base | 55 | Mounting flange |
| 333 | Inner ring | 57 | Mounting flange |
| 3331 | Limiting slot | 59 | 3rd bearing |
| 335 | Elastic component |
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only the part of the embodiment of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art obtained without creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute is only used in the embodiment of the present invention
In explaining relative position relation, motion conditions under a certain particular pose (as shown in drawings) between each component etc., if should
When particular pose changes, then directionality instruction also correspondingly changes correspondingly.
In addition, in the present invention such as relating to the description of " first ", " second " etc. be only used for description purpose, and it is not intended that
Indicate or imply its relative importance or the implicit quantity for indicating indicated technical characteristic.Define as a result, " first ",
At least one this feature can be expressed or be implicitly included to the feature of " second ".In the description of the present invention, " multiple " contain
Justice is at least two, such as two, three etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " connection ", " fixation " etc. should be interpreted broadly,
For example, " fixation " can be fixedly connected or be detachably connected or integral；Can be mechanical connection or
Electrical connection；It can be directly connected, can also be indirectly connected by intermediary, can be the connection inside two elements or two
The interaction relationship of a element, unless otherwise restricted clearly.It for the ordinary skill in the art, can basis
Concrete condition understands the concrete meaning of above-mentioned term in the present invention.
In addition, the technical solution between each embodiment of the present invention can be combined with each other, but must be general with this field
Logical technical staff can be implemented as basis, will be understood that when the combination appearance of technical solution is conflicting or can not realize this
The combination of technical solution is not present, also not the present invention claims protection domain within.
The present invention proposes a kind of joint drive structure 100, applied to joint of robot, including drive component 10, transmission group
Part 30 and output precision 50, the output terminal of drive component 10 are connected to the input terminal of transmission component 30, transmission component 30 it is defeated
Outlet is connected to the input terminal of output precision 50, and output precision 50 includes two turntables 51 being oppositely arranged, and two turntables 51 are in transmission
It is rotated under the drive of component 30, turntable 51 is eccentric structure.
Specifically, drive component 10 includes motor 11 and the fixed seat 15 for installing fixed motor 11, fixed seat 15 are opened
Equipped with for installing the relief hole of 11 output shaft of motor (not shown), the output shaft of motor 11 is connected to the input of transmission component 30
End, transmission component 30 to be driven to rotate, two turntables, 51 shape is identical, and is oppositely arranged, and disk is parallel, and two turntables 51 are with biography
Dynamic component 30 is rotated and is rotated, and since turntable 51 is eccentric structure, then turntable 51 is with its output gearratio of the variation of rotational angle
It is different.Certainly, turntable 51 can be the eccentric wheel of regular shape outer profile, can also be the bias of irregular shape outer profile
Wheel.
Accordingly, it is to be understood that, technical scheme of the present invention, by setting two turns being oppositely arranged in output precision 50
Disk 51, and turntable 51 is eccentric structure, and the output shaft of drive component 10 is connected to the input terminal of transmission component 30, transmission group
The output terminal of part 30 is connected to output precision 50, and then, drive component 10 drives transmission component 30 to rotate, and drives two turntables 51
It rotates simultaneously, since turntable 51 is eccentric structure, therefore its output is then more different than with the variation of rotational angle.So setting,
Different angular positions, the output requirement of different rotating speeds and torque, to meet different use environments, it is achieved thereby that becoming can be met
The adaptive driving of gearratio.
Optionally, turntable 51 is sector structure；Alternatively, turntable 51 is oval structure.
As shown in Figure 1 to Figure 3, in 100 1 embodiment of joint drive structure of the present invention, transmission component 30 includes transmission and turns
35 and two glass wire 37 of axis, one end of two glass wires 37 are both secured to the end that drive shaft 35 deviates from turntable 51,
The other end is wound in the outer profile of two turntables 51 respectively, and the circular direction of two glass wires 37 is on the contrary, so that turntable 51
Rotation direction can convert.Optionally, the rotation direction of turntable 51 is perpendicular to the rotation direction of drive shaft 35；It is appreciated that
, it can be by 37 passing power of glass wire, to realize the dynamic of two vertical direction between 35 and two turntable 51 of drive shaft
Power is transmitted.
Two turntables 51 in rotation process with tense fiber line meshing point to drive shaft 35 axial line distance be R, R values
Size with turntable 51 rotational angle change and change, then export gearratio and also changing.For example, turntable 51 is along counterclockwise
During rotating β angles, R values are constantly becoming larger, then gearratio is also constantly becoming larger, in this way, can be satisfied with different angles of rotation
The output requirement of different rotating speeds difference torque when spending position, it is achieved thereby that the adaptive driving of variable ratio.The present embodiment
Joint drive structure 100 is applicable to the hip of the wearable ectoskeleton of lower limb, ankle-joint.
As shown in Figures 4 to 6, in another embodiment of joint drive structure 100 of the present invention, turntable 51 is tied to be oval
Structure.During turntable 51 rotates counterclockwise θ angles, R values are constantly becoming larger, it is possible to understand that, due to the foreign steamer of turntable 51
The distance of wide each point to pivot center is different, then in the position of rotation process turntable 51 and tight fiber line to transmission
The distance of 35 axis of shaft is constantly changing, i.e., gearratio changes with rotational angle and changed, in this way, can also be satisfied with difference
The output requirement of different rotating speeds difference torque during rotational angle position, so as to also realize the adaptive driving of variable ratio.This
The joint drive structure 100 of embodiment can be used for the knee joint of the wearable ectoskeleton of lower limb, during the small rotational angle of knee joint, to turning
Speed requirement is high, low to torque demand；It is low to rotating speed requirement during big rotational angle, and require larger torque.
Referring again to Fig. 4, in an embodiment of joint drive structure 100 of the present invention, transmission component 30 includes transmission and turns
Axis 35 and at least two glass wires 37, one end of drive shaft 35 are connect with the output terminal of drive component 10, other end rotation
The input terminal of output precision 50 is connected to, one end of each glass wire 37 is connected to drive shaft 35, and the other end is connected to
The circular direction of turntable 51, a glass wire 37 and another glass wire 37 is on the contrary, so that the rotation direction of turntable 51
Realize transformation.
Specifically, glass wire 37 has preferable toughness and breaking property of tension, its transmission process can be made more to stablize.It is logical
It crosses and two glass wires 37 is surrounded on drive shaft 35 and turntable 51 in the opposite direction, when drive shaft 35 turns towards a direction
When dynamic, a wherein glass wire 37 is tensed so that two turntables 51 are rotated simultaneously towards a direction, correspondingly, when drive shaft 35
When rotating in the opposite direction, another glass wire 37 is tensed so that two turntables 51 are rotated simultaneously towards opposite direction, so i.e.
The transformation of 51 rotation direction of turntable can be achieved.It should be noted that the conversion of rotation direction is mainly by controlling motor 11 to drive
Dynamic realization.Optionally, connector (not shown) is set between two turntables 51, so that two turntables 51 can rotate simultaneously.
As shown in Figure 4 and Figure 8, in an embodiment of joint drive structure 100 of the present invention, output precision 50 further includes peace
Seat 53 is filled, mounting base 53 has two mounting posts 533 being oppositely arranged, and the axis of two mounting posts 533 is overlapped and turned perpendicular to transmission
The axis of axis 35, a turntable 51 are rotationally connected with a mounting post 533；
Glass wire 37 includes the first fiber line 371 and the second fiber line 373, the first fiber line 371 and the second fiber
One end of line 373 is all connected to drive shaft 35, and the other end is wound in two turntables 51 respectively, and drive shaft 35 rotates towards a direction
When tense the first fiber line 371 so that two turntables 51 around mounting post 533 along rotating clockwise, drive shaft 35 is towards other direction
The second fiber line 373 is tensed during rotation so that two turntables 51 are rotated counterclockwise around mounting post 533.
Specifically, for mounting base 53 substantially in step column, the cross-sectional area at middle part is more than the cross-sectional area at both ends, both ends point
Not Xing Cheng mounting post 533, mounting post 533 is substantially cylindrical, and the axis of mounting post 533 is overlapped and hung down in the axis of mounting base 53
Directly in the axis of drive shaft 35, the middle part of mounting base 53 offers through hole 531 towards drive shaft 35, and drive shaft 35 is carried on the back
End from elastomer 33 forms step column, and the end of drive shaft 35 is inserted in through hole 531 and its step surface is connected to
Mounting base 53 is towards the surface of elastomer 33, and drive shaft 35 is rotated relative to mounting base 53, optionally, through hole 531
Inner wall be socketed on the outside wall surface of second bearing 535, the internal face of second bearing 535 is socketed on the outer surface of drive shaft 35,
In this way, may be such that the sliding friction between the end of drive shaft 35 and the inner wall of through hole 531 is converted into rolling friction, so as to
Reduce friction therebetween so that the rotation of drive shaft 35 is more laborsaving, while but also its transmission process is more efficient
It is and quick.
The disk of two turntables 51 offers mounting hole (not indicating), the horizontal stroke of the shape of mounting hole substantially with mounting post 533
Cross sectional shape is identical, and its size is slightly larger than the cross section outer profile size of mounting post 533, and two turntables 51 pass through mounting hole respectively
The outer surface of two mounting posts 533 is sheathed on, and simultaneously around mounting post under drive shaft 35 is by the transmission of glass wire 37
533 rotations.
Two turntables, 51 shape is identical and is oppositely arranged, and is respectively arranged at the both sides of drive shaft 35, the first fiber
Line 371 is wound in away from the end of drive shaft 35 at the outer profile of a turntable 51, and the second fiber line 373 deviates from drive shaft 35
End be wound at the outer profile of another turntable 51, and the two winding direction is on the contrary, then, when drive shaft 35 is towards a side
To rotation when, wherein a glass wire 37 can be tightened up and is rotated in the clockwise direction with driving disc 51, at this point, another
Glass wire 37 is in relaxed state, opposite, when drive shaft 35 is rotated towards other direction, another glass wire
37 can be tightened up and be rotated in the counterclockwise direction with driving disc 51, the transformation of the rotation direction of so achievable output precision 50.
Further, two turntables 51 are removably connected to two mounting posts 533 respectively.Specifically, turntable 51 is backwards to transmission
The side of shaft 35 is equipped with mounting flange 55, and the flanged pipe of mounting flange 55 is arranged in mounting hole, and ring flange passes through screw
It is fixed on the surface of turntable 51；Mounting post 533 has mounting flange 57 away from the end set of drive shaft 35, and mounting flange 57 is logical
The end that screw is fixed on mounting post 533 is crossed, peace turned flange 55 is held in mounting flange 57 when turntable 51 rotates, so sets
It puts, is in order to avoid turntable 51 is detached from mounting post 533 in rotation process, i.e., turntable 51 is fixed.It is furthermore, it is possible to logical
It crosses dismounting mounting flange 57 and mounting flange 55 dismantles turntable 51, turntable 51 is replaced under different use conditions, to meet not
With requirement of the use condition to different outputs, so as to realize the adaptive output of variable ratio in limited range.
Optionally, 3rd bearing 59 is additionally provided in mounting post 533,3rd bearing 59 is socketed on the outer surface of mounting post 533,
And inner wall surface thereof is connected to the outer surface of mounting post 533, the outside wall surface of 3rd bearing 59 is connected to the internal face of mounting hole.So
Setting, to reduce the friction between turntable 51 and mounting post 533, so that the rotation process of turntable 51 is laborsaving and effective.
Referring again to shown in Fig. 4 and Fig. 7, transmission component 30 further includes elastomer 33, and elastomer 33 includes outer ring 331, interior
Circle 333 and elastic component 335, outer ring 331 are abutted by elastic component 335 with 333 elasticity of inner ring, outer ring 331 and drive component 10
Output axis connection, outer ring 331 rotate and deform under the drive of drive component 10 with compression elastic piece 335 drive inner ring 333
Rotation, inner ring 333 are connect with output precision 50.
Specifically, elastomer 33 is substantially in the form of annular discs, generally using high-strength spring Steel material, has certain flexibility,
Elastic component 335 is substantially in wavy, and elasticity is connected to the internal face of outer ring 331 and the outside wall surface of inner ring 333, bullet respectively at both ends
The outer ring of property body 33 is connected to the output shaft of motor 11, and since its flexibility presses its malformation under the driving of motor 11
Contracting elastic component 335 pushes inner ring 333 to rotate；Inner ring 333 is connected to the end that drive shaft 35 deviates from output precision 50, to drive
Drive shaft 35 rotates, and then two turntables 51 is driven to rotate.Moreover, the setting of elastomer 33, can carry out power or impedance control, with
The use of original force snesor is saved, and then efficiently reduces the structure size of transmission component 30, that is, reduces joint drive
The overall structure size of structure 100 so that the application of joint of robot is more convenient；At the same time, the setting of elastomer 33,
The rigidity of joint drive structure 100 is reduced, so as to efficiently avoid when its rigidity is excessive to wearer or external environment
Cause a degree of damage.
The surface of inner ring 333 towards drive shaft 35 opens up limiting slot 3331, and limiting slot 3331 is set in inner ring 333
Portion, the end of drive shaft 35 towards elastomer 33 are formed with the step column (not indicating) being adapted with limiting slot 3331, step
Column is inserted in limiting slot 3331 and its step surface is connected to the surface of inner ring 3313, and further, step column is towards inner ring 333
End face the bottom wall of limiting slot 3331 is fixed on by screw, connect in this way, the fixed of inner ring 333 and drive shaft 35 can be completed
It connects, so that inner ring 333 is more stable and effective to the power transmission process of drive shaft 35.
Further, one end of elastic component 335 is fixedly connected on one of outer ring 331 and inner ring 333, and the other end is held in
Its is another.In the present embodiment, the internal face of outer ring 331 is fixed in one end of elastic component 335, and the outside wall surface of inner ring 333 is formed
There is support division (not indicating), end elasticity of the elastic component 335 away from outer ring 331 is connected to support division, and outer ring 331 is compressed when rotating
Elastic component 335 makes it be pressed on support division so that inner ring 333 to be pushed to rotate, and support division is usually projective structure, such as convex ribs；Such as
This, may be such that the transmission process of power is effectively and quick.Elastic component 335 can also be spring or compression spring or other waveforms
Flexible substance.Certainly, in other embodiment, elastic component 335 can also be fixed on the outside wall surface of inner ring 3313, phase
Ying Di, the internal face of outer ring 331 are formed with corresponding support division.
Further, elastic component 335 is equipped with multiple, and multiple elastic components 335 are uniformly distributed along the circumferentially-spaced of elastomer 33；
Support division also be equipped with it is multiple, the end elasticity of each elastic component 335 is connected to a support division, and pressed when outer ring 331 rotates
In support division inner ring 333 to be pushed to rotate, so so that the transmittance process of its power is more efficient and quick.
Optionally, elastomer 33 is equipped with fixing bracket 39 towards the side of drive shaft 35, and fixing bracket 39 is towards elasticity
The surface of body 33 offers through-hole (not indicating), and the limiting slot 3331 of through-hole and inner ring 333 is correspondingly arranged, 35 direction of drive shaft
The end of elastomer 33 is inserted in after passing through through-hole in limiting slot 3331, further, in through-hole is socketed with clutch shaft bearing 391,
The internal face of clutch shaft bearing 391 is socketed on the outer surface of drive shaft 35, so sets, reduces drive shaft 35 and through-hole
Friction between internal face, so as to make its transmission process more laborsaving and effective.
Referring again to Fig. 1 and Fig. 7, in one embodiment of this invention, drive component 10 include motor 11, speed reducer 13,
And first pulley 17, the output shaft of motor 11 and the input axis connection of speed reducer 13, the output shaft and first band of speed reducer 13
17 connection of wheel, first pulley 17 are connect with outer ring 331.Speed reducer 13 generally selects planet-gear speed reducer 13, can reduce motor
11 output speed, while the output torque of motor 11 can be increased so that joint drive structure 100 can be in slow-speed of revolution high torque (HT) field
It closes lower with good application effect；The setting of first pulley 17 can further reduce the output speed of drive component 10.It is optional
Ground, first pulley 17 with the outer ring of elastomer 33 in a manner that circumference is connect so that elastomer 33 is more uniformly stressed,
Its part is avoided to damage caused by due to unbalance stress.
Further, transmission component 30 further includes the second belt wheel 31 and conveyer belt 311, and conveyer belt 311 connects first pulley
17 and second belt wheel 31, so that first pulley 17 drives the second belt wheel 31 to rotate, the second belt wheel 31 is connect with outer ring 331, with
So that the second belt wheel 31 drives outer ring 331 to rotate.
Specifically, speed reducer 13 drives first pulley 17 to rotate, and pass through 311 passing power of conveyer belt, drives the second band
31 rotation of wheel, and then increase the gearratio of transmission component 30.Optionally, the second belt wheel 31 is arranged side by side with first pulley 17, passes
The direction of transfer of band 311 is sent perpendicular to the axis direction of the output shaft of speed reducer 13, in this way, may be such that joint drive structure 100
Structure it is compacter, so as to reduce the overall dimensions of joint drive structure 100.
The surface of outer ring 331 towards the second belt wheel 31 is convexly equipped with multiple installation bases 3311, multiple 3311 edges of installation base
The circumferentially-spaced of outer ring 331 is uniformly distributed, and the surface of the second belt wheel 31 towards outer ring 3311 offers multiple mounting grooves 313, often
One installation base 3311 is installed in a mounting groove 313, also, the table top of each installation base 3311 is fixed on peace by screw
The bottom wall of tankage 313, in this way, the stable connection between the second belt wheel 31 and outer ring 331 can be strengthened, meanwhile, such fixation
Mode can further such that outer ring 331 be more uniformly stressed and it is not easily damaged.
The present invention also proposes a kind of joint of robot, and joint of robot includes the first joint portion and second joint portion, first
Joint portion includes foregoing joint drive structure 100, and the concrete structure of the joint drive structure 100 is with reference to aforementioned implementation
Example.Since robot joint employs whole technical solutions of aforementioned all embodiments, at least there is previous embodiment
Technical solution caused by all advantageous effects, this is no longer going to repeat them.
In addition, the output terminal of the output precision 50 of joint drive structure 100 is connected to second joint portion.Specifically, first
Joint portion includes joint drive structure 100 and the shell being coated on outside joint drive structure 100, and joint drive structure 100 is logical
It crosses two turntables 51 to connect with second joint portion, to realize the transformation of second joint portion rotation direction.Due to joint drive structure 100
Compact-sized, then the structure size of the first joint portion is greatly reduced, so that the first joint portion and the connection in second joint portion
Structure is more stablized, and transmission is effectively and error is smaller, so that the overall structure of joint of robot is compacter, and it is driven
It is reliable and effective.
The present invention also proposes a kind of robot, and robot includes foregoing joint of robot, the joint of robot
Concrete structure is with reference to the foregoing embodiments.Since robot employs whole technical solutions of aforementioned all embodiments, until
All advantageous effects caused by technical solution with previous embodiment less, this is no longer going to repeat them.
The foregoing is merely the preferred embodiment of the present invention, are not intended to limit the scope of the invention, every at this
The equivalent structure transformation made under the inventive concept of invention using description of the invention and accompanying drawing content or directly/utilization indirectly
It is included in the scope of patent protection of the present invention in other related technical areas.
Claims (10)
1. a kind of joint drive structure, which is characterized in that including drive component, transmission component and output precision, the driving
The output terminal of component is connected to the input terminal of the transmission component, and the output terminal of the transmission component is connected to the output precision
Input terminal, the output precision include two turntables being oppositely arranged, two turntables are in lower turn of the drive of the transmission component
Dynamic, the turntable is eccentric structure.
2. joint drive structure as described in claim 1, which is characterized in that the turntable is sector structure；Alternatively, described turn
Disk is oval structure.
3. joint drive structure as described in claim 1, which is characterized in that the transmission component is including drive shaft and at least
Two glass wires, one end of the drive shaft and the output terminal of the driving component connect, and the other end is rotationally connected with institute
The input terminal of output precision is stated, one end of each glass wire is connected to the drive shaft, and the other end is connected to institute
State turntable, circular the direction of a glass wire and another glass wire is on the contrary, so that turn of the turntable
Realize transformation in dynamic direction.
4. joint drive structure as claimed in claim 3, which is characterized in that the output precision further includes mounting base, described
Mounting base has two mounting posts being oppositely arranged, and the axis of two mounting posts overlaps and perpendicular to the axis of the drive shaft
Line, a turntable are rotationally connected with a mounting post；
The glass wire includes the first fiber line and the second fiber line, first fiber line and second fiber line
One end is all connected to the drive shaft, and the other end is wound in a turntable respectively, and the drive shaft rotates towards a direction
When tense first fiber line so that two turntables around the mounting post along rotating clockwise, the drive shaft is towards another
One direction tenses second fiber line so that two turntables are rotated counterclockwise around the mounting post when rotating.
5. joint drive structure as claimed in claim 4, which is characterized in that two turntables are removably connected to two respectively
The mounting post.
6. the joint drive structure as described in any one of claim 1 to 5, which is characterized in that the transmission component further includes
Elastomer, the elastomer include outer ring, inner ring and elastic component, and the outer ring passes through the elastic component and the inner ring bullet
Property abut, the output terminal of the outer ring and the driving component connects, and the outer ring rotates under the drive of the driving component
And deform and the inner ring is driven to rotate to compress the elastic component, the inner ring is connect with the output precision.
7. joint drive structure as claimed in claim 6, which is characterized in that the driving component include motor, speed reducer, with
And first pulley, the input axis connection of the output shaft of the motor and the speed reducer, the output shaft of the speed reducer with it is described
First pulley connects, and the first pulley is connect with the outer ring.
8. joint drive structure as claimed in claim 7, which is characterized in that the transmission component further includes the second belt wheel and biography
Send band, first pulley and second belt wheel described in the transmission band connection, so that the first pulley drives described second
Belt wheel rotates, and second belt wheel is connect with the outer ring, so that second belt wheel drives the outer ring rotating.
9. a kind of joint of robot, which is characterized in that including the first joint portion and second joint portion, first joint portion includes
Joint drive structure, the joint drive structure are such as joint drive structure described in any item of the claim 1 to 8；It is described
The output terminal of the output precision of joint drive structure connects the second joint portion.
10. a kind of robot, which is characterized in that including joint of robot as claimed in claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810156108.8A CN108161980B (en) | 2018-02-23 | 2018-02-23 | Joint driving structure, robot joint and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810156108.8A CN108161980B (en) | 2018-02-23 | 2018-02-23 | Joint driving structure, robot joint and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108161980A true CN108161980A (en) | 2018-06-15 |
| CN108161980B CN108161980B (en) | 2024-07-02 |
Family
ID=62510543
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810156108.8A Active CN108161980B (en) | 2018-02-23 | 2018-02-23 | Joint driving structure, robot joint and robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN108161980B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110575359A (en) * | 2019-09-25 | 2019-12-17 | 深圳市丞辉威世智能科技有限公司 | Limb rehabilitation exoskeleton and limb rehabilitation system |
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| CN207858882U (en) * | 2018-02-23 | 2018-09-14 | 深圳市丞辉威世智能科技有限公司 | Joint drive structure, joint of robot and robot |
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| JP2017124034A (en) * | 2016-01-14 | 2017-07-20 | 株式会社ジェイテクト | Swinging joint 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 |
|---|---|
| CN108161980B (en) | 2024-07-02 |
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