CN114102658B - Robot transmission joint - Google Patents
Robot transmission joint Download PDFInfo
- Publication number
- CN114102658B CN114102658B CN202111611369.2A CN202111611369A CN114102658B CN 114102658 B CN114102658 B CN 114102658B CN 202111611369 A CN202111611369 A CN 202111611369A CN 114102658 B CN114102658 B CN 114102658B
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- CN
- China
- Prior art keywords
- transmission
- target
- joint
- joint module
- transmission shaft
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 86
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 38
- 239000010959 steel Substances 0.000 claims abstract description 38
- 210000001503 joint Anatomy 0.000 claims abstract description 18
- 230000033001 locomotion Effects 0.000 claims abstract description 17
- 238000000034 method Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000008407 joint function Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 239000000126 substance 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
-
- 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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- 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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot transmission joint, which comprises a target joint module, a driving source for providing power for the target joint module, at least one middle joint module arranged between the driving source and the target joint module, and a transmission module for transmitting the power of the driving source to the target joint module; the target joint module comprises a target transmission part for transmitting power to a load; the middle joint module comprises a hollow transmission shaft for performing motion output; the transmission module comprises a steel wire, a first elastic piece and a second elastic piece, wherein the first elastic piece and the second elastic piece are respectively arranged at two ends of the steel wire and are fixedly installed, and the steel wire penetrates through the transmission shaft and coincides with the central line of the hollow structure of the transmission shaft. The invention realizes the mechanical decoupling of the movement between the target joint module and the middle joint module, so that the movement between the target joint module and the middle joint module is mutually independent.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot transmission joint.
Background
Most of the joints of robots are directly driven by motors, and when the joint motors are arranged at the rear positions of the joints, the transmission mechanism is guided to the target joint in a double-section transmission mode.
The existing mechanism comprises a target joint, a transmission joint and a motor for driving the target joint to move. When the motor drives the target joint to drive the load to rotate, the load is driven by the driving joint, and the change of the angle of the driving joint is necessarily transmitted to the target joint through the steel wire to cause the change of the joint angle of the target joint, so that when a final motion control algorithm is performed, if the joint angle position of the target joint is required to be kept unchanged in the rotation process of the driving joint, the driving motor of the target joint is required to be reversely controlled, and the reverse compensation angle algorithm control is performed by monitoring the angle information of the driving joint in real time.
Therefore, an additional monitoring instrument is required to be arranged, the cost is increased, in addition, the real-time operation of the time error when the monitoring, the operation and the compensation are difficult to be carried out is easy to generate errors in the driving process, and the control precision is affected.
Disclosure of Invention
The invention aims to: in order to solve the problems, the invention provides a robot transmission joint with high motion precision and low cost.
The technical scheme is as follows:
The robot transmission joint comprises a target joint module, a driving source for providing power for the target joint module, at least one middle joint module arranged between the driving source and the target joint module, and a transmission module for transmitting the power of the driving source to the target joint module;
The target joint module comprises a target transmission part for transmitting power to a load;
The middle joint module comprises a hollow transmission shaft for performing motion output;
The transmission module comprises a steel wire, a first elastic piece and a second elastic piece, wherein the first elastic piece and the second elastic piece are respectively arranged at two ends of the steel wire and are fixedly installed, and the steel wire penetrates through the transmission shaft and coincides with the central line of the hollow structure of the transmission shaft.
The transmission module further comprises a plurality of guide wheels for positioning and guiding the steel wire.
The guide wheels are respectively arranged at two end sides of the transmission shaft, the connecting lines of the points of the steel wires tangent to the two guide wheels are positioned on a first straight line, and the first straight line coincides with the central line of the hollow structure of the transmission shaft.
A driving guide wheel is arranged on an output shaft of the driving source, and a target guide wheel is arranged on the target transmission piece;
The wire is positioned on a second straight line different from the first straight line, and the wire is respectively positioned on the connecting line of points tangent to the driving guide wheel and the guide wheel at one end side of the transmission shaft; and the connecting line of points, at which the steel wires are tangent to the guide wheel and the target guide wheel at the other end side of the transmission shaft, is positioned on a third straight line different from the first straight line and the second straight line.
The transmission module further comprises a supporting shaft, and the steel wire sequentially winds around the driving guide wheel, the supporting shaft, the guide wheels at two end sides of the transmission shaft and the target guide wheels.
The target joint module further comprises a first shell and a first bearing supported between the first shell and the target transmission part, the middle joint module further comprises a second shell, the tail end of the second elastic part is fixedly connected with the first shell, and the tail end of the first elastic part is fixedly connected with the second shell.
The transmission module further comprises a second bearing supported between the two ends of the supporting shaft and the second shell, a third bearing supported between the transmission shaft and the second shell, and a fourth bearing supported between the transmission shaft and the first shell.
The first elastic piece and the second elastic piece are arranged as springs.
The beneficial effects are that: the middle transmission shaft of the middle joint module of the robot transmission joint is provided with the hollow shaft, the steel wire penetrates through the through hole of the hollow shaft to transmit the power of the driving source to the first transmission shaft of the target joint module, the section of the steel wire penetrating through the hollow shaft coincides with the central line of the through hole, so that the movement of the steel wire and the rotation of the second transmission shaft cannot be influenced mutually, the mechanical decoupling of the movement between the target joint module and the middle joint module is realized, and the movement between the target joint module and the middle joint module is independent.
Drawings
Fig. 1 is a schematic perspective view of a robot drive joint according to the present invention.
Fig. 2 is another view of fig. 1.
Fig. 3 is an exploded perspective view of fig. 1.
Fig. 4 is a front view of fig. 1.
Fig. 5 is a side view of fig. 1.
Detailed Description
In order that the invention may be readily understood, a more particular description thereof will be rendered by reference to specific embodiments that are illustrated in the appended drawings. The terms "connected," "mounted," "secured," "disposed," and the like in the following description, unless otherwise indicated, may be directly connected, mounted, secured, disposed, or indirectly connected, mounted, secured, disposed, or the like, as long as they allow for the intervention of third party substances; the terms "first," "second," "third," and the like may be used herein to describe various elements, but these elements are not limited by these terms, which are merely used to distinguish between the described objects and do not have any sequential or technical meaning.
Referring to fig. 1 to 5, the present invention provides a robot transmission joint including: the first joint module 1, the first driving source 2 for driving the first joint module 1 to move, the second joint module 3 arranged between the first joint module 1 and the first driving source 2, and the transmission module 4 for transmitting the power of the first driving source 2 to the first joint module 1.
Referring to fig. 3, the first joint module 1 includes a first transmission shaft 11 for driving a load to move, a first housing 12, and a first bearing 13 supported between the first housing 12 and the first transmission shaft 11, wherein the first housing 12 at least partially encloses the first transmission shaft 11 and the first bearing 13.
The second joint module 3 includes a second housing 31, a second driving shaft 32, a second driving source for driving the second driving shaft 32 to rotate to realize the joint function, and a driving member (not shown) for transmitting power of the second driving source to the second driving shaft 32, wherein the second housing 31 at least partially covers the second driving shaft 32 and the second driving source, and the second driving shaft 32 is a hollow shaft with a through hole.
As shown in fig. 3 and 4, the transmission module 4 includes a steel wire 41, a first elastic member 42, a second elastic member 43, a support shaft 44 for the steel wire 41 to be wound, and a plurality of guide wheels for positioning and guiding the steel wire 41, wherein the steel wire 41 passes through the second transmission shaft 32, and the center line of the through hole of the second transmission shaft 32 coincides with the length of the steel wire 41 passing through the second transmission shaft 32.
The guide wheels include a first guide wheel 45 provided on the output shaft of the first driving source 2, a second guide wheel 46 provided on one side of the second transmission shaft 32, a third guide wheel 47 provided on the other side of the second transmission shaft 32, and a fourth guide wheel 48 provided on the first transmission shaft 11 of the first joint module 1.
Further, the second guiding wheel 46 is fixedly installed at a corresponding position of the outer side surface of the first casing 12 or a corresponding position of the inner side surface of the second casing 31, and a through hole is formed on the first casing 12 at a position corresponding to the second transmission shaft 32 for passing through the steel wire 41 passing through the second guiding wheel 46; similarly, the third guide wheel 47 is fixedly mounted on the outer side of the first housing 12 at a corresponding position.
One end of the steel wire 41 is fixedly connected with one end of the first elastic member 42, the other end of the steel wire is fixedly connected with one end of the second elastic member 43, the other end of the first elastic member 42 is fixedly connected with the second shell 31, the other end of the second elastic member 43 is fixedly connected with the first shell 12, and the steel wire 41 sequentially winds around the first guide wheel 45, the supporting shaft 44, the second guide wheel 46, the third guide wheel 47 and the fourth guide wheel 48. Specifically, one end of the wire 41 is fixedly connected with one end of the first elastic member 42, then the other end of the first elastic member 42 is fixedly connected with the second housing 31, then the wire 41 is sequentially wound around the first guide wheel 45, the support shaft 44, the second guide wheel 46, the third guide wheel 47 and the fourth guide wheel 48, then the other end of the wire 41 is fixedly connected with one end of the second elastic member 43, and finally the other end of the second elastic member 43 is fixedly connected with the first housing 12.
Further, the outer circumferential surface of each of the guide wheels 45, 46, 47, 48 has annular guide grooves recessed toward the center line of the guide wheel 45, 46, 47, 48, which are respectively a first guide groove, a second guide groove, a third guide groove, and a fourth guide groove, wherein the line of points at which the wire 41 is tangent to the support shaft 44, the first guide groove, and the second guide groove, respectively, is located on a first straight line, the line of points at which the wire 41 is tangent to the second guide groove, and the third guide groove, respectively, is located on a second straight line different from the first straight line, and the line of points at which the wire 41 is tangent to the third guide groove and the fourth guide groove, respectively, is located on a third straight line different from the first straight line and the second straight line. Wherein, the second straight line coincides with the central line of the second transmission shaft 32, therefore, when the second transmission shaft 32 of the second joint module 3 rotates, the steel wire 41 always coincides with the central line of the through hole of the second transmission shaft 32, so that the length of the steel wire 41 cannot be changed, and the first joint module 1 cannot be driven to move when the second joint module 3 moves; on the other hand, when the first joint module 1 rotates, the second joint module 3 is not driven to move, so that mechanical decoupling between the first joint module 1 and the second joint module 3 is realized, and the movement between the two joint modules cannot be influenced mutually.
Further, the transmission module 4 further includes a second bearing 401 supported between the end of the support shaft 44 and the second housing 31, a third bearing 402 supported between one end of the hollow second transmission shaft 32 and the second housing 31, and a fourth bearing 403 supported between the other end of the second transmission shaft 32 and the first housing 12.
The first driving source 2 rotates, the first driving source 2 rotates and drives the steel wire 41 to move through a first guide wheel 45 arranged on an output shaft of the first driving source 2, the steel wire 41 moves to finally drive a fourth guide wheel 48 to rotate, the fourth guide wheel 48 rotates to drive the first transmission shaft 11 to rotate, so that rotation is transmitted to a load, and elastic pieces at two ends of the steel wire 41 form self-compensating tension force to realize power transmission.
In the embodiments disclosed herein, the elastic member is a spring, and in other embodiments, the elastic member may be provided as any elastic member, for example: rubber columns, rubber bands, etc.
Referring to fig. 4 and 5, the second transmission shaft 32 of the second joint module 3 of the robot transmission joint of the present invention is provided as a hollow shaft through which the wire 41 passes to transmit the power of the first driving source 2 to the first transmission shaft 11 of the first joint module 1, and the section of the wire 41 passing through the hollow shaft coincides with the center line of the through hole, so that the movement of the wire 41 and the rotation of the second transmission shaft 32 do not affect each other, and the mechanical decoupling of the movement between the first joint module 1 and the second joint module 3 is realized, so that the movement between the first joint module 1 and the second joint module 3 is independent from each other.
The invention only enumerates the robot transmission joint with two joint modules, in the actual motion process, the joint modules are not limited to two joints, and the transmission module 4 is also applicable to the transmission joint with more than two joints, and only needs to carry out simple adaptive adjustment, for example: the transmission shafts of the middle joint modules between the target joint modules and the target joint modules are all arranged to be hollow shafts, the steel wire 41 penetrates through the through holes of the hollow shafts, the section of the steel wire 41 coincides with the center line of the through holes, meanwhile, elastic pieces are respectively arranged at the two ends of the steel wire 41 and are fixedly connected with the shell of the corresponding joint module, so that when the power of a driving source is transmitted to the transmission shaft of the corresponding joint, the motion between the transmission shaft of each joint and the movement between the steel wire 41 cannot be influenced mutually, and the mechanical decoupling between the joint modules is realized.
It should be noted that: the "coincidence" described in the present invention is not an absolute coincidence in a mathematical sense, and there is a certain angle between the two within the allowable range of manufacturing errors and installation errors, and typically, the angle is not more than 5 °.
The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the specific details of the above embodiments, and various equivalent changes (such as number, shape, position, etc.) may be made to the technical solution of the present invention within the scope of the technical concept of the present invention, and these equivalent changes all fall within the scope of the present invention.
Claims (6)
1. The utility model provides a robot transmission joint which characterized in that: the device comprises a target joint module, a driving source for providing power for the target joint module, at least one middle joint module arranged between the driving source and the target joint module, and a transmission module for transmitting the power of the driving source to the target joint module;
The target joint module comprises a target transmission part for transmitting power to a load;
The middle joint module comprises a hollow transmission shaft for motion output;
The transmission module comprises a steel wire, at least two guide wheels for positioning and guiding the steel wire, and a first elastic piece and a second elastic piece which are respectively arranged at two ends of the steel wire and are fixedly installed, wherein two guide wheels are respectively arranged at two end sides of the transmission shaft, a connecting line of the steel wire and two points tangent to the guide wheels arranged at two end sides of the transmission shaft is positioned on a first straight line, and the first straight line coincides with the central line of the hollow structure of the transmission shaft.
2. The robotic drive joint of claim 1, wherein: a driving guide wheel is arranged on an output shaft of the driving source, and a target guide wheel is arranged on the target transmission piece;
The wire is positioned on a second straight line different from the first straight line, and the wire is respectively positioned on the connecting line of points tangent to the driving guide wheel and the guide wheel at one end side of the transmission shaft; and the connecting line of points, at which the steel wires are tangent to the guide wheel and the target guide wheel at the other end side of the transmission shaft, is positioned on a third straight line different from the first straight line and the second straight line.
3. The robotic drive joint of claim 2, wherein: the transmission module further comprises a supporting shaft, and the steel wire sequentially winds around the driving guide wheel, the supporting shaft, the guide wheels at two end sides of the transmission shaft and the target guide wheels.
4. A robotic drive joint according to claim 3, wherein: the target joint module further comprises a first shell and a first bearing supported between the first shell and the target transmission part, the middle joint module further comprises a second shell, the tail end of the second elastic part is fixedly connected with the first shell, and the tail end of the first elastic part is fixedly connected with the second shell.
5. The robotic drive joint according to claim 4, wherein: the transmission module further comprises a second bearing supported between the two ends of the supporting shaft and the second shell, a third bearing supported between the transmission shaft and the second shell, and a fourth bearing supported between the transmission shaft and the first shell.
6. The robot transmission joint according to any one of claims 1 to 5, wherein: the first elastic piece and the second elastic piece are arranged as springs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111611369.2A CN114102658B (en) | 2021-12-27 | 2021-12-27 | Robot transmission joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111611369.2A CN114102658B (en) | 2021-12-27 | 2021-12-27 | Robot transmission joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114102658A CN114102658A (en) | 2022-03-01 |
| CN114102658B true CN114102658B (en) | 2024-06-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111611369.2A Active CN114102658B (en) | 2021-12-27 | 2021-12-27 | Robot transmission joint |
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| Country | Link |
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| CN (1) | CN114102658B (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109352639A (en) * | 2018-10-08 | 2019-02-19 | 南京航空航天大学 | A kind of underwater rope driving mechanical arm system that Autonomous Underwater vehicle carries |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100513097C (en) * | 2007-07-31 | 2009-07-15 | 哈尔滨工业大学 | Robot clever hand modular finger |
| KR102167184B1 (en) * | 2014-08-07 | 2020-10-16 | 삼성전자주식회사 | A driving module, a motion assist apparatus comprising the driving module and a control method of the motion assist apparatus |
| CN209153974U (en) * | 2018-02-26 | 2019-07-26 | 山东大学齐鲁医院 | A kind of surgical instrument with running fix joint for single hole operating robot |
| CN113491580B (en) * | 2020-03-20 | 2022-05-31 | 上海微创医疗机器人（集团）股份有限公司 | Wire transmission structure, surgical instrument and surgical robot |
| CN112171679B (en) * | 2020-10-10 | 2022-02-18 | 浙江理工大学 | Method for cleaning industrial pipeline group by positioning robot at pipe end of industrial pipeline group |
-
2021
- 2021-12-27 CN CN202111611369.2A patent/CN114102658B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109352639A (en) * | 2018-10-08 | 2019-02-19 | 南京航空航天大学 | A kind of underwater rope driving mechanical arm system that Autonomous Underwater vehicle carries |
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| Publication number | Publication date |
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| CN114102658A (en) | 2022-03-01 |
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Address after: 210000 building 3, No. 34, Dazhou Road, Yuhuatai District, Nanjing, Jiangsu Province Applicant after: Tuodao Medical Technology Co.,Ltd. Address before: Room 102-86, building 6, 57 Andemen street, Yuhuatai District, Nanjing, Jiangsu 210000 Applicant before: Nanjing Tuodao Medical Technology Co.,Ltd. |
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