CN1537705A - Linear driven single o-multi-freedom joint - Google Patents
Linear driven single o-multi-freedom joint Download PDFInfo
- Publication number
- CN1537705A CN1537705A CNA031461204A CN03146120A CN1537705A CN 1537705 A CN1537705 A CN 1537705A CN A031461204 A CNA031461204 A CN A031461204A CN 03146120 A CN03146120 A CN 03146120A CN 1537705 A CN1537705 A CN 1537705A
- Authority
- CN
- China
- Prior art keywords
- bracing frame
- axle
- support
- power line
- clockwise direction
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0025—Means for supplying energy to the end effector
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A line driven single-freedom (or multi-freedom) joint for robot is disclosed. The both ends of a power line are wound on a reel of powder distributor in reverse directions. The median point of said powder line is fixed to a rotary arm. Turning said reel can drive the rotary arm to revolve around its axle and changing the turning direction can change its revolving direction to realize a single-freedom joint. Multiple said joints are combined to form a multi-freedom joint. It is easy to concentrated controlling.
Description
Technical field patent of the present invention is that a kind of line moves list to multi-freedom joint, can be used for robot, and machine animal also can be used among the artificial limb.Belong to mechanical engineering Robotics field.
Background technology is single to be widely used in robot to multi-freedom joint, machine animal and be used for the artificial limb, and there are the following problems to multi-freedom joint for existing list:
The one, bulky, complex structure microminaturization difficulty,
The 2nd, need to use a plurality of motors, control is complicated,
The purpose of patent of the present invention is the appeal deficiency at prior art, designs and develops a kind of compact conformation, light and handy joint, and it is single to multiple degrees of freedom that the joint can be realized, and control a plurality of joints simultaneously with a motor.
Summary of the invention is for realizing the appeal purpose, patent of the present invention has adopted a kind of annular bracing frame in design, and a plurality of guiding are installed on the annular bracing frame support pulley, and the axis that guiding supports pulley is vertical with the plane at annular bracing frame place, fixed arm and turning arm link together by axle, the annular bracing frame is fixed or is connected on the fixed arm by axle, the center of circle of annular bracing frame and axis coinciding, plane, annular bracing frame place and axis normal, and by the hole on the turning arm, turning arm can be pivoted along the annular bracing frame, the mid point of power line a is fixed on the turning arm, two ends are wrapped on the annular bracing frame with counter clockwise direction respectively along clockwise direction, support in guiding under the support guide effect of pulley, constantly change direction, in annular bracing frame and fixed arm junction, the two ends of power line a are imported the cover bucket, under the support guide effect of cover bucket, changing direction is connected on the reel of power distribution device, and the two ends of power line a are wound on the reel with counter clockwise direction respectively along clockwise direction, and be strained and fixed, under the effect of power distribution device, rotate reel, the end of tension power line a loosens the other end of power line a simultaneously, rotate around fixed arm along the annular bracing frame by power line a pulling turning arm, change the reel direction of rotation, can change the direction of rotation of turning arm by power line a, make turning arm motionless by power line a when reel is motionless with respect to fixed arm, it is vertical with turning arm that the annular bracing frame remains the pulling force of power line a, and arm of force length remains unchanged, the power distribution device by power line a make turning arm around fixed arm to positive and negative both direction motion or static, and all be ACTIVE CONTROL, thereby realize the single-degree-of-freedom joint, a plurality of single-degree-of-freedom joint set lump together and can realize multi-freedom joint, the power distribution device can be by a Motor Drive, and a plurality of reels are installed are connected many power lines, thereby realize that single motor controls a plurality of joints.
Description of drawings is the technical scheme of patent for a better understanding of the present invention, elaborates list to multi-freedom joint below in conjunction with accompanying drawing, the annular bracing frame, and power line, the effect of power distribution device and the function mode in joint:
Fig. 1 is a single-degree-of-freedom joint schematic diagram
Fig. 2 is a double freedom joint schematic diagram
Fig. 3 is a Three Degree Of Freedom joint schematic diagram
Fig. 4 is a power distribution device schematic diagram
As shown in Figure 1, the single-DOF-joint Zhu of Zhuan profit of the present invention will comprise: fixed arm 3 and turning arm 5, and fixing Arm 3 is connected together by Zhou 4 Yu turning arms 5, and Zai fixed arm 3 is equipped with Yuan ring holder 6, the Yuan ring The Yuan heart of shape Zhi support 6 is Yu the Zhou heart Chong of Zhou 4 closes, and plane, Yuan ring holder 6 place is vertical Yu the Zhou of Zhou 4 line, A plurality of guide support pulleys 9 are installed on the Yuan ring holder 6, and the Zhou line of guide support pulley 9 is Yu the Yuan annular brace Plane, frame place is vertical, and the Zhong point 7 of power line 8 is fixed on the turning arm 5, then edge respectively, the two ends of power line 8 Be wrapped on the Yuan ring holder 6 the support guide Zuo of Zai guide support pulley 9 with counter clockwise direction clockwise Under the Yong, change constantly that fixing point 10 places of Zai Yuan ring holder 6 Yu fixed arms 3 import cover bucket 11 behind the direction Zui, Under the support guide Zuo Yong of Zai Zai cover bucket 11, be connected the two ends of power line 8 Yu the reel 2 of power distribution device 1 Respectively along clockwise direction with counterclockwise be wrapped on the reel 2 and be strained and fixed the Zuo of Zai power distribution device 1 Under the Yong, reel 2 rotations, an end of tension power line 8 loosens simultaneously the other end of power line 8, thereby drives Under the pulling of turning arm 5 Zai power lines 8, around fixed arm 3 rotations, the direction of rotation that changes reel gets final product along Zhou 4 Change the direction of rotation of turning arm 5, when reel 2 is motionless, make turning arm 5 maintain static Yuan by power line 8 Ring holder 6 makes the pulling force of power line 8 all the time vertical Yu turning arm 5, and arm of force length remains unchanged the power branch Orchestration 1 makes turning arm 5 moving to the anti-both direction Yun of Zheng around fixed arm 3 along Yuan ring holder 6 by power line 8, And can realize staticly, and all be ACTIVE CONTROL, thereby realize the moving single-DOF-joint of line.
As shown in Figure 2, the double freedom joint of patent of the present invention mainly comprises: fixed arm 1 and turning arm 2, fixed arm 1 links together by cross axle 3 and turning arm 2, be fixed with circular support frame 4 on the fixed arm 1, its plane, place is vertical with fixed arm 1, its center of circle and cross axle axis coinciding, two straight lines 18 and straight line 19 that orthogonal intersection point is the center of circle in the plane, circular support frame 4 place, intersection point place, edge difference installation shaft 5 with circular support frame 4, axle 6, axle 7, axle 8, and axle 5 overlaps with straight line 18 with the axis of axle 6, axle 7 overlaps with straight line 19 with axle 8 axis, and the two ends of semi-round ring shape bracing frame 9 are connected with circular support frame 4 with spools 6 by spools 5, and semi-round ring shape bracing frame 9 can be rotated around straight line 18, have a plurality of guiding to support pulley 20 on the semi-round ring shape bracing frame 9, and the axis that these a plurality of guiding support pulley 20 is vertical with the plane, place of semi-round ring shape bracing frame 9.Semi-round ring shape bracing frame 9 passes the hole 10 on the turning arm 2, make turning arm 2 to move along semi-round ring shape bracing frame 9, and when turning arm 2 can drive semi-round ring shape bracing frame 9 along axle 5 and axle 6 rotations when other directions move, move along semi-round ring shape bracing frame 9 simultaneously, to realize being free to travel to the purpose of other directions, the mid point 21 of power line 11 is fixed on 10 tops, hole on the turning arm 2, the two ends of power line 11 are wrapped on the semi-round ring shape bracing frame 9 from counter clockwise direction and clockwise direction respectively, under the effect by a plurality of support guide pulleys 20, constantly change direction, respectively at axle 5, axle 6 places import cover bucket 22, under the support guide effect of cover bucket 22, be connected with power distribution device 17, the two ends of power line 11 are wrapped on the reel 12 of power distribution device 17 by counter clockwise direction and clockwise direction respectively, the tension back is fixing, under the effect of power distribution device 17, rotation reel 12, one end of tension (or loosening) power line 11, loosen the other end of (or tension) power line 11 simultaneously, can rotate around fixed arm 1 along semi-round ring shape bracing frame 9 to counter clockwise direction (or clockwise direction) by power line 11 pulling turning arms 2, the direction of rotation that changes the reel 12 of power distribution device 17 can make turning arm 2 change the direction of rotating around fixed arm 1, when the reel 12 of power distribution device 17 maintains static, by the pulling function of power line 11, turning arm 2 is maintained static with respect to fixed arm 1
The two ends of semi-round ring shape bracing frame 13 are connected with circular support frame 4 by axle 7 and spools 8, semi-round ring shape bracing frame 13 can be rotated around straight line 19, a plurality of support guide pulleys 24 are housed on the semi-round ring shape bracing frame 13, and the axis of a plurality of support guide pulleys 24 is vertical with plane, semi-round ring shape bracing frame 13 place, semi-round ring shape bracing frame 13 passes the hole 14 on the turning arm 2, make turning arm 2 to move along semi-round ring shape bracing frame 13, and when turning arm when other directions move, can drive semi-round ring shape bracing frame 13 along axle 7 and axle 8 rotations, move along semi-round ring shape bracing frame 13 simultaneously, to realize moving to the purpose of other directions, the mid point 23 of power line 15 is fixed on the top in the hole 14 on the turning arm 2, the two ends of power line 15 are wrapped on the semi-round ring shape bracing frame 13 with clockwise direction respectively in the counterclockwise direction, constantly change direction by a plurality of support guide pulleys 24, import cover bucket 25 at axle 7 and axle 8 places respectively, under the support guide effect of cover bucket 25, be connected with power distribution device 17, with the two ends of power line 15 respectively by counterclockwise and clockwise direction be wrapped on the reel 16 of power distribution device 17 the tension back and fix, under the effect of power distribution device, rotation reel 16, one end of tension (or loosening) power line 15, loosen the other end of (or tension) power line 15 simultaneously, can under the pulling of power line 15, make turning arm 2 along clockwise direction (or counterclockwise) along semi-round ring shape bracing frame 13 around fixed arm 1 rotation, change the direction of rotation of reel 16, under power line 15 pullings, can change the direction of turning arm 2 around fixed arm 1 rotation, when reel 16 transfixions, under the pulling function of power line 15, turning arm 2 relative fixed arms 1 transfixion.
Because of semi-round ring shape bracing frame 9 vertical mutually with plane, semi-round ring shape bracing frame 13 place, therefore when only driving semi-round ring shape bracing frame 13 along semi-round ring shape bracing frame 9 when fixed arm 1 rotates, rotates turning arm 2 around straight line 19, its invariant position on semi-round ring shape bracing frame 13, when turning arm 2 along semi-round ring shape bracing frame 13 during around fixed arm 1 rotation, only drive semi-round ring shape bracing frame 9 along straight line 18 rotations, its invariant position on semi-round ring shape bracing frame 9, therefore when reel 12 and reel 16 rotate respectively, turning arm 2 is moved to both direction respectively along semi-round ring shape bracing frame 9 and semi-round ring shape bracing frame 13, when reel 12 and reel 16 do not rotate, turning arm 2 can realize that relative fixed arm 1 is static, when 16 1 one of rotations of reel 12 and reel are not rotated, turning arm 2 can move to single direction, and all be ACTIVE CONTROL, thereby realize the moving double freedom joint of line, be equivalent to the moving single-degree-of-freedom joint set of two lines and lump together.
As shown in Figure 3; A kind of line moves the Three Degree Of Freedom joint, is lumped together by the moving single-degree-of-freedom joint of a line and the moving double freedom joint set of line.The fixed arm 1 in the moving double freedom joint of line links together with the turning arm 26 of certain included angle 29 with the moving single-degree-of-freedom joint of line, turning arm 26 is connected on the support 30 by axle 27 and axle 28, on turning arm 26, be fixed with the arm of force 31, and the arm of force 31 and turning arm 26 be vertical to meet at a little that 32 annular bracing frames 33 are fixed on the point 34 of support 30, the axis normal of annular bracing frame 33 place faces and turning arm 26, the center of circle overlaps with point 32 on the turning arm 26, annular bracing frame 33 is by the hole 35 on the arm of force 31, the arm of force 31 can be rotated along annular bracing frame 33, there is the axis of a plurality of guiding support pulleys 36 and guiding support pulley 36 vertical on the annular bracing frame 33 with plane, annular bracing frame 33 place, the mid point of power line 37 is fixed on the top in hole 35, the two ends of power line 37 are wrapped on the annular bracing frame 33 with counter clockwise direction respectively along clockwise direction, support in guiding under the guiding supporting role of pulley 36, constantly change direction, two ends with power line 37 import cover bucket 38 from putting 34 respectively at last, under the support guide effect of cover bucket 38, be connected on the power distribution device 17, the two ends of power line 37 are wrapped on the reel 39 of power distribution device 17 with counter clockwise direction respectively along clockwise direction, under the effect of power distribution device 17, reel 39 rotations, one end of tension (or loosening) power line power line 37, loosen the other end of (or tension) power line 37 simultaneously, can make the arm of force 31 driven rotary arms 26 clockwise directions (or counterclockwise) rotation, drive line moving double freedom joint rotation simultaneously, change the direction of rotation of reel 39, can change the arm of force 31, turning arm 26, the direction of rotation in double freedom joint, like this at reel 12, reel 16, when reel 39 rotates simultaneously, turning arm 2 is simultaneously along semi-round ring shape bracing frame 9, semi-round ring shape bracing frame 13, annular bracing frame 33, move to three directions, when reel 12, reel 16, when one of 39 two of reels rotation is static, turning arm 2 is simultaneously along semi-round ring shape semi-round ring shape bracing frame 9, semi-round ring shape bracing frame 13, two in the annular bracing frame 33 are moved to both direction, when reel 12, reel 16, when two of 39 1 of reels rotations are static, turning arm 2 is along semi-round ring shape bracing frame 9, semi-round ring shape bracing frame 13, one in the annular bracing frame 33 is moved to single direction, when reel 12, reel 16, when 39 3 of reels are all static, turning arm 2 is static with respect to support 30, and all be ACTIVE CONTROL, thereby realize the moving Three Degree Of Freedom joint of line, be equivalent to the moving single-degree-of-freedom joint set of three lines and lump together.
To double freedom, the elaboration in Three Degree Of Freedom joint is combined the single-degree-of-freedom joint is a plurality of described in the patent of the present invention as can be known, can form multi-freedom joint from above.Its basic structure is to be linked together by axle 3 by fixed arm 1 and turning arm 2, annular or intercepting part annular bracing frame are fixed or be connected on the fixed arm 1 by axle, this bracing frame passes a hole on the turning arm, make turning arm 2 under the constraint in hole, can move along the direction of bracing frame, several support guide pulleys of fixed installation on bracing frame, make the axis of support guide pulley vertical with the plane at bracing frame place, the mid point of a power line is fixed on the top that bracing frame passes the hole on the turning arm, the two ends of power line are wrapped on the bracing frame with counter clockwise direction respectively along clockwise direction, power line constantly changes direction under the effect of the support guide pulley on the bracing frame, at last in bracing frame and fixed arm junction, the two ends of power line are imported the cover bucket, under the support guide effect of cover bucket, power line is connected with the power distribution device, the two ends of power line are wrapped on the reel of power distribution device along clockwise direction and counter clockwise direction respectively, and the tension back is fixing, at the power distribution device under the effect of power distribution device, the rotation reel, one end of tension (or loosening) power line, loosen the other end of (or tension) power line simultaneously, thereby rotate around fixed arm clockwise (or counterclockwise) direction along bracing frame by power line driven rotary arm, when under the effect of power distribution device, reel stops the rotation when static, can be under the power line effect, make turning arm static with respect to bracing frame, and all be ACTIVE CONTROL, thereby realization single-degree-of-freedom, a plurality of basic structures are combined and can be realized a plurality of frees degree, can make turning arm under the control of power distribution device, at the same time or separately to a plurality of direction rotations, and all be ACTIVE CONTROL, thereby realize multi-freedom joint.
The power distribution device of patent of the present invention mainly comprises as shown in Figure 4: motor 1 is connected with gear-box 3 after slowing down by speed regulator 2, make gear 10, gear 11 is done the constant speed reverse rotation, rectangle support 4 is fixed on the gear-box 3, some connecting rods 5 of equidistant installation in the rectangle support 4, gear 12 is installed at the two ends of connecting rod 5 respectively, gear 13, and gear 12 and gear 10 are meshed, gear 13 and gear 11 engagements, make gear 12 and gear 13 also become a pair of constant speed reverse rotation gear like this, gear is installed respectively at the two ends of each root connecting rod and is meshed respectively with the gear at last connecting rod two ends, just form some to constant speed reverse rotation gear, thereby with the power distribution of motor to several gears, one Geneva mechanism is installed in the middle of connecting rod 5, and be fixed on the rectangle support 4, sheave 7 is an axle with connecting rod 5, both sides and gear 12, clutch 6 and clutch 14 are installed respectively between the gear 13, reel 9 is fixedly mounted on the driven pulley 8 of sheave 7, when clutch 6 and clutch 14 all do not mesh, sheave 7 and driven pulley 8 are under self-locking action, make reel 9 transfixions, when clutch 6 engagements, gear 12 is connected with sheave 7, gear 12 drives the rotation of sheave 7 clockwise directions, and then drive driven pulley 8 rotation counterclockwise, because of reel 9 is fixed on the driven pulley 8, therefore reel 9 is also done rotation counterclockwise, when clutch 6 disconnects, during clutch 14 engagements, gear 13 is connected with sheave 7, gear 13 drives sheave 7 rotation counterclockwise, and then drive driven pulley 8 clockwise directions rotation, because of reel 9 is fixed on the driven pulley 8, therefore reel 9 is also done the clockwise direction rotation, on each root connecting rod, sheave 7 is installed all, driven pulley 8, reel 9, clutch 6, clutch 14, thereby can control direction of rotation to several, can control static reel, each reel can connect a power line, thereby realizes the purpose with some power lines of single Motor Control.
It below the specific embodiment embodiment of patent of the present invention: single bionic machine dog that is used for one 22 free degree to multi-freedom joint.
A Three Degree Of Freedom joint is installed in backbone stage casing at robot dog, head is installed a Three Degree Of Freedom joint again with the backbone junction, a two-freedom degree joint is installed in dog mouth position, a Three Degree Of Freedom joint is respectively installed in four legs and backbone junction, two foreleg knee are respectively installed a single-degree-of-freedom joint, first half lifting power distribution device at backbone, the power line in all joints all connects on the power distribution device, under controller action, send automatically controlled signal, control electromagnetic clutch startup with close, thereby can control the activity direction and the yardstick in a plurality of joints, realize preprogrammed intention, experiment shows that robot dog can be by the preprogram activity.
The sharp You of Zhuan of the present invention obvious You point:
1, utilize the power line radial rigidity, the characteristic of lateral flexibility can make a plurality of joints of Motor Control, holds Easy to control simple in structure;
2, the articulation structure compactness is easy to safeguard that be easy to microminaturization, volume is little, and Zheng joint shape is Yu the animal pass Save similarly, be easy to emulation.
Claims (9)
1, a kind of line moves the single-degree-of-freedom joint, fixed arm 3 links to each other by axle 4 with turning arm 5, it is characterized in that, annular bracing frame 6 is installed on fixed arm 3, the axis coinciding of the center of circle of annular bracing frame 6 and axle 4, the axis normal of the plane at annular bracing frame 6 places and axle 4, and pass hole on the turning arm 5, a plurality of guiding are installed on the annular bracing frame 6 support pulley 9, the axis that guiding supports pulley 9 is vertical with the plane, place of annular bracing frame 6, be arranged on the annular bracing frame 6 with certain intervening sequences, the mid point 7 of power line 8 is fixed on the top in the hole on the turning arm 5, the two ends of power line 8 are supported under the support guide effect of pulley 9 in guiding with counterclockwise being wrapped on the annular bracing frame 6 respectively along clockwise direction, constantly change direction, at last at tie point 10 places of annular bracing frame 6 with fixed arm 3, import cover bucket 11, under the support guide effect of cover bucket 11, be connected with the reel 2 of power distribution device 1, the two ends of power line 8 are wrapped on the reel 2 with counter clockwise direction respectively along clockwise direction, and the tension back is fixing.
2, a kind of line moves the double freedom joint, fixed arm 1 is connected by cross axle 3 with turning arm 2, it is characterized in that: be fixed with circular support frame 4 on the fixed arm 1, its plane, place is vertical with fixed arm 1, the axis coinciding of its center of circle and cross axle 3, two straight line 18 and straight lines 19 and intersection point place, circular support frame 4 edge difference installation shaft 5 that mutually vertical intersection point is the center of circle in the plane, circular support frame 4 place, axle 6, axle 7, axle 8, and axle 5 overlaps with straight line 18 with the axis of axle 6, axle 7 overlaps with straight line 19 with the axis of axle 8, the two ends of semi-round ring shape bracing frame 9 are connected with circular support frame 4 with axle 6 by axle 5, there are a plurality of guiding to support pulley 20 on the semi-round ring shape bracing frame 9, and the axis that a plurality of guiding support pulley 20 is vertical with plane, semi-round ring shape bracing frame 9 place, order is arranged on the semi-round ring shape bracing frame 9 at certain intervals, semi-round ring shape bracing frame 9 passes the hole 10 on the turning arm 2, the mid point 21 of power line 11 is fixed on the top in hole 10, the two ends of power line 11 are wrapped on the semi-round ring shape bracing frame 9 with counter clockwise direction respectively along clockwise direction, support in a plurality of guiding under the support guide effect of pulley 20, constantly change direction, respectively at axle 5, axle 6 places import cover bucket 22, under the support guide effect of cover bucket 22, be connected with the reel 12 of power distribution device 17, the two ends of power line 11 are fixed after the tension with counterclockwise being wrapped on the reel 12 respectively along clockwise direction, the two ends of semi-round ring shape bracing frame 13 are by axle 7, axle 8 is connected with circular support frame 4, a plurality of support guide pulleys 24 are installed on the semi-round ring shape bracing frame 13, and the axis of a plurality of support guide pulleys 24 is vertical with plane, semi-round ring shape bracing frame 13 place, be arranged on the semi-round ring shape bracing frame 13 with certain intervening sequences, semi-round ring shape bracing frame 13 passes the hole 14 on the turning arm 2, the mid point 23 of power line 15 is fixed on the top in hole 14, the two ends of power line 15 are wrapped on the semi-round ring shape bracing frame 13 with counter clockwise direction respectively along clockwise direction, support in a plurality of guiding under the support guide effect of pulley 24, constantly change direction respectively at axle 7, axle 8 places import cover bucket 25, under the support guide effect of cover bucket 25, be connected with the reel 16 of power distribution device 17, the two ends of power line 15 are wrapped on the reel 16 with counter clockwise direction respectively along clockwise direction, and the tension back is fixing.
3, a kind of line moves the Three Degree Of Freedom joint, it is characterized in that: the fixed arm 1 that will move the double freedom joint as the line that claim 2 is told is fixedly connected on an end of turning arm 26 with certain included angle 29, turning arm 26 is by axle 27, axle 28 is connected on the support 30, vertical fixing connects the arm of force 31 on the turning arm 26, annular bracing frame 33 is fixed on the support 30, the center of circle of annular bracing frame 33 overlaps with the intersection point of turning arm 26 with the arm of force 31, and plane, annular bracing frame 33 place and axle 27, the axis normal of axle 28, annular bracing frame 33 passes the hole 35 on the arm of force 31, be installed with several guiding on the annular bracing frame 33 and support pulley 36, and the axis that a plurality of guiding support pulley 36 is vertical with the plane at annular bracing frame 33 places, the mid point of power line 37 is fixed on the top in hole 35, the two ends of power line 37 are wrapped on the annular bracing frame 33 with counter clockwise direction respectively along clockwise direction, support in guiding under the support guide effect of pulley 36, constantly change direction at last at the junction importing cover bucket 38 of annular bracing frame 33 with support 30, under the guiding supporting role of cover bucket 38, be connected with the reel 39 of power distribution device 17, the two ends of power line 37 are wrapped on the reel 39 with counter clockwise direction respectively along clockwise direction, and the tension back is fixing.
4, a kind of line moves multi-freedom joint, fixed arm 1 is connected by cross axle 3 with turning arm 2, it is characterized in that a plurality of basic modules of single-degree-of-freedom of realizing are combined, basic module is to be fixed or be connected on the fixed arm 1 by axle by annular bracing frame or intercepting part annular bracing frame, this bracing frame passes the hole on the turning arm 2, the axis coinciding of the center of circle of this bracing frame and cross axle 3, several guiding of fixed installation support pulley on this bracing frame, this plane, bracing frame place and guiding support the axis normal of pulley, the mid point of a power line is fixed on the top in hole, the two ends of this power line are wrapped on the bracing frame with counter clockwise direction respectively along clockwise direction, under the effect of support guide pulley, constantly change direction and import the cover bucket in the junction of bracing frame and fixed arm at last, under the support guide effect of cover bucket, be connected with the power distribution device, the two ends of power line are wrapped on the reel of power distribution device with counter clockwise direction respectively along clockwise direction, and the tension back is fixing.
5, as claim 1,2,3,4 said power distribution devices, it is characterized in that: after motor 1 slows down by speed regulator 2, be connected with gear-box 3, make gear 10, gear 11 is done coaxial constant speed reverse rotation, rectangle support 4 is fixed on the gear-box 3, some connecting rods 5 of equidistant fixed installation in the rectangle support 4, connecting rod 5 is parallel with axle, and the two ends of connecting rod 5 are axle with the connecting rod, gear 12 is installed respectively, gear 13, and make gear 12 and gear 10 engagements, gear 13 and gear 11 engagements, gear is installed at two ends at each root connecting rod respectively, and mesh respectively with the gear at last connecting rod two ends, be that axle is installed a Geneva mechanism in the centre of connecting rod 5 with the connecting rod, sheave 7 is an axle with the connecting rod, the both sides of sheave 7 and gear 12, clutch 6 and clutch 14 are installed respectively between the gear 13, and reel 9 is installed on the driven pulley 8 of sheave 7, controller 15 and clutch 6, clutch 14 connects, but the engagement and the disconnection of solenoidoperated cluthes 6 and clutch 14.
6, as claim 1,2,3,4 said power lines can be steel wire ropes, the rope of the rope made of hemp or other materials, its radial rigidity, lateral flexibility.
7, as claim 1,2,3,4 said cover buckets is characterized in that it being by rubber, the porose column type that can allow power line pass through in metal centre, at a certain distance by four pulleys that become rectangle to form by four pulley arrangement, at a certain distance by two pulleys that become rectangle to form by two pulley arrangement.
8, can be electromagnetic clutch as the said clutch of claim 5, pneumatic clutch, hydraulic clutch.
9, as the said controller of claim 5, it is characterized in that it being can export the signal of corresponding solenoidoperated cluthes clutch according to the type of clutch by microcomputerized control.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03146120 CN1281385C (en) | 2003-07-23 | 2003-07-23 | Linear driven single o-multi-freedom joint |
| PCT/CN2004/000344 WO2005007352A1 (en) | 2003-07-23 | 2004-04-13 | Linear single-freedom joints and multi-freedom joints |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03146120 CN1281385C (en) | 2003-07-23 | 2003-07-23 | Linear driven single o-multi-freedom joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1537705A true CN1537705A (en) | 2004-10-20 |
| CN1281385C CN1281385C (en) | 2006-10-25 |
Family
ID=34069987
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 03146120 Expired - Fee Related CN1281385C (en) | 2003-07-23 | 2003-07-23 | Linear driven single o-multi-freedom joint |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN1281385C (en) |
| WO (1) | WO2005007352A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103846927A (en) * | 2014-03-18 | 2014-06-11 | 王培明 | Open type space two-dimensional eccentric rotational joint |
| CN106514696A (en) * | 2016-12-02 | 2017-03-22 | 合肥瑞硕科技有限公司 | Driving system for rotating joint of robot |
| CN110788839A (en) * | 2019-12-06 | 2020-02-14 | 南方科技大学 | A Modular Reconfigurable Drive Unit and Flexible Exoskeleton Robot |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105904482B (en) * | 2016-06-16 | 2017-06-16 | 清华大学深圳研究生院 | A kind of mechanical arm bias articulation mechanism |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1104924A (en) * | 1994-01-07 | 1995-07-12 | 张平顺 | Fire-fighting robot |
| CN2215972Y (en) * | 1994-09-24 | 1995-12-27 | 北京理工大学 | Upper arm and wrist structure for robot |
| CN1136988A (en) * | 1995-05-31 | 1996-12-04 | 北京航空航天大学 | Driving method and application of a joint driving mechanism |
| JP2001071286A (en) * | 1999-09-06 | 2001-03-21 | Yaskawa Electric Corp | Weaving method of articulated industrial robot |
-
2003
- 2003-07-23 CN CN 03146120 patent/CN1281385C/en not_active Expired - Fee Related
-
2004
- 2004-04-13 WO PCT/CN2004/000344 patent/WO2005007352A1/en active Application Filing
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103846927A (en) * | 2014-03-18 | 2014-06-11 | 王培明 | Open type space two-dimensional eccentric rotational joint |
| CN106514696A (en) * | 2016-12-02 | 2017-03-22 | 合肥瑞硕科技有限公司 | Driving system for rotating joint of robot |
| CN110788839A (en) * | 2019-12-06 | 2020-02-14 | 南方科技大学 | A Modular Reconfigurable Drive Unit and Flexible Exoskeleton Robot |
| CN110788839B (en) * | 2019-12-06 | 2024-06-07 | 南方科技大学 | Modularized reconfigurable driving unit and flexible exoskeleton robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1281385C (en) | 2006-10-25 |
| WO2005007352A1 (en) | 2005-01-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110815178A (en) | A rope-driven robot | |
| CN104554717B (en) | rotor drive system | |
| CN112454345B (en) | Rope-driven joint module | |
| CN106208945B (en) | A kind of two-dimensional solar energy tracks stent | |
| CN109176491A (en) | A kind of single-degree-of-freedom module that rope drives and the multiple-degree-of-freedom mechanism using it | |
| CN1281385C (en) | Linear driven single o-multi-freedom joint | |
| CN108506580A (en) | A kind of efficient petroleum pipeline installing mechanism | |
| CN108000871A (en) | 3D printing device for rope traction parallel mechanism | |
| CN103240737B (en) | Three-degree-of-freedom hybrid drive winding type flexible cable parallel mechanism | |
| CN2225462Y (en) | Lifting mechanism of crane | |
| CN208607971U (en) | a twisting machine | |
| CN109230893A (en) | A kind of soft tube winding system and its control method | |
| CN201012437Y (en) | Cutting torch angle controlling gear | |
| US4144974A (en) | Method of temporarily increasing the load capacity of a powered drum hoist | |
| CN214724306U (en) | High-freedom-degree flexible mechanical grabbing hand | |
| CN212559162U (en) | Mechanical stirring maintenance device for compounding concrete additive | |
| CN108313817A (en) | A kind of novel power construction winding device | |
| CN115417329A (en) | A Rigid-Flexible Coupling Hoisting Robot Based on Flexible Cable Parallel Mechanism | |
| CN107200278A (en) | The single arm support crane luffing horizontal displacement system of differential compensation | |
| CN106429919B (en) | A kind of transmission mechanism | |
| CN102587667B (en) | Arm support structure, arm support device and concrete pump truck | |
| CN2709024Y (en) | Improved oscillating fountain device | |
| DE2353668A1 (en) | Cable hauled travelling sprinkler - has cable with winch drum driven by hydraulic cylinder operated by supply liquid | |
| CN109534162A (en) | The three anti-sway hoisting systems of rope | |
| CN118849044B (en) | A rope-driven, high-load-ratio, seven-degree-of-freedom anthropomorphic agile robotic arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |