CN205394546U - A long -range transmission system for robot - Google Patents
A long -range transmission system for robot Download PDFInfo
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- CN205394546U CN205394546U CN201620213682.9U CN201620213682U CN205394546U CN 205394546 U CN205394546 U CN 205394546U CN 201620213682 U CN201620213682 U CN 201620213682U CN 205394546 U CN205394546 U CN 205394546U
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- bowden
- rotating disk
- spool
- steel wire
- wire rope
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Abstract
The utility model discloses a long -range transmission system for robot, including the input carousel, tighten up that adjusting part, first bowden cable, second bowden cable, first leading wheel subassembly, second leading wheel subassembly, output carousel, first bowden cable pipe mounting, second bowden cable pipe are decided and the frame, input carousel and PTO parts's output fixed connection, output carousel connect in corresponding driven joint subassembly, be equipped with the convex recess of two parallels on the periphery of input carousel, also be equipped with the convex recess of two parallels on the periphery of output carousel, first leading wheel subassembly and second leading wheel subassembly are fixed in the frame. The utility model discloses utilize the bowden cable to accomplish motor dynamic's teletransmission, reduce the inertia of recovered robot mechanical arm, have system control's the optimization and the optimization of system's power, the motion scope in the time of to be used for the robot joint transmission has effectively been increased.
Description
Technical field
This utility model relates to machine driven system, robotics, particularly relates to a kind of long-range drive system for robot.
Background technology
In existing joint of robot designs, power drive assem system is directly connected in joint by the overwhelming majority.The type of drive being so directly connected to, can cause the size of robot arm to increase.Secondly, mechanical arm during normal operation, generally to stretch out the distance that robot body is certain, then power drive assem is arranged on joint in its work space, and mechanical arm inertia can be caused to increase, and increases the difficulty controlled.Additionally, owing under normal circumstances, the proximal joint of serial machine mechanical arm to move with distal joint, then owing to power drive assem is arranged on joint, so the power demand of the power drive assem of proximal joint will increase, and add system cost and electric power expense.
Utility model content
The purpose of this utility model: provide a kind of long-range drive system for robot, it is possible to achieve the remote transmission of power.
To achieve these goals, the technical solution of the utility model is:
A kind of long-range drive system for robot, including input rotating disk, tightens up adjusting part, the first Bowden cable, the second Bowden cable, the first guide wheel assemblies, the second guide wheel assemblies, output rotating disk, the first Bowden spool fixture, the second Bowden spool locking member and frame；Described input rotating disk is fixing with the outfan of power output part to be connected, and described output rotating disk is connected to corresponding powered joint assembly；The periphery of described input rotating disk is provided with two parallel circular grooves, and the periphery of described output rotating disk also is provided with two parallel circular grooves；The first described guide wheel assemblies and the second guide wheel assemblies are separately fixed in described frame.
The above-mentioned long-range drive system for robot, wherein, the described adjusting part that tightens up includes first tightening up adjustable column, locking nut before first, locking nut after first, second tightens up adjustable column, locking nut before second, locking nut after second, synchronizes to tighten up adjustable column, synchronize to tighten up adjustable plate and two guide posts；Described first is tightened up adjustable column and is threadedly attached in described synchronization and tightens up on adjustable plate, before described first, after locking nut and first, locking nut is threadedly attached in described first and tightens up on adjustable column, and withstands described synchronization respectively at two ends and tighten up adjustable plate；Described second is tightened up adjustable column and is threadedly attached in described synchronization and tightens up on adjustable plate, before described second, after locking nut and second, locking nut is threadedly attached in described second and tightens up on adjustable column, and withstands described synchronization respectively at two ends and tighten up adjustable plate；Two described guide posts are each attached in described frame, and described synchronization is tightened up adjustable plate and slided on two guide posts, and described synchronization is tightened up adjustable column and is threadedly attached in described synchronization and tightens up on adjustable plate, and one end withstands in described frame.
The above-mentioned long-range drive system for robot, wherein, the first described Bowden cable is made up of steel wire rope and Bowden spool, described first is tightened up in adjustable column and the first described Bowden spool fixture and is equipped with shoulder hole, one end of described Bowden spool is inserted in the first described shoulder hole tightening up on adjustable column, the other end of described Bowden spool is inserted in the shoulder hole on the first described Bowden spool fixture, thus fixing Bowden spool, make described steel wire rope pass freely through simultaneously.
The above-mentioned long-range drive system for robot, wherein, described input rotating disk is provided with steel wire rope fixture, and described output rotating disk is provided with steel wire rope fixture；One end of described steel wire rope is connected on described steel wire rope fixture, and it is wound on described input rotating disk by the circular groove on described input rotating disk, via the first described guide wheel assemblies guiding, enter described Bowden spool, the circular groove then passed through on described output rotating disk is wound on described output rotating disk, and is connected on described steel wire rope fixture.
The above-mentioned long-range drive system for robot, wherein, the second described Bowden cable is made up of steel wire rope and Bowden spool, described second is tightened up in adjustable column and the second described Bowden spool fixture and is equipped with shoulder hole, one end of described Bowden spool is inserted in the second described shoulder hole tightening up on adjustable column, the other end of described Bowden spool is inserted in the shoulder hole on the second described Bowden spool fixture, thus the Bowden spool secured the above, make described steel wire rope pass freely through simultaneously.
The above-mentioned long-range drive system for robot, wherein, described input rotating disk is provided with steel wire rope fixture, and described output rotating disk is provided with steel wire rope fixture；One end of described steel wire rope is connected on described steel wire rope fixture, and it is wound on described input rotating disk by the circular groove on described input rotating disk, via the second described guide wheel assemblies guiding, enter described Bowden spool, the circular groove then passed through on described output rotating disk is wound on described output rotating disk, and is connected on described steel wire rope fixture.
This utility model utilizes Bowden cable to complete the remote transmission of motor power so that the bigger motor of weight drives left button can not reside at joint, reduces the inertia of healing robot mechanical arm, has the optimization of optimization that system controls and system power；Utilize the circular groove on input rotating disk and output rotating disk to be staggered by the steel wire rope that both direction rotates simultaneously, and pass through guide wheel assemblies further steel wire rope is wound on rotating disk more fully, increase effectively range of movement when being used for joint of robot transmission；What design had a Bowden cable tightens up adjustment device, it is possible to individually or the two Bowden cable tensioning degrees of adjustment synchronized, thus regulating the performance of output rotation dish and input rotating disk synchronous axial system.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of long-range drive system for robot of this utility model.
Detailed description of the invention
Embodiment of the present utility model is further illustrated below in conjunction with accompanying drawing.
Refer to shown in accompanying drawing 1, a kind of long-range drive system for robot, including input rotating disk 1010, tightens up adjusting part the 1020, first Bowden cable the 1030, second Bowden cable the 1040, first guide wheel assemblies the 1050, second guide wheel assemblies 1060, output rotating disk the 1070, first Bowden spool fixture the 1080, second Bowden spool locking member 1090 and frame 2000；Described input rotating disk 1010 is fixing with the outfan of power output part to be connected, and described output rotating disk 1070 is connected to corresponding powered joint assembly；The periphery of described input rotating disk 1010 is provided with two parallel circular grooves, and the periphery of described output rotating disk 1070 also is provided with two parallel circular grooves；The first described guide wheel assemblies 1050 and the second guide wheel assemblies 1060 are separately fixed in described frame 2000.
Described tighten up adjusting part 1020 include first tighten up adjustable column 1021, first before locking nut 1023 after locking nut 1022, first, second tighten up adjustable column 1024, second before locking nut 1026 after locking nut 1025, second, synchronize to tighten up adjustable column 1027, synchronize to tighten up adjustable plate 1028 and two guide posts 1029；Described first is tightened up adjustable column 1021 and is threadedly attached in described synchronization and tightens up on adjustable plate 1028, before described first, after locking nut 1022 and first, locking nut 1023 is threadedly attached in described first and tightens up on adjustable column 1021, and withstands described synchronization respectively at two ends and tighten up adjustable plate 1028；Described second is tightened up adjustable column 1024 and is threadedly attached in described synchronization and tightens up on adjustable plate 1028, before described second, after locking nut 1025 and second, locking nut 1026 is threadedly attached in described second and tightens up on adjustable column 1024, and withstands described synchronization respectively at two ends and tighten up adjustable plate 1028；Two described guide posts 1029 are each attached in described frame 2000, described synchronization is tightened up adjustable plate 1028 and can be slided on two guide posts 1029, described synchronization is tightened up adjustable column 1027 and is threadedly attached in described synchronization and tightens up on adjustable plate 1029, and one end withstands in described frame 2000.
The first described Bowden cable 1040 is made up of steel wire rope 1041 and Bowden spool 1042, described first is tightened up in adjustable column 1021 and the first described Bowden spool fixture 1080 and is equipped with shoulder hole, one end of described Bowden spool 1042 is inserted in the shoulder hole that described first is tightened up on adjustable column 1021, the other end of described Bowden spool 1042 is inserted in the shoulder hole on the first described Bowden spool fixture 1080, thus fixing Bowden spool 1042, make described steel wire rope 1041 pass freely through simultaneously.
Described input rotating disk 1010 is provided with steel wire rope fixture 1011, and described output rotating disk 1070 is provided with steel wire rope fixture 1071；One end of described steel wire rope 1041 is connected on described steel wire rope fixture 1011, and it is wound on described input rotating disk 1010 by the circular groove on described input rotating disk 1010, lead via the first described guide wheel assemblies 1050, enter described Bowden spool 1042, the circular groove then passed through on described output rotating disk 1070 is wound on described output rotating disk 1070, and is connected on described steel wire rope fixture 1071.Due to the guide effect of the first guide wheel assemblies 1050, the axis of steel wire rope 1041 can with the first dead in line tightening up adjustable column 1021.
The second described Bowden cable 1050 is made up of steel wire rope 1051 and Bowden spool 1052, described second is tightened up in adjustable column 1024 and the second described Bowden spool fixture 1090 and is equipped with shoulder hole, one end of described Bowden spool 1052 is inserted in the shoulder hole that described second is tightened up on adjustable column 1024, the other end of described Bowden spool 1052 is inserted in the shoulder hole on the second described Bowden spool fixture 1090, thus the Bowden spool 1052 secured the above, make described steel wire rope 1051 pass freely through simultaneously.
Described input rotating disk 1010 is provided with steel wire rope fixture 1012, and described output rotating disk 1070 is provided with steel wire rope fixture 1072；One end of described steel wire rope 1051 is connected on described steel wire rope fixture 1012, and it is wound on described input rotating disk 1010 by the circular groove on described input rotating disk 1010, lead via the second described guide wheel assemblies 1060, enter described Bowden spool 1052, the circular groove then passed through on described output rotating disk 1070 is wound on described output rotating disk 1070, and is connected on described steel wire rope fixture 1072.Due to the guide effect of the second guide wheel assemblies 1060, the axis of steel wire rope 1051 can with the second dead in line tightening up adjustable column 1024.
When inputting rotating disk 1010 and rotating, owing to the two ends of Bowden spool 1042 and Bowden spool 1052 are all held out against respectively, steel wire rope 1041 and steel wire rope 1051 slide in respective Bowden spool so that output rotation dish 1060 and input rotating disk 1010 synchronous axial system.
Tighten up adjustable column 1021 and synchronizing, by regulating first, screw-in amount and the back-out amount of tightening up on adjustable plate 1028, it is possible to regulate the tensioning degree of steel wire rope 1041.Tighten up adjustable column 1024 and synchronizing, by regulating second, screw-in amount and the back-out amount of tightening up on adjustable plate 1028, it is possible to regulate the tensioning degree of steel wire rope 1051.Synchronize to tighten up adjustable column 1027 and synchronizing, by regulating, screw-in amount and the back-out amount of tightening up on adjustable plate 1029, it is possible to the tensioning degree of adjusted in concert steel wire rope 1041 and steel wire rope 1051.By regulating the tensioning degree of steel wire rope 1041 and steel wire rope 1051, it is possible to regulate the performance of output rotation dish 1060 and input rotating disk 1010 synchronous axial system.
In sum, this utility model utilizes Bowden cable to complete the remote transmission of motor power, make the bigger motor of weight drive left button can not reside at joint, reduce the inertia of healing robot mechanical arm, have the optimization of optimization that system controls and system power；Utilize the circular groove on input rotating disk and output rotating disk to be staggered by the steel wire rope that both direction rotates simultaneously, and pass through guide wheel assemblies further steel wire rope is wound on rotating disk more fully, increase effectively range of movement when being used for joint of robot transmission；What design had a Bowden cable tightens up adjustment device, it is possible to individually or the two Bowden cable tensioning degrees of adjustment synchronized, thus regulating the performance of output rotation dish and input rotating disk synchronous axial system.
The foregoing is only preferred embodiment of the present utility model; not thereby the scope of the claims of the present utility model is limited; every equivalent structure transformation utilizing this utility model description to make; or directly or indirectly use the technical field being attached to other Related products, all in like manner include in scope of patent protection of the present utility model.
Claims (6)
1. the long-range drive system for robot, it is characterised in that: include input rotating disk, tighten up adjusting part, the first Bowden cable, the second Bowden cable, the first guide wheel assemblies, the second guide wheel assemblies, output rotating disk, the first Bowden spool fixture, the second Bowden spool locking member and frame；Described input rotating disk is fixing with the outfan of power output part to be connected, and described output rotating disk is connected to corresponding powered joint assembly；The periphery of described input rotating disk is provided with two parallel circular grooves, and the periphery of described output rotating disk also is provided with two parallel circular grooves；The first described guide wheel assemblies and the second guide wheel assemblies are separately fixed in described frame.
2. the long-range drive system for robot according to claim 1, it is characterised in that: the described adjusting part that tightens up includes first tightening up adjustable column, locking nut before first, locking nut after first, second tightens up adjustable column, locking nut before second, locking nut after second, synchronizes to tighten up adjustable column, synchronize to tighten up adjustable plate and two guide posts；Described first is tightened up adjustable column and is threadedly attached in described synchronization and tightens up on adjustable plate, before described first, after locking nut and first, locking nut is threadedly attached in described first and tightens up on adjustable column, and withstands described synchronization respectively at two ends and tighten up adjustable plate；Described second is tightened up adjustable column and is threadedly attached in described synchronization and tightens up on adjustable plate, before described second, after locking nut and second, locking nut is threadedly attached in described second and tightens up on adjustable column, and withstands described synchronization respectively at two ends and tighten up adjustable plate；Two described guide posts are each attached in described frame, and described synchronization is tightened up adjustable plate and slided on two guide posts, and described synchronization is tightened up adjustable column and is threadedly attached in described synchronization and tightens up on adjustable plate, and one end withstands in described frame.
3. the long-range drive system for robot according to claim 2, it is characterized in that: the first described Bowden cable is made up of steel wire rope and Bowden spool, described first is tightened up in adjustable column and the first described Bowden spool fixture and is equipped with shoulder hole, one end of described Bowden spool is inserted in the first described shoulder hole tightening up on adjustable column, the other end of described Bowden spool is inserted in the shoulder hole on the first described Bowden spool fixture, thus fixing Bowden spool, make described steel wire rope pass freely through simultaneously.
4. the long-range drive system for robot according to claim 3, it is characterised in that: described input rotating disk is provided with steel wire rope fixture, and described output rotating disk is provided with steel wire rope fixture；One end of described steel wire rope is connected on described steel wire rope fixture, and it is wound on described input rotating disk by the circular groove on described input rotating disk, via the first described guide wheel assemblies guiding, enter described Bowden spool, the circular groove then passed through on described output rotating disk is wound on described output rotating disk, and is connected on described steel wire rope fixture.
5. the long-range drive system for robot according to claim 2, it is characterized in that: the second described Bowden cable is made up of steel wire rope and Bowden spool, described second is tightened up in adjustable column and the second described Bowden spool fixture and is equipped with shoulder hole, one end of described Bowden spool is inserted in the second described shoulder hole tightening up on adjustable column, the other end of described Bowden spool is inserted in the shoulder hole on the second described Bowden spool fixture, thus the Bowden spool secured the above, make described steel wire rope pass freely through simultaneously.
6. the long-range drive system for robot according to claim 5, it is characterised in that: described input rotating disk is provided with steel wire rope fixture, and described output rotating disk is provided with steel wire rope fixture；One end of described steel wire rope is connected on described steel wire rope fixture, and it is wound on described input rotating disk by the circular groove on described input rotating disk, via the second described guide wheel assemblies guiding, enter described Bowden spool, the circular groove then passed through on described output rotating disk is wound on described output rotating disk, and is connected on described steel wire rope fixture.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620213682.9U CN205394546U (en) | 2016-03-21 | 2016-03-21 | A long -range transmission system for robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620213682.9U CN205394546U (en) | 2016-03-21 | 2016-03-21 | A long -range transmission system for robot |
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| Publication Number | Publication Date |
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| CN205394546U true CN205394546U (en) | 2016-07-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620213682.9U Active CN205394546U (en) | 2016-03-21 | 2016-03-21 | A long -range transmission system for robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105563478A (en) * | 2016-03-21 | 2016-05-11 | 上海卓道医疗科技有限公司 | Long-distance transmission system for robot |
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2016
- 2016-03-21 CN CN201620213682.9U patent/CN205394546U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105563478A (en) * | 2016-03-21 | 2016-05-11 | 上海卓道医疗科技有限公司 | Long-distance transmission system for robot |
| CN105563478B (en) * | 2016-03-21 | 2024-02-06 | 上海卓道医疗科技有限公司 | Remote transmission system for robot |
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