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Wire transmission type four-connecting-rod mechanism

A technology of four-bar linkage mechanism and wire transmission, which is applied in the field of mechanical arms, can solve the problems of large friction torque of gravity torque, etc., and achieve the effect of reducing friction torque, reducing joint gravity torque, and reducing output power

Inactive Publication Date: 2019-08-20
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The present invention is to solve the problem of the large gravity moment and friction moment of the joint structure of the existing serial robot

Method used

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  • Wire transmission type four-connecting-rod mechanism
  • Wire transmission type four-connecting-rod mechanism
  • Wire transmission type four-connecting-rod mechanism

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0023] Specific implementation mode one: combine figure 1 , figure 2 and image 3 Describe this embodiment. In this embodiment, the wire-driven four-bar linkage mechanism includes an elbow motor mount 1-3, an elbow pitch motor 3-3, an elbow link 1-6, and a forearm body 2. -2, large arm body 2-4, shoulder pitching seat 2-8, shoulder pitching motor 2-9, elbow wire transmission deceleration mechanism and shoulder wire transmission deceleration mechanism, elbow pitch motor 3-3 is fixedly installed on On the elbow motor mounting base 1-3, the elbow motor mounting base 1-3 and the shoulder pitching motor 2-9 are jointly fixedly installed on the shoulder pitching seat 2-8, and the elbow pitching motor 3-3 passes through the elbow wire The transmission reduction mechanism drives the elbow connecting rod 1-6 to swing, the shoulder pitch motor 2-9 drives the big arm body 2-4 to swing through the shoulder wire transmission reduction mechanism, and one end of the elbow connecting rod 1...

specific Embodiment approach 2

[0028] Specific implementation mode two: combination Figure 4 Describe this embodiment, the elbow wire drive deceleration mechanism described in this embodiment includes an elbow upper wire 1-1, an elbow lower wire 1-2, an elbow wire drive driving wheel 1-4 and an elbow wire drive disc 2-1, an upper elbow wire fixing column 1-9 and a lower elbow wire fixing column 1-8 are respectively arranged on the board surface of the elbow wire transmission disc 2-1, along which the elbow wire transmission disc 2-1 There is an arc-shaped protrusion on the arc-shaped edge of the arc-shaped protrusion, and there are two gaps on the arc-shaped protrusion, which are respectively the silk gap 2-1-2 at the lower part of the elbow and the silk gap 2-1-1 at the upper part of the elbow, and the upper part of the elbow The wire fixing column 1-9 is set close to the wire gap 2-1-2 at the lower part of the elbow, the wire fixing column 1-8 at the lower elbow is set close to the wire gap 2-1-1 at the ...

specific Embodiment approach 3

[0033] Specific implementation mode three: combination Figure 5 Describe this embodiment, the shoulder wire transmission deceleration mechanism described in this embodiment includes shoulder wire drive disc 2-6, shoulder upper wire 3-2, shoulder lower wire 3-1 and shoulder wire drive drive wheel 2-7,

[0034] A shoulder upper silk fixing column 3-5 and a shoulder lower silk fixing column 3-6 are arranged respectively on the board surface of the shoulder silk driving disk 2-6, along the arc edge of the shoulder silk driving disk 2-6. There is an arc-shaped protrusion at the center, and there are two gaps on the arc-shaped protrusion, which are the wire gap 2-6-2 in the lower part of the shoulder and the wire gap 2-6-1 in the upper part of the shoulder, and the wire fixing column 3 in the upper part of the shoulder. -5 is arranged near the wire gap 2-6-2 at the bottom of the shoulder, and the wire fixing column 3-6 at the bottom of the shoulder is arranged near the wire gap 2-...

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Abstract

The invention discloses a wire transmission type four-connecting-rod mechanism and belongs to the technical field of mechanical arms. The wire transmission type four-connecting-rod mechanism aims at solving the problem that the gravitational torque and friction moment of each joint structure of an existing series robot are large. The wire transmission type four-connecting-rod mechanism comprises an elbow motor mounting seat, an elbow pitching motor, an elbow connecting rod, a small arm body, a large arm body, a shoulder pitching seat, a shoulder pitching motor, an elbow wire transmission speedreduction mechanism and a shoulder wire transmission speed reduction mechanism. The elbow pitching motor is fixedly mounted on the elbow motor mounting seat. The elbow motor mounting seat and the shoulder pitching motor are jointly fixedly mounted on the shoulder pitching seat. The elbow pitching motor drives the elbow connecting rod to swing through the elbow wire transmission speed reduction mechanism. The shoulder pitching motor drives the large arm body to swing through the shoulder wire transmission speed reduction mechanism. One end of the elbow connecting rod and the tail end of the small arm body form a rotating joint. One end of the large arm body and the middle of the small arm body form a rotating joint. The wire transmission type four-connecting-rod mechanism is mainly appliedto a mechanical arm of a robot.

Description

technical field [0001] The invention relates to a wire-driven four-bar linkage mechanism capable of reducing gravitational moment and frictional moment. It belongs to the technical field of mechanical arms. Background technique [0002] Today, with the development of the joint structure of series robots, especially for the requirements of the series structure, on the premise of meeting the reasonable design, the overall structure is required to be more compact, the layout is more compact and reasonable, and the direction of reducing the gravitational moment and frictional moment is required. It is currently used in the robot arm. The structure in this paper cannot solve these two problems very well, and most of them still drive the joint action with a motor-accelerated reducer. For this mechanism, if a gear reducer is used to achieve a large reduction ratio, the friction torque of the joint will be increased. Contents of the invention [0003] The invention aims to solve ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/02B25J9/10B25J9/12
CPCB25J9/104B25J9/12B25J17/0266
Inventor 孙立宁杜志江闫志远李逸成
Owner HARBIN INST OF TECH
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