Robot joint stepless speed change device

Abstract

The invention provides a robot joint stepless speed change device. The robot joint stepless speed change device is characterized in that a left support which can be moved under driving of a hydrauliccylinder and a fixed right support serve as a frame, an input eccentric shaft is arranged on the right support, an output shaft is arranged on the left support, power is transmitted through a planetary speed reducing mechanism, a pair of sun belt wheels of the planetary speed reducing mechanism are in transmission with a pair of planetary belt wheels through a transmission belt, the left sun beltwheel and the right planetary belt wheel are correspondingly connected with the left support and can be axially parallel along with the left support, and then the axial distance between the pair of sun belt wheels and the pair of planetary belt wheels can be adjusted. According to the robot joint stepless speed change device, the effective working radius of the transmission belt on the pair of sunbelt wheels and the pair of planetary belt wheels can be changed, so that the transmission ratio is changed, and stepless speed change is realized.

Description

technical field [0001] The invention relates to the field of mechanical equipment, in particular to a continuously variable transmission device for robot joints. Background technique [0002] The robot system is a whole composed of the robot, the operating object and the environment, including four parts: the mechanical system, the drive system, the control system and the perception system. A robot is an automated machine that has some intelligent abilities similar to humans or creatures, such as perception, planning, action, and coordination. It is an automated machine with high flexibility. The robot body mainly includes three key components: reducer, controller, and drive motor. They also occupy a large part of the cost of the robot industry, and together determine the performance, quality and price of the product. [0003] Compared with general-purpose reducers, robot reducers are required to have the characteristics of compact structure, high transmission power, low no...

AI Technical Summary

Problems solved by technology

Due to the particularity of the work, the output speed and torque of the robot joint need to be changed frequently. When the robot joint uses a motor with a fixed speed ratio reducer to work, the fixed speed ratio will cause the joint to work far below the peak efficiency or peak power of the motor. , this matching method is difficult to give full play to the optimal performance of the motor

Variable ratio reducers enable motors to operate near their peak efficiency or peak power, but have not been used in robotics products due to their size, weight, and complex structure

Images