JPH0152622B2 - - Google Patents
Info
- Publication number
- JPH0152622B2 JPH0152622B2 JP11774784A JP11774784A JPH0152622B2 JP H0152622 B2 JPH0152622 B2 JP H0152622B2 JP 11774784 A JP11774784 A JP 11774784A JP 11774784 A JP11774784 A JP 11774784A JP H0152622 B2 JPH0152622 B2 JP H0152622B2
- Authority
- JP
- Japan
- Prior art keywords
- shaft
- rotation
- rotating shafts
- joint
- present
- 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.)
- Expired
Links
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 7
- 238000005452 bending Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 239000003550 marker 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
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
-
- 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
- B25J17/0258—Two-dimensional joints
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
- G05B19/40—Open loop systems, e.g. using stepping motor
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Transmission Devices (AREA)
- Pivots And Pivotal Connections (AREA)
Description
【発明の詳細な説明】
（産業上の利用分野）
本発明は、２軸を結合するためのジヨイントに
関し、詳しくは軸端の運動を球状に行なうことの
できるジヨイントに関するものである。DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a joint for connecting two shafts, and more particularly to a joint that allows shaft ends to move in a spherical manner.
（従来技術とその問題点）
従来、軸端が球面上の任意の軌道を動き、かつ
前記軸端が姿勢を保つためには第１図に示すよう
に第１軸１の回転Ａ、第２軸２の回転Ｂ、及び第
３軸の回転Ｃをモータ等の駆動装置を用いて動作
するように組合せて実現するのが一般的であつ
た。すなわち、第１図における第１軸１と第２軸
２の回転Ａ，Ｂによつて、第３軸３の軸端が球面
上の任意の軌道を動く。また第３軸３の回転Ｃに
よつて第３軸３の軸端の姿勢を保つこともでき
る。例えば第２図は、第３軸３と第２軸２を回転
させず、第１軸１のみを回転させ第３軸３の先端
に付けた目印Ｆの動きを第１軸１上の方向から見
た場合を目印Ｆと目印Ｆの軌道F′の状態を示す。
このとき、第２軸２は第１軸１に対して一直線上
になるまでの回転ならば、目印Ｆの方向は第２図
のように変化しない。次に、第３図に示すように
目印Ｆの姿勢を保つように第１図に示す各軸を回
転させるには、第３軸３も回転させる必要が有つ
た。(Prior art and its problems) Conventionally, in order for the shaft end to move along an arbitrary trajectory on a spherical surface and maintain its posture, rotation A of the first shaft 1, rotation A of the second shaft 1, as shown in FIG. Generally, the rotation B of the shaft 2 and the rotation C of the third shaft were achieved by combining the rotations using a drive device such as a motor. That is, due to the rotations A and B of the first shaft 1 and the second shaft 2 in FIG. 1, the shaft end of the third shaft 3 moves along an arbitrary trajectory on the spherical surface. Further, the posture of the shaft end of the third shaft 3 can be maintained by the rotation C of the third shaft 3. For example, in Figure 2, only the first shaft 1 is rotated without rotating the third shaft 3 and the second shaft 2, and the movement of the mark F attached to the tip of the third shaft 3 is observed from the direction above the first shaft 1. The state of the landmark F and the trajectory F' of the landmark F is shown when viewed.
At this time, if the second axis 2 is rotated until it becomes on a straight line with respect to the first axis 1, the direction of the mark F will not change as shown in FIG. Next, in order to rotate each axis shown in FIG. 1 so as to maintain the posture of the landmark F as shown in FIG. 3, it was necessary to also rotate the third axis 3.
しかしながら、このような構造においては、３
自由度の回転軸が必要であり、回転軸の自由度に
応じてモータ等の駆動装置も必要であり、大きく
かつ複雑になる欠点が有つた。 However, in such a structure, 3
A rotary shaft with a degree of freedom is required, and a drive device such as a motor is also required depending on the degree of freedom of the rotary shaft, which has the disadvantage of being large and complicated.
（発明の目的）
本発明の目的は、このような従来の欠点を除去
せしめ、２軸による自由度において、軸端が球面
上の任意の軌道を動き、かつ軸端の姿勢を保つ、
構造が簡単でかつ小型である新規なジヨイントを
提供することにある。(Objective of the Invention) The object of the present invention is to eliminate such conventional drawbacks, and to provide a system in which the shaft end moves along an arbitrary trajectory on a spherical surface in two degrees of freedom, and maintains the posture of the shaft end.
An object of the present invention is to provide a new joint having a simple structure and a small size.
（発明の構成）
本発明によれば、２つの回転軸の各々一方の軸
端に前記回転軸に対して一定の角度を有して取付
けられた摺動板と、２つの前記回転軸の中心線が
常に交差し、かつ前記２つの摺動板の摺動面が互
に摺動するように配置し、相互の回転運動のみを
許容する結合手段とを含み構成されるジヨイント
が得られる。(Structure of the Invention) According to the present invention, there is provided a sliding plate attached to one end of each of the two rotating shafts at a constant angle with respect to the rotating shaft, and a center of the two rotating shafts. A joint is obtained which includes a connecting means that allows only mutual rotational movement, arranged so that the lines always intersect and the sliding surfaces of the two sliding plates slide against each other.
（構成の詳細な説明）
本発明のジヨイントの２つの回転軸に取付けた
摺動板の取付角度によつて定まる球状運動範囲内
を、２つの前記回転軸の前記摺動板が取付けられ
ていない軸端が２つの前記回転軸の中心線の交点
を中心とし、かつ前記回転軸の長さを半径とし
た、球面上の任意の軌道を２つの前記回転軸の回
転速度によつて定まる速度と回転角によつて定ま
る方向に運動することができる。また、軸端の球
面上の軌道長、云い変えれば２つの回転軸のなす
角を２つの回転軸の回転角度によつて決めること
ができる。(Detailed explanation of the configuration) The sliding plates of the two rotating shafts of the joint of the present invention move within the spherical movement range determined by the mounting angles of the sliding plates attached to the two rotating shafts. An arbitrary orbit on a spherical surface whose shaft ends are centered at the intersection of the center lines of the two rotational axes and whose radius is the length of the rotational axes is determined by the rotational speed of the two rotational axes. It can move in the direction determined by the rotation angle. Further, the orbit length on the spherical surface of the shaft end, in other words, the angle formed by the two rotation axes can be determined by the rotation angle of the two rotation axes.
（実施例）
以下、本発明について実施例に示す図面を参照
して説明する。(Example) The present invention will be described below with reference to drawings shown in Examples.
第４図は本発明におけるジヨイントの構成を説
明するための図である。２つの回転軸４，５の
各々一方の軸端に回転軸に対して一定の角度で取
付けた摺動板４０，５０とから成る。第５図は第
４図の側面図であり、一部を破断に示し、その動
作を説明するための図である。２つの回転軸４，
５の中心線４Ｃ，５Ｃの交点Ｐで交差するように
摺動板４０，５０をベアリング６を結合手段とし
て結合する。また同図において回転軸４が回転し
た場合の回転軸４′と中心線４′Ｃの状態を２点鎖
線で示す。第５図から明らかなように、回転軸
４，５に対して摺動板４０，５０が角度を有して
いるため、各々の前記回転軸４，５の回転角度に
より、回転軸の前記中心線４Ｃと５Ｃが交差する
角度及び方向が定まる。 FIG. 4 is a diagram for explaining the structure of the joint in the present invention. It consists of sliding plates 40, 50 attached to one end of each of the two rotating shafts 4, 5 at a constant angle with respect to the rotating shafts. FIG. 5 is a side view of FIG. 4, partially broken away, for explaining the operation. two rotating shafts 4,
The sliding plates 40 and 50 are connected using the bearing 6 as a connecting means so that the center lines 4C and 5C of the sliders 5 intersect at the intersection P. Further, in the figure, the state of the rotating shaft 4' and the center line 4'C when the rotating shaft 4 rotates is shown by a two-dot chain line. As is clear from FIG. 5, since the sliding plates 40 and 50 have an angle with respect to the rotation shafts 4 and 5, the rotation angle of each of the rotation shafts 4 and 5 causes the center of the rotation shaft to The angle and direction at which lines 4C and 5C intersect are determined.
第６図は第４図に示した本発明の一実施例を示
す図で、本発明のジヨイントと公知のユニバーサ
ルジヨイント９とモータ７，８により構成したも
のである。第６図を参照すれば回転軸４，５の摺
動板４０，５０が取付けられていない軸端に各々
モータの出力軸７０，８０を結合し、さらにユニ
バーサルジヨイント９はモータ７，８の出力側の
モータフレームに固定した場合を示す。今、モー
タ８のモータフレームを図示していない基盤に固
定し、モータ７，８の出力軸を各々回転させる
と、第７図に示すように、２つの回転軸４，５の
長さ及び前記回転軸４，５に取付けた摺動板４
０，５０の角度によつて、前記回転軸４，５の中
心線の交点Ｐを中心とし、かつ前記回転軸４の長
さとモータ７の長さの和を半径とした、球状運動
範囲１０内の球面上の任意の軌道を２つの前記回
転軸４，５の回転速度によつて定まる速度と回転
角によつて定まる方向に運動することが出来る。 FIG. 6 is a diagram showing one embodiment of the present invention shown in FIG. 4, which is constructed by the joint of the present invention, a known universal joint 9, and motors 7, 8. Referring to FIG. 6, the output shafts 70 and 80 of the motors are connected to the shaft ends of the rotating shafts 4 and 5 to which the sliding plates 40 and 50 are not attached, respectively, and the universal joint 9 is connected to This shows the case where it is fixed to the motor frame on the output side. Now, when the motor frame of the motor 8 is fixed to a base (not shown) and the output shafts of the motors 7 and 8 are rotated, as shown in FIG. Sliding plate 4 attached to rotating shafts 4 and 5
0.50, within a spherical motion range 10 whose center is the intersection point P of the center lines of the rotation shafts 4 and 5, and whose radius is the sum of the length of the rotation shaft 4 and the length of the motor 7. It is possible to move on an arbitrary trajectory on the spherical surface of the rotary shaft in a direction determined by the speed determined by the rotational speed of the two rotating shafts 4 and 5 and the rotation angle.
（発明の効果）
以上のように本発明によれば、第７図に示すよ
うにユニバーサルジヨイント９とモータ７，８が
固定されているため、モータ７の空間位置は球状
運動を行うがモータ７自身はユニバーサルジヨイ
ント９によつてねじれを生じることなく自由に屈
折するため、第１図に示した従来方式で目印Ｆを
第３図のように姿勢を保つようにモータ７の先端
部を運動させることが出来る。また、駆動源とな
るモータが２個でよく、屈折部が一点に集中して
いるためコンパクトなジヨイントが得られ、その
効果は多大なものがある。(Effects of the Invention) As described above, according to the present invention, since the universal joint 9 and the motors 7 and 8 are fixed as shown in FIG. 7 itself is bent freely by the universal joint 9 without twisting, so the tip of the motor 7 is moved using the conventional method shown in FIG. It can be exercised. In addition, only two motors are required as a driving source, and since the bending portion is concentrated at one point, a compact joint can be obtained, which has great effects.
第１図は従来のジヨイントの一例を示す斜視
図、第２図と第３図は目印Ｆの状態を示す図、第
４図は本発明におけるジヨイントの構成を説明す
るための図、第５図は第４図の側面図であつて本
発明の原理を説明するための図、第６図は本発明
の一実施例を示す図、第７図は第６図の動作を説
明するための図。
図において、１…第１軸、２…第２軸、３…第
３軸、４，４′，５…回転軸、６…ベアリング、
７，８…モータ、９…ユニバーサルジヨイント、
１０…動作軌跡、４Ｃ，４C′，５Ｃ…中心線、４
０，５０…摺動板、７０，８０…モータ出力軸、
Ａ，Ｂ…第１，２軸の回転方向、Ｐ…各回転軸の
中心線の交点、Ｆ…目印Ｆ、F′…目印Ｆの軌道。
Figure 1 is a perspective view showing an example of a conventional joint, Figures 2 and 3 are diagrams showing the state of mark F, Figure 4 is a diagram for explaining the configuration of the joint in the present invention, and Figure 5. is a side view of FIG. 4 and is a diagram for explaining the principle of the present invention, FIG. 6 is a diagram showing an embodiment of the present invention, and FIG. 7 is a diagram for explaining the operation of FIG. 6. . In the figure, 1...first axis, 2...second axis, 3...third axis, 4, 4', 5...rotating axis, 6...bearing,
7, 8...Motor, 9...Universal joint,
10... Motion locus, 4C, 4C', 5C... Center line, 4
0, 50...Sliding plate, 70, 80...Motor output shaft,
A, B...Rotation direction of the first and second axes, P...Intersection of center lines of each rotation axis, F...Marker F, F'...Trajectory of mark F.
Claims (1)
記回転軸に対して一定の角度を有して取付けられ
た摺動板と、２つの前記回転軸の中心線が常に交
差し、かつ前記２つの摺動板の摺動面が互に摺動
するようにして配置し、相互の回転運動のみを許
容する結合手段とを含み構成されることを特徴と
するジヨイント。1. A sliding plate attached to one end of each of the two rotating shafts at a certain angle with respect to the rotating shaft, and the center lines of the two rotating shafts always intersect, and 1. A joint characterized in that the sliding surfaces of two sliding plates are arranged so as to slide against each other, and include coupling means that allows only mutual rotational movement.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11774784A JPS60260720A (en) | 1984-06-08 | 1984-06-08 | Joint |
| US06/742,711 US4683406A (en) | 1984-06-08 | 1985-06-07 | Joint assembly movable like a human arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11774784A JPS60260720A (en) | 1984-06-08 | 1984-06-08 | Joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS60260720A JPS60260720A (en) | 1985-12-23 |
| JPH0152622B2 true JPH0152622B2 (en) | 1989-11-09 |
Family
ID=14719308
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP11774784A Granted JPS60260720A (en) | 1984-06-08 | 1984-06-08 | Joint |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60260720A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106246841A (en) * | 2016-07-28 | 2016-12-21 | 廖啟征 | A kind of high intensity high efficiency spheric motion auxiliary lever drive mechanism |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4493767B2 (en) * | 1999-11-25 | 2010-06-30 | Ｔｈｋ株式会社 | Universal joint |
| KR100355634B1 (en) * | 2000-06-01 | 2002-10-11 | 최혁렬 | Robot joint apparatus |
| CN103624802A (en) * | 2013-12-09 | 2014-03-12 | 广西大学 | Electromagnetic limiting device for robot mechanism |
| CN109048959B (en) * | 2018-09-10 | 2022-02-08 | 广东宏穗晶科技服务有限公司 | Arm for robot capable of flexibly steering |
-
1984
- 1984-06-08 JP JP11774784A patent/JPS60260720A/en active Granted
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106246841A (en) * | 2016-07-28 | 2016-12-21 | 廖啟征 | A kind of high intensity high efficiency spheric motion auxiliary lever drive mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS60260720A (en) | 1985-12-23 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EXPY | Cancellation because of completion of term |