CN101380737A - Initiative hook joint mechanism with output driving shaft inside - Google Patents
Initiative hook joint mechanism with output driving shaft inside Download PDFInfo
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- CN101380737A CN101380737A CNA2008102226774A CN200810222677A CN101380737A CN 101380737 A CN101380737 A CN 101380737A CN A2008102226774 A CNA2008102226774 A CN A2008102226774A CN 200810222677 A CN200810222677 A CN 200810222677A CN 101380737 A CN101380737 A CN 101380737A
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- hooke
- hinge
- gear
- shaft
- sleeve
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Abstract
The present invention discloses a driving hook joint mechanism which is provided with a driving shaft internally. The driving hook joint mechanism comprises a driving unit, a middle moving unit and a front end moving unit. The driving unit consists of a wobbling motor A (1A), a wobbling motor B (1B) and a rotary motor (1C) which are respectively arranged on a rear mounting plate (2). The middle moving unit is arranged between the rear mounting plate (2) and a front mounting plate (1) and is provided with an assembly structure with a guide screw, a sleeve and hook joints. The two ends of the guide screw are provided with the connection form of the hook joint, thereby ensuring that the guide screw transfers torsion and axial force during the transmission process and also swings automatically in conformance with the gesture change of the front mounting plate (1). The front end moving unit consists of the front mounting plate (1), a support table (7), an output turnplate (3), a gear A (5), a gear shaft A (5a), a gear B (6) and a gear shaft B (5a). The hook joint mechanism can control any gesture of the output turnplate (3) exactly in a tapered space by controlling different operation of the three motors.
Description
Technical field
The present invention relates to a kind of active hook joint mechanism of built-in output driving shaft, this mechanism can realize the active rotation function around the space three axes, and on this basis, initiatively the Hooke's hinge end can be exported than high pulling torque.
Background technology
Initiatively hook joint mechanism is that a class is used for the mechanism form that the device attitude is adjusted, and this mechanism can be implemented in actions such as pitching in the three-dimensional space, beat, rotation, can be used for fields such as robot, microoperation, Medical Devices, scientific research apparatus.
Traditional active hook joint mechanism mainly adopts the tandem drive form to realize initiatively Hooke's hinge function, and by series connection is to drive the Hooke's hinge action mutually before and after a plurality of drivings joint, the mutual decoupling zero in each joint has the simple advantage of control.But for serial mechanism, the drawbacks limit that it is intrinsic such initiatively application of hook joint mechanism.Its main shortcoming can be summarized as follows:
1) the overall structure dispersion is huge, is unfavorable for that narrow space uses;
2) load mutual superposition at different levels, level joint, front and back loading condition difference is bigger, in some cases, invalid load even can surpass pay(useful) load;
3) structural rigidity is lower, uses under the higher occasion of the speed of service and is subjected to certain limitation;
4) effectively export lessly,, might further worsen working condition if realize needing to use big speed ratio reductor and high pulling torque motor than high pulling torque output;
Summary of the invention
The active hook joint mechanism that the objective of the invention is a kind of built-in output driving shaft, this mechanism adopts the implementation of parallel institution as the active Hooke's hinge, can carry out controlling to the output rotating disk, promptly can realize the pitching of active Hooke's hinge, the active adjustment and the control of rocking, rotating around the three-degree-of-freedom motion at Hooke's hinge center.Each motion of this mechanism is separate, can realize single dof mobility, also can realize the Three Degree Of Freedom interlock.At the output rotating disk of active Hooke's hinge, can export continuous rotation torque, realizing on the basis that attitude is adjusted, can be used as unit head and use.
The present invention is a kind of active hook joint mechanism of built-in output driving shaft, includes driver element, intermediary movements unit and nose motion unit; A beat motor, B beat motor, electric rotating machine are installed in respectively on the installing plate of back and constitute driver element; Be provided with the intermediary movements unit between back installing plate and the front mounting plate, this intermediary movements unit adopts the assembly structure of leading screw, sleeve, Hooke's hinge; Front mounting plate, brace table, output rotating disk, A gear, A gear shaft, B gear, B gear shaft constitute the nose motion unit.
The active hook joint mechanism of the built-in output driving shaft of the present invention uses parallel institution as implementation, overcome the defective of the hook joint mechanism of tandem drive form realization effectively, and had advantages such as compact conformation, mechanism's inertia is little, output torque big, mechanism's rigidity is better.And the output output steady torque at the active Hooke's hinge can realize continuous rotation, is realizing on the basis that attitude is adjusted, and can be used as unit head and uses.This mechanism has enlarged the initiatively application of Hooke's hinge, and is all applicable in industrial occasions such as retrofit, machinery assembling, operated from a distances.
Description of drawings
Fig. 1 is the structure chart of the active hook joint mechanism of the built-in output driving shaft of the present invention.
Fig. 2 is the assembling diagrammatic sketch of installing plate and three motors behind the present invention.
Fig. 2 A is the blast diagrammatic sketch of G Hooke's hinge of the present invention.
Fig. 3 is the blast diagrammatic sketch of nose motion of the present invention unit.
Fig. 3 A is the lower face structure chart of front mounting plate of the present invention.
Fig. 4 is the assembling diagrammatic sketch of six Hooke's hinges of the present invention and sleeve, leading screw.
Among the figure: 1. the positive plate face of front mounting plate 1a. 1b. lower face 101.A joint pin 102.B joint pin 103.C joint pin 104.C through hole 105. counter sink 1A.A beat motor 1B.B beat motor 1C. electric rotating machines 2. rear installing plate 2a. upper face 201.A motor shaft support set 202.B motor shaft support set 203.C motor shaft support set 3. output rotating disk 3a. links 4. support bar 5.A gear 5a.A gear shaft 6.B gear 6a.B gear shafts 7. brace table 701.A through hole 702.B through hole 11.A Hooke's hinge 11a.A end 11b.B end 12.B Hooke's hinge 12a.A end 12b.B hold 13.C Hooke's hinge 13a.A end 13b.B end 14.D Hooke's hinge 14a.A end 14b.B end 15.E Hooke's hinge 15a.A to hold 15b.B end 16.F Hooke's hinge 16a.A end 16b.B end 17.G Hooke's hinge 17a.A end 17b.B to hold 17c. cross axle 21.A sleeve 22.B sleeve 23.C sleeve 31.A leading screw 32.B leading screw 33. spline shafts
The specific embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
See also Fig. 1, shown in Figure 3, the active hook joint mechanism of a kind of built-in output driving shaft of the present invention includes front mounting plate 1, brace table 7, back installing plate 2, output rotating disk 3, A gear 5, A gear shaft 5a, B gear 6, B gear shaft 6a, A beat motor 1A, B beat motor 1B, electric rotating machine 1C, A Hooke's hinge 11, B Hooke's hinge 12, C Hooke's hinge 13, D Hooke's hinge 14, E Hooke's hinge 15, F Hooke's hinge 16, G Hooke's hinge 17, A sleeve 21, B sleeve 22, C sleeve 23, A leading screw 31, B leading screw 32, spline shaft 33;
Back installing plate 2, A beat motor 1A, B beat motor 1B and electric rotating machine 1C constitute driver element.A beat motor 1A, B beat motor 1B and electric rotating machine 1C adopt DC servo motor.
A Hooke's hinge 11, B Hooke's hinge 12, C Hooke's hinge 13, D Hooke's hinge 14, E Hooke's hinge 15, F Hooke's hinge 16, G Hooke's hinge 17, A sleeve 21, B sleeve 22, C sleeve 23, A leading screw 31, B leading screw 32, spline shaft 33 constitute the intermediary movements unit.
In the present invention, A Hooke's hinge 11, B Hooke's hinge 12, C Hooke's hinge 13, D Hooke's hinge 14, E Hooke's hinge 15, F Hooke's hinge 16 are identical with the structure of G Hooke's hinge 17, see also shown in Fig. 2 A.
See also shown in Figure 2ly, the upper face 2a of back installing plate 2 is provided with support bar 4, A motor shaft support set 201, B motor shaft support set 202, C motor shaft support set 203; The link of support bar 4 is connected with the A end 17a of G Hooke's hinge 17;
A beat motor 1A is installed on the lower face of back installing plate 2, and the output shaft of A beat motor 1A stretches out A motor shaft support set 201 back and holds 12a to be connected with the A of B Hooke's hinge 12;
In the present invention, A beat motor 1A, B beat motor 1B are fixed on the installing plate 2 of back, and the output shaft of the output shaft of A beat motor 1A, B beat motor 1B links to each other with front mounting plate 1 by Hooke's hinge, leading screw separately, can control pitching, the beat attitude of front mounting plate 1 by the output parameter of control motor (A beat motor 1A, B beat motor 1B); Output rotating disk 3 also changes with the attitude of front mounting plate 1.
See also shown in Fig. 2 A, G Hooke's hinge 17 is made of the A end 17a of G Hooke's hinge, the B end 17b and the cross axle 17c of G Hooke's hinge, and cross axle 17c is connected to the lug of the A end 17a of G Hooke's hinge, the B of G Hooke's hinge holds on the lug of 17b.The A end 17a of G Hooke's hinge and being connected of support bar 4 one ends, the B end 17b of G Hooke's hinge is connected with C joint pin 103.
See also shown in Fig. 3, Fig. 3 A, the positive plate face 1a of front mounting plate 1 is provided with counter sink 105, C through hole 104; The lower face 1b of front mounting plate 1 is provided with A joint pin 101, B joint pin 102, C joint pin 103.A joint pin 101 is connected with the B end 11b of A Hooke's hinge 11, and B joint pin 102 is connected with the B end 15b of E Hooke's hinge 15, and C joint pin 103 is connected with the B end 17b of G Hooke's hinge 17.
Brace table 7 is provided with A through hole 701, B through hole 702.Brace table 7 is installed on the positive plate face 1a of front mounting plate 1.
On the A gear 5 socket A gear shaft 5a, on the B gear 6 socket B gear shaft 6a, A gear 5 and 6 engagements of B gear; The end of A gear shaft 5a is installed in the counter sink 105, and the other end of A gear shaft 5a is installed on the link 3a of output rotating disk 3; C through hole 104 backs that the end of B gear shaft 6a passes on the front mounting plate 1 are connected with the B end 13b of C Hooke's hinge 13, and the other end of B gear shaft 6a is installed in the B through hole 702 of brace table 7.
The upper face of output rotating disk 3 is provided with an arrow, and this arrow is used to indicate the direction of rotation; The lower face of output rotating disk 3 is provided with link 3a, and this link 3a is connected (end of A gear shaft 5a is installed in the counter sink 105) with the other end of A gear shaft 5a, and fixes by pin.
See also shown in Figure 4ly, an end of A sleeve 21 and the A of A Hooke's hinge 11 end 11a is connected, and the other end of A sleeve 21 is socketed with an end of A leading screw 31, and the other end of A leading screw 31 holds 12b to be connected with the B of B Hooke's hinge 12, and two ends all adopt pin to fix;
One end of B sleeve 22 is connected with the A of E Hooke's hinge 15 end 15a, and the other end of B sleeve 22 is socketed with an end of B leading screw 32, and the other end of B leading screw 32 is connected with the B end 16b of F Hooke's hinge 16, and two ends all adopt pin to fix;
The present invention adopts the leading screw two ends that the connecting mode of Hooke's hinge is all arranged, and can make leading screw transmit moment of torsion and axial force in transmission process, and changes to comply with automatically with the attitude of front mounting plate 1 and rock.
One end of C sleeve 23 is connected with the A of C Hooke's hinge 13 end 13a, and the other end of C sleeve 23 is socketed with an end of spline shaft 33, and the other end of spline shaft 33 is connected with the B end 14b of D Hooke's hinge 14, and two ends all adopt pin to fix; Spline shaft 33 is used to transmit moment of torsion, when the present invention's active hook joint mechanism pitching beat, can stretch automatically and comply with its attitude variation.
The active hook joint mechanism of the built-in output driving shaft of the present invention course of action have:
(1) A beat motor 1A, B beat motor 1B work simultaneously, when electric rotating machine 1A quits work:
A leading screw 31 moves up and down A leading screw 31 under the driving of A beat motor 1A in A sleeve 21;
When electric rotating machine 1C quit work, C sleeve 23 was merely able to endwisely slip along spline shaft 33;
Motion in the time of A sleeve 21 and B sleeve 22 make front mounting plate 1 make the beat motion, and then output rotating disk 3 is also made the beat motion.
(2) A beat motor 1A, B beat motor 1B, when electric rotating machine 1A works simultaneously:
A leading screw 31 moves up and down A leading screw 31 under the driving of A beat motor 1A in A sleeve 21;
Motion in the time of A sleeve 21 and B sleeve 22 makes output rotating disk 3 (front mounting plate 1 is consistent with the beat motion of output rotating disk 3) make beat and moves; The rotation of B gear 6 and A gear 5 makes output rotating disk 3 realize rotating around rotation centerline, and exporting rotating disk 3 like this can have beat to move, also have rotational motion.
The active hook joint mechanism of the built-in output driving shaft of the present invention's design is by controlling the different operating of a plurality of motors (A beat motor 1A, B beat motor 1B, electric rotating machine 1A), can realize in a cone space that the physical size that A leading screw 31, B leading screw 32, spline shaft 33 match is depended in the territory of this cone space to the accurate control of output rotating disk 3 any poses.
Claims (1)
1, a kind of active hook joint mechanism of built-in output driving shaft is characterized in that: include output rotating disk (3), A gear (5), A gear shaft (5a), B gear (6), B gear shaft (6a), front mounting plate (1), brace table (7), back installing plate (2), A beat motor (1A), B beat motor (1B), electric rotating machine (1C), A Hooke's hinge (11), B Hooke's hinge (12), C Hooke's hinge (13), D Hooke's hinge (14), E Hooke's hinge (15), F Hooke's hinge (16), G Hooke's hinge (17), A sleeve (21), B sleeve (22), C sleeve (23), A leading screw (31), B leading screw (32), spline shaft (33);
Back installing plate (2), A beat motor (1A), B beat motor (1B) and electric rotating machine (1C) constitute driver element;
A Hooke's hinge (11), B Hooke's hinge (12), C Hooke's hinge (13), D Hooke's hinge (14), E Hooke's hinge (15), F Hooke's hinge (16), G Hooke's hinge (17), A sleeve (21), B sleeve (22), C sleeve (23), A leading screw (31), B leading screw (32), spline shaft (33) constitute the intermediary movements unit; A Hooke's hinge (11), B Hooke's hinge (12), C Hooke's hinge (13), D Hooke's hinge (14), E Hooke's hinge (15), F Hooke's hinge (16) are identical with the structure of G Hooke's hinge (17); G Hooke's hinge (17) is made of the A end (17a) of G Hooke's hinge, the B end (17b) and the cross axle (17c) of G Hooke's hinge, and cross axle (17c) is connected to the lug of the A end (17a) of G Hooke's hinge, the B of G Hooke's hinge holds on the lug of (17b); The A end (17a) of G Hooke's hinge and being connected of support bar (4) one ends, the B end (17b) of G Hooke's hinge is connected with C joint pin (103);
Front mounting plate (1), brace table (7), output rotating disk (3), A gear (5), A gear shaft (5a), B gear (6), B gear shaft (6a) constitute the nose motion unit;
The upper face (2a) of back installing plate (2) is provided with support bar (4), A motor shaft support set (201), B motor shaft support set (202), C motor shaft support set (203); The link of support bar (4) is connected with the A end (17a) of G Hooke's hinge (17); A beat motor (1A) is installed on the lower face of back installing plate (2), and the output shaft of A beat motor (1A) stretches out, and A motor shaft support set (201) is back to be connected with the A end (12a) of B Hooke's hinge (12); B beat motor (1B) is installed on the lower face of back installing plate (2), and the output shaft of B beat motor (1B) stretches out, and B motor shaft support set (202) is back to be connected with the A end (16a) of F Hooke's hinge (16); Electric rotating machine (1C) is installed on the lower face of back installing plate (2), and the output shaft of C beat motor (1C) stretches out, and C motor shaft support set (203) is back to be connected with the A end (14a) of D Hooke's hinge (14);
The positive plate face (1a) of front mounting plate (1) is provided with counter sink (105), C through hole (104); The lower face (1b) of front mounting plate (1) is provided with A joint pin (101), B joint pin (102), C joint pin (103); A joint pin (101) is connected with the B end (11b) of A Hooke's hinge (11), and B joint pin (102) is connected with the B end (15b) of E Hooke's hinge (15), and C joint pin (103) is connected with the B end (17b) of G Hooke's hinge (17);
Brace table (7) is provided with A through hole (701), B through hole (702); Brace table (7) is installed on the positive plate face (1a) of front mounting plate (1);
On A gear (5) the socket A gear shaft (5a), on B gear (6) the socket B gear shaft (6a), A gear (5) and B gear (6) engagement; One end of A gear shaft (5a) is installed in the counter sink (105), and the other end of A gear shaft (5a) is installed on the link (3a) of output rotating disk (3); C through hole (104) back that one end of B gear shaft (6a) passes on the front mounting plate (1) is connected with the B end (13b) of C Hooke's hinge (13), and the other end of B gear shaft (6a) is installed in the B through hole (702) of brace table (7);
The lower face of output rotating disk (3) is provided with link (3a), and this link (3a) is connected with the other end of A gear shaft (5a), and fixes by pin;
One end of A sleeve (21) is connected with the A end (11a) of A Hooke's hinge (11), and the other end of A sleeve (21) is socketed with an end of A leading screw (31), and the other end of A leading screw (31) is connected with the B end (12b) of B Hooke's hinge (12), and two ends all adopt pin to fix;
One end of B sleeve (22) is connected with the A end (15a) of E Hooke's hinge (15), and the other end of B sleeve (22) is socketed with an end of B leading screw (32), and the other end of B leading screw (32) is connected with the B end (16b) of F Hooke's hinge (16), and two ends all adopt pin to fix;
One end of C sleeve (23) is connected with the A end (13a) of C Hooke's hinge (13), the other end of C sleeve (23) is socketed with an end of spline shaft (33), the other end of spline shaft (33) is connected with the B end (14b) of D Hooke's hinge (14), and two ends all adopt pin to fix.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008102226774A CN101380737B (en) | 2008-09-22 | 2008-09-22 | Initiative hook joint mechanism with output driving shaft inside |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008102226774A CN101380737B (en) | 2008-09-22 | 2008-09-22 | Initiative hook joint mechanism with output driving shaft inside |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101380737A true CN101380737A (en) | 2009-03-11 |
| CN101380737B CN101380737B (en) | 2010-09-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008102226774A Expired - Fee Related CN101380737B (en) | 2008-09-22 | 2008-09-22 | Initiative hook joint mechanism with output driving shaft inside |
Country Status (1)
| Country | Link |
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| CN (1) | CN101380737B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102962848A (en) * | 2012-11-14 | 2013-03-13 | 北京航空航天大学 | Three-degree-of-freedom parallel mechanism for wrists and shoulders of robot |
| CN103552089A (en) * | 2013-10-22 | 2014-02-05 | 北京航空航天大学 | Series-parallel connection ball joint device |
| CN103884373A (en) * | 2014-02-26 | 2014-06-25 | 北京航空航天大学 | Composite load simulator for achieving multidimensional pure bending moment and tensile pressure |
| CN109506089A (en) * | 2018-11-30 | 2019-03-22 | 西安海康普德智能装备有限公司 | A kind of balance and stability device and application method supporting high speed rotation camera |
| CN110905793A (en) * | 2020-01-06 | 2020-03-24 | 浙江大学 | Fluid driving device for three-cavity soft actuator |
| CN113027934A (en) * | 2021-02-26 | 2021-06-25 | 天津大学 | Isomorphic Hooke hinge wire driving device |
| WO2023173517A1 (en) * | 2022-03-14 | 2023-09-21 | 天津大学 | Flexible wire-driven fracture reduction surgical robot |
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| CN100354069C (en) * | 2003-04-10 | 2007-12-12 | 哈尔滨工业大学 | Six-degree of freedom precise parallel macroscopic moving positioning stage and cone axis hookes coupling used for same |
| CN100385132C (en) * | 2006-06-23 | 2008-04-30 | 哈尔滨工业大学 | Split Hooke's hinge |
| CN100453833C (en) * | 2007-03-30 | 2009-01-21 | 北京航空航天大学 | Large deformation flexible Hooke's hinge with virtual rotating center |
| CN101113766A (en) * | 2007-08-30 | 2008-01-30 | 东北大学 | Hook joint with controllable damping moment |
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- 2008-09-22 CN CN2008102226774A patent/CN101380737B/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102962848A (en) * | 2012-11-14 | 2013-03-13 | 北京航空航天大学 | Three-degree-of-freedom parallel mechanism for wrists and shoulders of robot |
| CN103552089A (en) * | 2013-10-22 | 2014-02-05 | 北京航空航天大学 | Series-parallel connection ball joint device |
| CN103552089B (en) * | 2013-10-22 | 2015-08-12 | 北京航空航天大学 | A kind of Series-parallel connection ball joint device |
| CN103884373A (en) * | 2014-02-26 | 2014-06-25 | 北京航空航天大学 | Composite load simulator for achieving multidimensional pure bending moment and tensile pressure |
| CN103884373B (en) * | 2014-02-26 | 2016-11-23 | 北京航空航天大学 | A kind of composite load simulator realizing multidimensional Based on Pure Bending Moment and pressure |
| CN109506089A (en) * | 2018-11-30 | 2019-03-22 | 西安海康普德智能装备有限公司 | A kind of balance and stability device and application method supporting high speed rotation camera |
| CN110905793A (en) * | 2020-01-06 | 2020-03-24 | 浙江大学 | Fluid driving device for three-cavity soft actuator |
| CN110905793B (en) * | 2020-01-06 | 2020-08-07 | 浙江大学 | Fluid driving device for three-cavity soft actuator |
| CN113027934A (en) * | 2021-02-26 | 2021-06-25 | 天津大学 | Isomorphic Hooke hinge wire driving device |
| CN113027934B (en) * | 2021-02-26 | 2022-06-24 | 天津大学 | Isomorphic Hooke hinge wire driving device |
| WO2023173517A1 (en) * | 2022-03-14 | 2023-09-21 | 天津大学 | Flexible wire-driven fracture reduction surgical robot |
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| CN101380737B (en) | 2010-09-15 |
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Granted publication date: 20100915 Termination date: 20110922 |