CN101486192A - Single motor driven two-freedom degree joint structure - Google Patents
Single motor driven two-freedom degree joint structure Download PDFInfo
- Publication number
- CN101486192A CN101486192A CNA2008100562573A CN200810056257A CN101486192A CN 101486192 A CN101486192 A CN 101486192A CN A2008100562573 A CNA2008100562573 A CN A2008100562573A CN 200810056257 A CN200810056257 A CN 200810056257A CN 101486192 A CN101486192 A CN 101486192A
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- axle
- gear
- motor
- decussation
- freedom degree
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- 230000033001 locomotion Effects 0.000 claims abstract description 31
- 238000006073 displacement reaction Methods 0.000 claims abstract description 28
- 238000013016 damping Methods 0.000 claims abstract description 7
- 238000010586 diagram Methods 0.000 description 4
- 239000004744 fabric Substances 0.000 description 4
- 241001465754 Metazoa Species 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 241000938605 Crocodylia Species 0.000 description 1
- 210000000544 articulatio talocruralis Anatomy 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 210000003857 wrist joint Anatomy 0.000 description 1
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Abstract
The invention discloses a single motor-driven two-degree-of-freedom joint structure, which consists of a motor (1), a machine frame (2), a motor gear (3), a first gear (4), a second gear (4'), a cross-shaped intersecting axle (5), a first angular displacement sensor (6), a second angular displacement sensor (6'), a first magnetorheological damper (7), a second magnetorheological damper(7') and an actuating part (8). The structure realizes the control of the single motor over the two-degree-of-freedom motion by controlling the output damping torque of the magnetorheological dampers with two controllable end shafts.
Description
Technical field
The present invention relates to the bio-robot technical field, relate in particular to a kind of motor-driven two-freedom degree joint structure of list that is applied to bio-robot.
Background technology
Two-freedom degree joint refers to have the joint of two intersect vertical axis frees degree, and the prototype in this joint is ubiquity on human body and animal body, and the development two-freedom degree joint has certain meaning to various bio-robots.
At nature, joint with 2 to 3 intersect vertical axis frees degree is very common on various animal bodies, such as neck joint, wrist joint, the ankle-joint of human body and other walking class animals, refer to root joint, waist joint, the leg root joint of crab and other reptiles etc.Therefore, for various bio-robots, how making the joint with axes intersect free degree is to need one of problem that solves.
Generally speaking, 2 drivings to the 3DOF joint all are the full type of drive that adopts, and promptly the drive motors number equates with the number of degrees of freedom, in joint, make troubles so usually can for the layout of motor.If can realize single motor-driven two-freedom degree joint, can make things convenient for the design of robot to a certain extent.
Summary of the invention
(1) technical problem that will solve
In view of this, main purpose of the present invention is to provide a kind of list motor-driven two-freedom degree joint structure, to realize the control of single motor to two free degree motions.
(2) technical scheme
For achieving the above object, the invention provides the motor-driven two-freedom degree joint structure of a kind of list, this structure by motor 1, frame 2, motor gear 3, first gear 4, second gear 4 ', decussation axle 5, first angular displacement sensor 6, second angular displacement sensor 6 ', the first magnetic rheological body damper 7, the second magnetic rheological body damper 7 ' and execution unit 8 constitute; Wherein,
Frame (2) links by decussation axle (5) with execution unit (8), frame (2) links by bearing with article one axle of this decussation axle (5), and execution unit (8) also links by bearing with the second axle of this decussation axle (5);
Motor (1) is fixedly installed on the frame (2), motor gear (3) is fixedly connected with the output revolving shaft of motor (1), this motor gear (3) place plane parallel is in article one axle of described decussation axle (5), and the axis extended line of motor gear (3) is by the central point of decussation axle (5);
First gear (4) links with bearing with article one axle of described decussation axle (5), second gear (4 ') and described execution unit (8) are for being fixedly connected, motor gear (3) is meshed with first gear (4), and first gear (4) is meshed with second gear (4 ');
The two ends of article one axle of described decussation axle (5) are separately installed with first angular displacement sensor (6) and the first magnetic rheological body damper (7), and the two ends of the second axle of described decussation axle (5) are separately installed with second angular displacement sensor (6 ') and the second magnetic rheological body damper (7 ').
Preferably, described first gear (4) and decussation axle (5) link in the bearing mode, and this two-freedom degree joint is around the output movement of first axle and be different from the motion of first gear (4) around decussation axle (5) article one axle.
Preferably, described second gear (4 ') and execution unit (8) are for being fixedly connected, and this two-freedom degree joint is same as the motion of second gear (4 ') around decussation axle second axle around the output movement of second axis.
Preferably, described first angular displacement sensor (6) is used to reflect the corner of this two-freedom degree joint around first axle, described second angular displacement sensor (6 ') is used to reflect the corner of this two-freedom degree joint around second axis, and angular displacement sensor (6) and (6 ') are used for the FEEDBACK CONTROL to the two-freedom degree joint motion.
Preferably, described first MR damper is fixedly linked on the described frame 2, described second MR damper is fixedly linked on the execution unit 8, and the control by to two axle head damper output dampings realizes the controlled driving of single motor to two frees degree.
Preferably, described execution unit 8 is to form like this around the motion of two axle place straight lines of described decussation axle 5: execution unit 8, second gear 4 ' and decussation axle 5 integral body rotate the execution unit 8 and second gear 4 ' rotate around second axis around first axle.
(3) beneficial effect
From technique scheme as can be seen, the present invention has following beneficial effect:
1, the motor-driven two-freedom degree joint structure of this list provided by the invention by the control to two axle head MR damper output damping torques, has been realized the control of single motor to two free degree motions.
2, the motor-driven two-freedom degree joint structure of this list provided by the invention, drive 2 frees degree by 1 motor by bevel gear system, the input in joint drives and is less than free degree number, belongs to and owes drive system, can improve the driving efficient of motor to a certain extent.
Description of drawings
Fig. 1 is the structural representation of the motor-driven two-freedom degree joint of list provided by the invention;
Fig. 2 is the schematic diagram of the motor-driven two-freedom degree joint of list provided by the invention;
Fig. 3 is the schematic diagram of four kinds of equivalent duties of the motor-driven two-freedom degree joint of list provided by the invention;
Among Fig. 1 and Fig. 2,1 is motor, and 2 is frame, and 3 is motor gear, 4 is first gear, 4 ' be second gear, 5 is the decussation axle, 6 is first angular displacement sensor, 6 ' be second angular displacement sensor, 7 is the first magnetic rheological body damper, 7 ' be the second magnetic rheological body damper, 8 is execution unit.
The specific embodiment
For making the purpose, technical solutions and advantages of the present invention clearer, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.
As shown in Figure 1, Fig. 1 is the structural representation of the motor-driven two-freedom degree joint of list provided by the invention, this structure by motor 1, frame 2, motor gear 3, first gear 4, second gear 4 ', decussation axle 5, first angular displacement sensor 6, second angular displacement sensor 6 ', the first magnetic rheological body damper 7, the second magnetic rheological body damper 7 ' and execution unit 8 constitute.
Wherein, frame 2 links by decussation axle 5 with execution unit 8, and frame 2 links by bearing with article one axle of this decussation axle 5, and execution unit 8 also links by bearing with the second axle of this decussation axle 5;
Motor 1 is fixedly installed on the frame 2, and motor gear 3 is fixedly connected with the output revolving shaft of motor 1, and these motor gear 3 place plane parallel are in article one axle of described decussation axle 5, and the axis extended line of motor gear 3 is by the central point of decussation axle 5;
The two ends of article one axle of described decussation axle 5 are separately installed with first angular displacement sensor 6 and the first magnetic rheological body damper 7, the two ends of the second axle of described decussation axle 5 be separately installed with second angular displacement sensor 6 ' and the second magnetic rheological body damper 7 '.
Described first gear 4 links in the bearing mode with decussation axle 5, so this two-freedom degree joint is around the output movement of first axle and be different from the motion of first gear 4 around decussation axle 5 article one axles.
Described second gear 4 ' with execution unit 8 for being fixedly connected, so this two-freedom degree joint is same as second gear 4 ' around the motion of decussation axle second axle around the output movement of second axis.
Described first angular displacement sensor 6 is used to reflect the corner of this two-freedom degree joint around first axle, described second angular displacement sensor 6 ' be used to the reflect corner of this two-freedom degree joint around second axis, angular displacement sensor 6 and 6 ' be used for FEEDBACK CONTROL to the two-freedom degree joint motion.
Described first MR damper is fixedly linked on the described frame 2, and described second MR damper is fixedly linked on the execution unit 8, and the control by to two axle head damper output dampings realizes the controlled driving of single motor to two frees degree.
Described execution unit 8 is to form like this around the motion of two axle place straight lines of described decussation axle 5: execution unit 8, second gear 4 ' and decussation axle 5 integral body rotate the execution unit 8 and second gear 4 ' rotate around second axis around first axle.
The principle of single motor-driven two-freedom degree joint designs as shown in Figure 2, and Fig. 2 is the schematic diagram of the motor-driven two-freedom degree joint of list provided by the invention.Frame and execution unit link by the decussation axle.Two axles that intersect vertically of decussation axle are respectively article one axle, second axle, and article one axle, second axle are installed on frame and the execution unit with bearing respectively.Motor is fixedly installed on the frame, and first gear then links with bearing and article one axle, and motor gear has transmission to cooperate with first gear, supposes that gearratio is i10.Second gear and execution unit are one, have transmission between first gear, second gear and cooperate, and suppose that gearratio is i21.Article one, axle, second axle respectively have two axle heads, be separately installed with angular displacement sensor and magnetic rheological body damper: first angular displacement sensor reflects the corner of whole decussation axle around article one axle, and second angular displacement sensor reflection execution unit is around the corner of second axle; First damper and second damper connect firmly respectively on frame and execution unit.Control by to two axle head damper output dampings realizes the controlled driving of single motor to two frees degree.Like this, execution unit is to form like this around the motion of article one axle, second axle: the execution unit and second gear and decussation axle integral body are around the rotation of article one axle, and the execution unit and second gear are around the rotation of second axle.
Single motor-driven two-freedom degree joint can equivalence on the principle be planet circular system as shown in Figure 3, and Fig. 3 is the schematic diagram of four kinds of equivalent duties of the motor-driven two-freedom degree joint of list provided by the invention.Motor gear is equivalent to gear a, constitutes with frame and rotates the width of cloth; First gear is equivalent to gear b, constitutes with frame and rotates the width of cloth; Second gear and the execution unit that is fixedly connected with it are equivalent to gear c; The right-angled intersection axle is equivalent to tie-rod, and two ends constitute with gear b, c respectively rotates the width of cloth.Two free degree motions of equivalent mechanism are respectively from tie-rod and gear c output.The radius of supposing gear a, b, c is respectively r
a, r
b, r
c, make r
a/ r
b=i
10, r
b/ r
c=i
21, the output speed of supposing motor shaft is ω
a
As Fig. 3 (I), when two dampers in former joint all loosen fully, be equivalent to tie-rod and gear c all can move, but the motion transitive relation is uncertain.
As Fig. 3 (II), when first damper loosens, during the braking of second damper, be equivalent to tie-rod and gear are fixedly connected, from the tie-rod output movement, the output movement of mechanism is ω
Out=i
10ω
a
As Fig. 3 (III), when second damper loosens, during the braking of first damper, quite gear c constitutes the rotation width of cloth with frame, and from gear c output movement, the output movement of mechanism is ω
Out=i
21i
10ω
a
As Fig. 3 (IV), when first damper and 2 was all braked, mechanism will be by locked and can not move.
As seen under one of them situation of braking fully in two dampers, the motion of system output can be determined, by some free degree independence output movements.If two dampers are carried out damping torque control simultaneously, motion when can realize two frees degree, it is continuous to guarantee that joint rotation angle moves in any direction.
Above-described specific embodiment; purpose of the present invention, technical scheme and beneficial effect are further described; institute is understood that; the above only is specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any modification of being made, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (6)
1, the motor-driven two-freedom degree joint structure of a kind of list, it is characterized in that this structure is made of motor (1), frame (2), motor gear (3), first gear (4), second gear (4 '), decussation axle (5), first angular displacement sensor (6), second angular displacement sensor (6 '), the first magnetic rheological body damper (7), the second magnetic rheological body damper (7 ') and execution unit (8); Wherein,
Frame (2) links by decussation axle (5) with execution unit (8), frame (2) links by bearing with article one axle of this decussation axle (5), and execution unit (8) links by bearing with the second axle of this decussation axle (5);
Motor (1) is fixedly installed on the frame (2), motor gear (3) is fixedly connected with the output revolving shaft of motor (1), motor gear (3) place plane parallel is in article one axle of described decussation axle (5), and the axis extended line of motor gear (3) is by the central point of decussation axle (5);
First gear (4) links with bearing with article one axle of described decussation axle (5), second gear (4 ') and described execution unit (8) are for being fixedly connected, motor gear (3) is meshed with first gear (4), and first gear (4) is meshed with second gear (4 ');
The two ends of article one axle of described decussation axle (5) are separately installed with first angular displacement sensor (6) and the first magnetic rheological body damper (7), and the two ends of the second axle of described decussation axle (5) are separately installed with second angular displacement sensor (6 ') and the second magnetic rheological body damper (7 ').
2, the motor-driven two-freedom degree joint structure of list according to claim 1, it is characterized in that, described first gear (4) and decussation axle (5) link in the bearing mode, and this two-freedom degree joint is around the output movement of first axle and be different from the motion of first gear (4) around decussation axle (5) article one axle.
3, the motor-driven two-freedom degree joint structure of list according to claim 1, it is characterized in that, described second gear (4 ') and execution unit (8) are for being fixedly connected, and this two-freedom degree joint is same as the motion of second gear (4 ') around decussation axle second axle around the output movement of second axis.
4, the motor-driven two-freedom degree joint structure of list according to claim 1, it is characterized in that, described first angular displacement sensor (6) is used to reflect the corner of this two-freedom degree joint around first axle, described second angular displacement sensor (6 ') is used to reflect the corner of this two-freedom degree joint around second axis, and angular displacement sensor (6) and (6 ') are used for the FEEDBACK CONTROL to the two-freedom degree joint motion.
5, the motor-driven two-freedom degree joint structure of list according to claim 1, it is characterized in that, described first MR damper is fixedly linked on the described frame (2), described second MR damper is fixedly linked on the execution unit (8), control by to two axle head damper output dampings realizes the controlled driving of single motor to two frees degree.
6, the motor-driven two-freedom degree joint structure of list according to claim 1, it is characterized in that, described execution unit (8) is to form like this around the motion of two axle place straight lines of described decussation axle (5): execution unit (8), second gear (4 ') and decussation axle (5) are whole to rotate around first axle, and execution unit (8) and second gear (4 ') rotate around second axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100562573A CN101486192B (en) | 2008-01-16 | 2008-01-16 | Single motor driven two-freedom degree joint structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100562573A CN101486192B (en) | 2008-01-16 | 2008-01-16 | Single motor driven two-freedom degree joint structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101486192A true CN101486192A (en) | 2009-07-22 |
| CN101486192B CN101486192B (en) | 2010-06-30 |
Family
ID=40889329
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008100562573A Expired - Fee Related CN101486192B (en) | 2008-01-16 | 2008-01-16 | Single motor driven two-freedom degree joint structure |
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|---|---|
| CN (1) | CN101486192B (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101659058B (en) * | 2009-09-22 | 2011-01-12 | 陈宁 | Mechanical arm joint module with two degrees of freedom |
| TWI400150B (en) * | 2010-10-29 | 2013-07-01 | Hon Hai Prec Ind Co Ltd | Robotic joint |
| CN103753599A (en) * | 2014-01-17 | 2014-04-30 | 哈尔滨工业大学 | Two-degree-of-freedom controllable robot module connecting mechanism |
| CN104535026A (en) * | 2014-12-04 | 2015-04-22 | 合肥工业大学 | Rotary joint capable of realizing variable freedom by using magneto-rheological technology |
| CN104959987A (en) * | 2015-07-14 | 2015-10-07 | 百度在线网络技术（北京）有限公司 | Partner robot based on artificial intelligence |
| CN106863349A (en) * | 2017-04-21 | 2017-06-20 | 哈尔滨工业大学 | A kind of modular mechanical arm flexible joint |
| CN107627323A (en) * | 2017-10-31 | 2018-01-26 | 东莞市太行机电科技有限公司 | A kind of cross positioning joint for manipulator |
| CN108098828A (en) * | 2017-12-26 | 2018-06-01 | 常州大学 | A kind of double freedom neck joint device with damping effect available for industrial robot |
| CN109296099A (en) * | 2018-10-22 | 2019-02-01 | 明阳智慧能源集团股份公司 | A kind of low frequency two degrees of freedom pendulum-type TMD vibration control apparatus for tall and slender structure |
| CN109849049A (en) * | 2019-01-13 | 2019-06-07 | 浙江大学 | A kind of double freedom hydraulic machinery shoulder joint connected using crossed joint |
| CN111034504A (en) * | 2019-11-25 | 2020-04-21 | 王志敏 | Low-carbon energy-saving seedling growth device |
| CN112571448A (en) * | 2020-11-30 | 2021-03-30 | 长沙理工大学 | Three-degree-of-freedom wrist device of robot |
-
2008
- 2008-01-16 CN CN2008100562573A patent/CN101486192B/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101659058B (en) * | 2009-09-22 | 2011-01-12 | 陈宁 | Mechanical arm joint module with two degrees of freedom |
| TWI400150B (en) * | 2010-10-29 | 2013-07-01 | Hon Hai Prec Ind Co Ltd | Robotic joint |
| CN103753599A (en) * | 2014-01-17 | 2014-04-30 | 哈尔滨工业大学 | Two-degree-of-freedom controllable robot module connecting mechanism |
| CN103753599B (en) * | 2014-01-17 | 2016-04-20 | 哈尔滨工业大学 | A kind of two degrees of freedom controllable type robot module bindiny mechanism |
| CN104535026A (en) * | 2014-12-04 | 2015-04-22 | 合肥工业大学 | Rotary joint capable of realizing variable freedom by using magneto-rheological technology |
| CN104959987A (en) * | 2015-07-14 | 2015-10-07 | 百度在线网络技术（北京）有限公司 | Partner robot based on artificial intelligence |
| CN106863349A (en) * | 2017-04-21 | 2017-06-20 | 哈尔滨工业大学 | A kind of modular mechanical arm flexible joint |
| CN107627323A (en) * | 2017-10-31 | 2018-01-26 | 东莞市太行机电科技有限公司 | A kind of cross positioning joint for manipulator |
| CN108098828A (en) * | 2017-12-26 | 2018-06-01 | 常州大学 | A kind of double freedom neck joint device with damping effect available for industrial robot |
| CN108098828B (en) * | 2017-12-26 | 2020-10-27 | 常州大学 | Two-degree-of-freedom neck joint device with vibration reduction function and applicable to industrial robot |
| CN109296099A (en) * | 2018-10-22 | 2019-02-01 | 明阳智慧能源集团股份公司 | A kind of low frequency two degrees of freedom pendulum-type TMD vibration control apparatus for tall and slender structure |
| CN109296099B (en) * | 2018-10-22 | 2024-01-05 | 明阳智慧能源集团股份公司 | Low-frequency two-degree-of-freedom pendulum TMD vibration control device for high-rise structure |
| CN109849049A (en) * | 2019-01-13 | 2019-06-07 | 浙江大学 | A kind of double freedom hydraulic machinery shoulder joint connected using crossed joint |
| CN111034504A (en) * | 2019-11-25 | 2020-04-21 | 王志敏 | Low-carbon energy-saving seedling growth device |
| CN112571448A (en) * | 2020-11-30 | 2021-03-30 | 长沙理工大学 | Three-degree-of-freedom wrist device of robot |
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| Publication number | Publication date |
|---|---|
| CN101486192B (en) | 2010-06-30 |
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