CN103085081A - Hinge joint mechanism with angular displacement sensor - Google Patents
Hinge joint mechanism with angular displacement sensor Download PDFInfo
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- CN103085081A CN103085081A CN2013100329334A CN201310032933A CN103085081A CN 103085081 A CN103085081 A CN 103085081A CN 2013100329334 A CN2013100329334 A CN 2013100329334A CN 201310032933 A CN201310032933 A CN 201310032933A CN 103085081 A CN103085081 A CN 103085081A
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- pinledge
- sensor
- fixed
- angular displacement
- hinge joint
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Abstract
The invention relates to a hinge joint mechanism with an angular displacement sensor. A driving wheel is fixed on a first section step on a stepped screw. A second section step on the stepped screw penetrates through a primary rod. A third section step is positioned on a secondary rod through the secondary rod. A threaded hole is formed in the lower end portion of the stepped screw. The stepped screw and members which are installed on the stepped screw are axially positioned on the primary rod and the secondary rod through a positioning mechanism to form a movable hinge. A sensor fixing frame is fixed on the primary rod. A sensor is installed on the sensor fixing frame and coaxial with the stepped screw. A rotating shaft of the sensor is inserted into the upper end portion of the stepped screw and fixed on the stepped screw thorough a fastening screw. Two stepped holes are formed in side ends of the sensor fixing frame. A line pipe is fixed inside a large hole of a first stepped hole. A rope is arranged inside the line pipe. The rope, the driving wheel and a transmission system form a complete transmission system loop. The hinge joint mechanism with the angular displacement sensor can effectively integrate the sensor, a joint and the transmission system.
Description
Technical field
The present invention relates to the joint drive technology in the robot field, particularly relate to a kind of hinge joint mechanism with angular displacement sensor.
Background technology
Joint designs is widely used in the robot field, often all be designed with sensor in joint designs, so the design of joint of robot must include the design of the mounting means of sensor.Need to identify the rotational angle in joint in exoskeleton robot, therefore angular displacement sensor need to be installed on the joint.Existing exoskeleton-type robot needs people and machine jointly to work mostly, therefore they adopt the effective kind of drive that motion is transmitted, thereby avoid direct dynamical system with heaviness to be directly installed in executing agency, go out in the joint to be furnished with angular displacement sensor simultaneously.How with the fixed form of sensor and terseness and the dexterity that the joint considers, Integrated design will have influence on design of specific kind of drive transfer motion power.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of hinge joint mechanism with angular displacement sensor, can be with sensor and joint, transmission system effective integration together.
The technical solution adopted for the present invention to solve the technical problems is: a kind of hinge joint mechanism with angular displacement sensor is provided, include main bar, secondary bar and pinledge, first paragraph step on described pinledge is fixed with drive, the second segment step of pinledge passes the main bar, the 3rd section step is positioned on secondary bar by secondary bar, the pinledge bottom is provided with screwed hole, makes pinledge and the members shaft that is arranged on pinledge forms hinges to being positioned on main bar and secondary bar by detent mechanism; Be fixed with fixing rack for sensor on described main bar, on described fixing rack for sensor, sensor be installed, described sensor is coaxial with pinledge, and the rotating shaft of described sensor is inserted the pinledge upper end and is fixed on pinledge by holding screw; Described fixing rack for sensor side is provided with two shoulder holes, spool is fixed in the macropore of the first shoulder hole, rope is installed in spool, the aperture of described rope by the first shoulder hole passes and is coated on drive, a bit being fixed on drive on rope, and pass to be connected with transmission system by the second shoulder hole and form complete transmission system loop.
The upper end of described pinledge is provided with unthreaded hole, and described unthreaded hole side is provided with screwed hole, and the holding screw in screwed hole is fixed on the sensor rotating shaft in unthreaded hole.
Described pinledge is provided with the multistage step, by the square cylinder of edge, termination and first paragraph step, drive is fixed on the first paragraph step respectively by upper end to lower end, the face of cylinder by the second segment step is hingedly mounted on the main bar, and the square cylinder by the 3rd section step is fixed together pinledge and secondary bar.
Described sensor rotates together in company with pinledge when pinledge rotates, and output signal.
Described rope is steel wire rope, chain or Timing Belt.
Described drive is runner, sprocket wheel or synchronizing wheel.
Beneficial effect
Owing to having adopted above-mentioned technical scheme, the present invention compared with prior art, have following advantage and good effect: the present invention is simple for structure, reliable, can accurately measure by the sensor that is equipped with the angle that the joint swings, slightly do transformation just applicable to the multiple kind of drive, can be widely used in the robot field and other need to realize the field that revolute pair drives.
Description of drawings
Fig. 1 is the hinge joint structural scheme of mechanism with angular displacement sensor;
Fig. 2 is the structural representation of pinledge.
The specific embodiment
Below in conjunction with specific embodiment, further set forth the present invention.Should be understood that these embodiment only to be used for explanation the present invention and be not used in and limit the scope of the invention.Should be understood that in addition those skilled in the art can make various changes or modifications the present invention after the content of having read the present invention's instruction, these equivalent form of values fall within the application's appended claims limited range equally.
Embodiments of the present invention relate to a kind of hinge joint mechanism with angular displacement sensor, include main bar 2, secondary bar 1 and pinledge 4, first paragraph step on described pinledge 4 is fixed with drive 3, the second segment step of pinledge 4 passes the cylindrical hole of main bar 2, the 3rd section step is positioned on secondary bar 1 by square opening on secondary bar 1, pinledge 4 bottoms are provided with screwed hole, follow closely 8 and pad 7 makes pinledge 4 and the members shaft that is arranged on pinledge 4 forms hinges to being positioned on main bar 2 and secondary bar 1 by the termination; Be fixed with fixing rack for sensor 5 on described main bar 2, on described fixing rack for sensor 5, sensor 6 be installed, described sensor 6 is coaxial with pinledge 4, and the rotating shaft of described sensor 6 is inserted pinledge 4 upper ends and is fixed on pinledge 4 by holding screw 14; Described fixing rack for sensor 5 sides are provided with two shoulder holes, spool 11 is fixed in the macropore of the first shoulder hole, rope 12 is installed in spool 11, the aperture of described rope 12 by the first shoulder hole passes and is coated on drive 3, a bit being fixed on drive 3 on rope 12, and pass to be connected with transmission system by the second shoulder hole and form complete transmission system loop, can realize the driving in joint by rotating drive 3, when rotate in the joint simultaneously, (secondary bar is with respect to the rotation of main bar) sensor 6 produces angular displacement signal, feeds back to control system.
Wherein, the upper end of described pinledge 4 is provided with for the unthreaded hole that inserts the sensor rotating shaft, and described unthreaded hole side is provided with screwed hole 45, and the holding screws in screwed hole 45 are fixed on the sensor rotating shaft in unthreaded hole.As shown in Figure 2, described pinledge 4 is provided with the multistage step, by the square cylinder of 41 edges, termination and first paragraph step 42, drive is fixed on first paragraph step 42 respectively by upper end to lower end, the face of cylinder by second segment step 43 is hingedly mounted on the main bar, and the square cylinder by the 3rd section step 44 is fixed together pinledge and secondary bar.Described sensor rotates together in company with pinledge when pinledge rotates, and output signal.Described rope is steel wire rope, chain or Timing Belt.Described drive is runner, sprocket wheel or synchronizing wheel.Shown in Figure 1 is, and what to adopt with rope in the hinge joint mechanism of angular displacement sensor is steel wire rope, and what drive adopted is runner.
Concrete mounting means is to be fixed with fixing rack for sensor on the main bar, sensor is installed on fixing rack for sensor, sensor is fixed on the unthreaded hole of pinledge upper end with the coaxial installation of pinledge and sensor rotating shaft by holding screw, rotating shaft and pinledge together rotate when pinledge rotates, rotate with respect to sensor, output signal.The upper end of pinledge is provided with unthreaded hole, and the unthreaded hole side is provided with screwed hole, and the rotating shaft that is arranged on the angular displacement sensor on fixing rack for sensor makes a good job of the insertion unthreaded hole, by the holding screw in the screwed hole of side, the sensor rotating shaft is fixed in unthreaded hole.The pinledge bottom is provided with screwed hole, follows closely the axial location that realizes pinledge with pad by the termination.Pinledge is provided with the multistage step, by the square cylinder of edge, termination and first paragraph step, rotating disk is fixed on the first paragraph step respectively by upper end to lower end, the face of cylinder by the second segment step is hingedly mounted on the main bar, and the square cylinder by the 3rd section step is fixed on pinledge on secondary bar.
Described square cylinder step is replaceable simultaneously is other mode or other orientable cross sectional shapes that adopt the key connection, and the kind of drive of described runner collocation steel wire rope is replaceable is sprocket wheel collocation chain, synchronizing wheel collocation Timing Belt and the design of other kinds of drive.
Claims (6)
1. hinge joint mechanism with angular displacement sensor, include main bar (2), secondary bar (1) and pinledge (4), it is characterized in that, first paragraph step (42) on described pinledge (4) is fixed with drive (3), the second segment step (43) of pinledge (4) passes main bar (2), the 3rd section step (44) is positioned on secondary bar (1) by secondary bar (1), pinledge (4) bottom is provided with screwed hole, make pinledge (4) and be arranged on members shaft on pinledge (4) to being positioned at the upper hinges that forms of main bar (2) and secondary bar (1) by detent mechanism, be fixed with fixing rack for sensor (5) on described main bar (2), sensor (6) is installed on described fixing rack for sensor (5), described sensor (6) is coaxial with pinledge (4), and the rotating shaft of described sensor (6) is inserted pinledge (4) upper end and is fixed on pinledge (4) by holding screw (14), described fixing rack for sensor (5) side is provided with two shoulder holes, spool (11) is fixed in the macropore of the first shoulder hole, rope (12) is installed in spool (11), the aperture of described rope (12) by the first shoulder hole passes and is coated on drive (3), a bit being fixed on drive (3) on rope (12), and pass to be connected with transmission system by the second shoulder hole and form complete transmission system loop.
2. the hinge joint mechanism with angular displacement sensor according to claim 1, it is characterized in that, the upper end of described pinledge (4) is provided with unthreaded hole, and described unthreaded hole side is provided with screwed hole, and the holding screw (14) in screwed hole is fixed on the rotating shaft of sensor (6) in unthreaded hole.
3. the hinge joint mechanism with angular displacement sensor according to claim 1, it is characterized in that, described pinledge (4) is provided with the multistage step, by the square cylinder of edge, termination and first paragraph step (42), drive (3) is fixed on first paragraph step (42) respectively by upper end to lower end, the face of cylinder by second segment step (43) is hingedly mounted on main bar (2), and the square cylinder by the 3rd section step (44) is fixed together pinledge (4) and secondary bar (1).
4. the hinge joint mechanism with angular displacement sensor according to claim 1, is characterized in that, described sensor (6) rotates together in company with pinledge (4) when pinledge (4) rotates, and output signal.
5. the hinge joint mechanism with angular displacement sensor according to claim 1, is characterized in that, described rope (12) is steel wire rope, chain or Timing Belt.
6. the hinge joint mechanism with angular displacement sensor according to claim 1, is characterized in that, described drive (3) is runner, sprocket wheel or synchronizing wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310032933.4A CN103085081B (en) | 2013-01-29 | 2013-01-29 | Hinge joint mechanism with angular displacement sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310032933.4A CN103085081B (en) | 2013-01-29 | 2013-01-29 | Hinge joint mechanism with angular displacement sensor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103085081A true CN103085081A (en) | 2013-05-08 |
| CN103085081B CN103085081B (en) | 2015-01-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310032933.4A Expired - Fee Related CN103085081B (en) | 2013-01-29 | 2013-01-29 | Hinge joint mechanism with angular displacement sensor |
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| Country | Link |
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| CN (1) | CN103085081B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105710895A (en) * | 2016-04-29 | 2016-06-29 | 华南理工大学 | Structure of rope-driven mechanical arm rotation joint |
| CN108927795A (en) * | 2017-05-22 | 2018-12-04 | 沈阳新松机器人自动化股份有限公司 | A kind of flexible driving mechanism arm and control system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09272091A (en) * | 1996-04-09 | 1997-10-21 | Olympus Optical Co Ltd | Robot hand automatic changer |
| CN200973711Y (en) * | 2006-11-06 | 2007-11-14 | 上海理工大学 | Joint parameter on-line detecting device |
| CN201126814Y (en) * | 2007-12-25 | 2008-10-01 | 中国电子科技集团公司第四十五研究所 | Manipulator turning device for semiconductor private facilities |
| CN102814821A (en) * | 2012-09-14 | 2012-12-12 | 中国科学院合肥物质科学研究院 | Mechanical arm high-angle controllable rotary joint device driven by two steel wire ropes |
| CN203077299U (en) * | 2013-01-29 | 2013-07-24 | 东华大学 | Hinge joint mechanism with angular displacement sensor |
-
2013
- 2013-01-29 CN CN201310032933.4A patent/CN103085081B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09272091A (en) * | 1996-04-09 | 1997-10-21 | Olympus Optical Co Ltd | Robot hand automatic changer |
| CN200973711Y (en) * | 2006-11-06 | 2007-11-14 | 上海理工大学 | Joint parameter on-line detecting device |
| CN201126814Y (en) * | 2007-12-25 | 2008-10-01 | 中国电子科技集团公司第四十五研究所 | Manipulator turning device for semiconductor private facilities |
| CN102814821A (en) * | 2012-09-14 | 2012-12-12 | 中国科学院合肥物质科学研究院 | Mechanical arm high-angle controllable rotary joint device driven by two steel wire ropes |
| CN203077299U (en) * | 2013-01-29 | 2013-07-24 | 东华大学 | Hinge joint mechanism with angular displacement sensor |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105710895A (en) * | 2016-04-29 | 2016-06-29 | 华南理工大学 | Structure of rope-driven mechanical arm rotation joint |
| CN108927795A (en) * | 2017-05-22 | 2018-12-04 | 沈阳新松机器人自动化股份有限公司 | A kind of flexible driving mechanism arm and control system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103085081B (en) | 2015-01-07 |
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Granted publication date: 20150107 Termination date: 20180129 |