CN104128924A - Modular rotating driving unit with gravity center adjusting function - Google Patents
Modular rotating driving unit with gravity center adjusting function Download PDFInfo
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- CN104128924A CN104128924A CN201410357304.3A CN201410357304A CN104128924A CN 104128924 A CN104128924 A CN 104128924A CN 201410357304 A CN201410357304 A CN 201410357304A CN 104128924 A CN104128924 A CN 104128924A
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- Prior art keywords
- gravity center
- gravity
- driver element
- driving unit
- adjusting module
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
- Manipulator (AREA)
Abstract
A modular rotating driving unit with the gravity center adjusting function comprises a driving unit outer wall, a servo driving component and a modular interface and further comprises a gravity center adjusting device composed of a radial gravity center adjusting module and an axial gravity center adjusting module. The radial gravity center adjusting module comprises a disc and a fixing unit, the disc is arranged at one end of a rotating shaft of a driving unit, an opening is formed in the disc, and the fixing unit is used for fixing the disc. The axial gravity center adjusting module comprises a connecting rod, a balancing weight and a nut, the connecting rod is arranged in the driving unit outer wall, is provided with threads and is parallel to the rotating shaft, the connecting rod is sleeved with the balancing weight, and the nut is used for fixing the balancing weight. The gravity center is adjusted in the radial direction and the axial direction at the same time, continuous adjustment of the gravity center can be achieved, and the gravity center can reach the designated position. Meanwhile, the design of the modular interface is adopted, convenience is provided for replacement of the rotating driving unit, a spare driving unit can freely replace a driving unit arranged on a mechanical arm, and cost is greatly saved.
Description
Technical field
The invention belongs to robot device's technical field, particularly a kind of modularization rotary drive unit with gravity center adjustment function.
Background technology
Space manipulator is the space Mechatronic Systems of mechanical, electrical, hot, a control integrated high integration.Completing Space configuration, equipment inspection and maintenance, assisting the aspects such as astronaut's deliver from vault operation to have extensive application, it is one of key equipment of station, implementation space construction and maintenance.Space station mechanical arm, in space zero (micro-) gravity environment, experiences the bad working environments such as high low temperature alternation, high radiation simultaneously.For this reason, need to face in advance space station mechanical arm on ground and carry out large quantitative analysis and experiment, to ensure the safety and reliability of its operation on orbit.
For space station mechanical arm ground experiment, need development and Design to go out a set of perfect zero (micro-) gravity system.The space station mechanical arm that directly employing has been developed is tested, and cost is high and have a larger risk.Therefore need to develop the space station mechanical arm of a set of simulation, substitute space station mechanical arm and carry out various functional experiments, find and solve the problem that zero (micro-) gravity system may exist, avoid, because of the immature various risks that cause of zero (micro-) gravity system, finally improving zero (micro-) gravity system.Can use afterwards this zero (micro-) gravity system, every experiment of station, implementation space mechanical arm.
But former mechanical arm driver element has the Redundancy Design such as bi-motor twin variator, only adopts single motor single speed changer in analog mechanical arm rotary drive unit, internal structure and quality have very large change.Therefore in order to ensure that original driver element has identical quality and center of gravity, guarantee accuracy and the reliability of experiment, need to carry out to improved driver element the coupling of quality and center of gravity.
Summary of the invention
In order to overcome the shortcoming of above-mentioned prior art, the object of the present invention is to provide a kind of modularization rotary drive unit with gravity center adjustment function, by axially and the radially adjustment to position of centre of gravity, can realize the coupling of driver element mass property and center of gravity.
To achieve these goals, the technical solution used in the present invention is:
A modularization rotary drive unit with gravity center adjustment function, comprises driver element outer wall 1, servo-drive assembly 5 and modular interface, also comprises by the center of gravity gravity center adjuster that radially adjusting module and gravity axis form to adjusting module, wherein:
Described center of gravity radially adjusting module comprises the disk that has gap 8 of one end in the rotating shaft 10 that is arranged on driver element and the hold-down nut 9 for fixed disc 8;
Described gravity axis comprises the parallel connecting rod 2 of the screwed and rotating shaft 10 that is arranged in driver element outer wall, is socketed in balancing weight 4 on connecting rod 2 and the nut 3 for fixed weight piece 4 to adjusting module.
Described servo-drive assembly 5 is arranged among driver element outer wall, drives driver element work, drives rotating shaft 10 to rotate simultaneously.
Described modular interface is arranged on driver element outer wall, comprises perpendicular to the interface 1 of driver element axis and is parallel to the interface 27 of driver element axis, realizes the docking of adjacent driven unit.
Compared with prior art, the invention has the beneficial effects as follows:
(1) adopt axial and radially center of gravity adjusted simultaneously, can realize the Continuous Adjustment of center of gravity, reaching assigned address.
(2) modular interface design, provides convenience for changing rotary drive unit, and driver element for subsequent use can substitute arbitrarily the driver element being installed on mechanical arm, has greatly saved cost.
Brief description of the drawings
Fig. 1 is the axial gravity center adjuster schematic diagram of the present invention.
Fig. 2 is radially gravity center adjuster schematic diagram of the present invention.
Detailed description of the invention
Describe embodiments of the present invention in detail below in conjunction with drawings and Examples.
A kind of modularization rotary drive unit with gravity center adjustment function of the present invention, consistent with real space station mechanical arm for ensureing to simulate arm mass property.Comprise driver element outer wall, servo-drive assembly 5 and modular interface and by the center of gravity gravity center adjuster that radially adjusting module and gravity axis form to adjusting module.
As shown in Figure 1, gravity axis comprises the parallel connecting rod 2 of the screwed and rotating shaft 10 that is arranged in driver element outer wall 1, is socketed in balancing weight 4 on connecting rod 2 and the nut 3 for fixed weight piece 4 to adjusting module.Can adjust by experiment that balancing weight 4 moves axially on connecting rod 2 and fixing with nut 3 in the time determining position according to predetermined center of gravity, thus realize gravity axis to adjustment.On connecting rod 2 with scale, also can be by calculating balancing weight 4 positions, adjust balancing weight 4 and arrive behind these positions and be fixed with a pair of nut 3.
As shown in Figure 2, center of gravity radially adjusting module comprise the disk that has gap 8 of one end in the rotating shaft 10 that is arranged on driver element and the hold-down nut 9 for fixed disc 8; Disk 8 can have multiple, pivots by disk 8, can change the angle of gap, thereby realizes center of gravity adjustment radially.On driver element outer wall, with scale, also can, by calculating gap place angle, disk 8 be adjusted.In the time that angle adjustment is good, nut 9 is tightened and made disk 8 fixing.
Due to axially when radially gravity center adjuster is adjusted center of gravity, have and interact, thus need to be repeatedly to axially adjusting with radial device, finally make position of centre of gravity level off to as much as possible the predetermined target of mating.
Servo-drive assembly 5 is arranged among driver element outer wall, drives driver element work, drives rotating shaft 10 to rotate simultaneously.Modular interface is arranged on driver element outer wall, comprises perpendicular to the interface 1 of driver element axis and is parallel to the interface 27 of driver element axis, realizes the docking of adjacent driven unit.Whole driver element adopts modularized design, between each unit, is used interchangeably.
Claims (3)
1. one kind has the modularization rotary drive unit of gravity center adjustment function, comprise driver element outer wall (1), servo-drive assembly (5) and modular interface, it is characterized in that, also comprise by the center of gravity gravity center adjuster that radially adjusting module and gravity axis form to adjusting module, wherein:
Described center of gravity radially adjusting module comprises the disk that has gap (8) of the upper one end of rotating shaft (10) that is arranged on driver element and the hold-down nut (9) for fixed disc (8);
Described gravity axis comprises the parallel connecting rod (2) of the screwed and rotating shaft (10) that is arranged in driver element outer wall, is socketed in balancing weight (4) on connecting rod (2) and the nut (3) for fixed weight piece (4) to adjusting module.
2. the modularization rotary drive unit with gravity center adjustment function according to claim 1, it is characterized in that, described servo-drive assembly (5) is arranged among driver element outer wall, drives driver element work, drives rotating shaft (10) rotation simultaneously.
3. the modularization rotary drive unit with gravity center adjustment function according to claim 1, it is characterized in that, described modular interface is arranged on driver element outer wall, comprise perpendicular to the interface one (6) of driver element axis and be parallel to the interface two (7) of driver element axis, realizing the docking of adjacent driven unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410357304.3A CN104128924B (en) | 2014-07-24 | 2014-07-24 | A kind of modularity rotary drive unit with gravity center adjustment function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410357304.3A CN104128924B (en) | 2014-07-24 | 2014-07-24 | A kind of modularity rotary drive unit with gravity center adjustment function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104128924A true CN104128924A (en) | 2014-11-05 |
| CN104128924B CN104128924B (en) | 2016-08-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410357304.3A Expired - Fee Related CN104128924B (en) | 2014-07-24 | 2014-07-24 | A kind of modularity rotary drive unit with gravity center adjustment function |
Country Status (1)
| Country | Link |
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| CN (1) | CN104128924B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107628234A (en) * | 2017-09-07 | 2018-01-26 | 天津津航技术物理研究所 | A kind of gravity adjusting device and method based on threaded engagement principle |
| CN109981861A (en) * | 2017-12-28 | 2019-07-05 | 广东欧珀移动通信有限公司 | It is centrifuged motor, electronic device and the method for adjusting electronic device angle |
| CN111301725A (en) * | 2020-03-20 | 2020-06-19 | 上海大学 | Balancing structure and balancing method of mechanical wrist |
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| CN2810917Y (en) * | 2005-05-11 | 2006-08-30 | 西安电子科技大学 | Globular robot device based on linear motor |
| CN101386174A (en) * | 2008-10-17 | 2009-03-18 | 西安电子科技大学 | Spherical robot with inside and outside driving |
| CN102050218A (en) * | 2009-11-04 | 2011-05-11 | 中国科学院沈阳自动化研究所 | Gesture adjusting device for underwater glider |
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| CN102840271A (en) * | 2012-09-19 | 2012-12-26 | 中国航天科工集团第二研究院二十三所 | Counter weight mechanism for turntable pitching axis |
| CN103204188A (en) * | 2013-03-13 | 2013-07-17 | 易绍兴 | Novel travelling mechanism |
| CN103486001A (en) * | 2012-06-12 | 2014-01-01 | 信浓绢糸株式会社 | Drive device |
| CN103612682A (en) * | 2013-11-28 | 2014-03-05 | 北京邮电大学 | Spherical robot capable of jumping |
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- 2014-07-24 CN CN201410357304.3A patent/CN104128924B/en not_active Expired - Fee Related
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4580456A (en) * | 1983-04-14 | 1986-04-08 | Kikumithus Takano | Balance weight transfer device for a vibrator |
| CN2810917Y (en) * | 2005-05-11 | 2006-08-30 | 西安电子科技大学 | Globular robot device based on linear motor |
| CN101386174A (en) * | 2008-10-17 | 2009-03-18 | 西安电子科技大学 | Spherical robot with inside and outside driving |
| CN102050218A (en) * | 2009-11-04 | 2011-05-11 | 中国科学院沈阳自动化研究所 | Gesture adjusting device for underwater glider |
| CN102152311A (en) * | 2011-03-14 | 2011-08-17 | 哈尔滨工业大学 | Spherical robot driven by double eccentric mass blocks |
| CN102145740A (en) * | 2011-03-17 | 2011-08-10 | 哈尔滨工程大学 | Gravity adjusting device for underwater robot |
| CN103486001A (en) * | 2012-06-12 | 2014-01-01 | 信浓绢糸株式会社 | Drive device |
| CN102840271A (en) * | 2012-09-19 | 2012-12-26 | 中国航天科工集团第二研究院二十三所 | Counter weight mechanism for turntable pitching axis |
| CN103204188A (en) * | 2013-03-13 | 2013-07-17 | 易绍兴 | Novel travelling mechanism |
| CN103612682A (en) * | 2013-11-28 | 2014-03-05 | 北京邮电大学 | Spherical robot capable of jumping |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107628234A (en) * | 2017-09-07 | 2018-01-26 | 天津津航技术物理研究所 | A kind of gravity adjusting device and method based on threaded engagement principle |
| CN109981861A (en) * | 2017-12-28 | 2019-07-05 | 广东欧珀移动通信有限公司 | It is centrifuged motor, electronic device and the method for adjusting electronic device angle |
| CN109981861B (en) * | 2017-12-28 | 2020-09-04 | Oppo广东移动通信有限公司 | Centrifugal motor, electronic device and method for adjusting angle of electronic device |
| CN111301725A (en) * | 2020-03-20 | 2020-06-19 | 上海大学 | Balancing structure and balancing method of mechanical wrist |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104128924B (en) | 2016-08-17 |
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