CN106151433A - A kind of single driving double freedom driving means - Google Patents
A kind of single driving double freedom driving means Download PDFInfo
- Publication number
- CN106151433A CN106151433A CN201610512125.1A CN201610512125A CN106151433A CN 106151433 A CN106151433 A CN 106151433A CN 201610512125 A CN201610512125 A CN 201610512125A CN 106151433 A CN106151433 A CN 106151433A
- Authority
- CN
- China
- Prior art keywords
- drive mechanism
- feed screw
- screw nut
- dog link
- reductor
- 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.)
- Granted
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H25/22—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members
- F16H25/2204—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members with balls
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
Abstract
The invention discloses a kind of single driving double freedom driving means, this device, under the driving of single driving motor, can realize the linear motion of mechanism's outfan, rotary motion and the motion of straight line back to zero.This device includes driving motor, reductor, ball-screw, feed screw nut, drive mechanism and the motion switching part set gradually from bottom to up.The output shaft driving motor connects reductor.The output shaft of reductor connects ball-screw.Arranging feed screw nut on ball-screw, ball-screw is for being converted into linear motion by the gyration of the output shaft of reductor；Feed screw nut upper surface is connected drive mechanism；When driving motor and speed reducer work, drive mechanism is under the promotion of feed screw nut, it is achieved the output moved along a straight line up and down；Motion switching part is connected with drive mechanism circumference, drive mechanism move upward reach certain limit time, drive drive mechanism circumferential movement, it is achieved the output of circumferential movement.
Description
Technical field
The invention belongs to space mechanism field, drive double freedom driving means particularly to one list.
Background technology
In view of the level of development of state-of-the art, use and possess the space mechanism of specific function or robot for space is carried out
Space probation is the primary selection of each space flight scientific research institution at present, and the small-sized mechanism in space and robot for space end perform machine
Structure also becomes the key areas of space technology.At present space robot of typical actuator U.S. spaceman
The end of robonaut2 performs instrument and the SPDM end of international space station mechanical arm, and above two performs the drivetrain of end
System all uses single motor to drive single degree of freedom, and drive system disclosed by the invention can use single motor to realize two certainly
By the motion spent, principle all differs with current existing type of drive.
Summary of the invention
In view of this, the invention provides a kind of single driving double freedom driving means, this device is at single driving motor
Driving under, can realize the linear motion of mechanism's outfan, rotary motion and straight line back to zero motion, can effectively solve space exhibition
The space mechanisms such as opening mechanism, space small actuators and robot for space end execution unit to freedom of motion with lightweight
Needs of problems between quantization.
In order to achieve the above object, the technical scheme is that a kind of single driving double freedom driving means, this device
Including the driving motor set gradually from bottom to up, reductor, ball-screw, feed screw nut, drive mechanism and motion switching
Parts.
The output shaft driving motor connects reductor.
The output shaft of reductor connects ball-screw.
Arranging feed screw nut on ball-screw, ball-screw is for being converted into the gyration of the output shaft of reductor directly
Line moves；
Feed screw nut upper surface is connected drive mechanism；When driving motor and speed reducer work, drive mechanism is at leading screw spiral shell
Under female promotion, it is achieved the output moved along a straight line up and down；
Motion switching part is connected with drive mechanism circumference, drive mechanism move upward reach certain limit time, band
Dynamic drive mechanism circumferential movement, it is achieved the output of circumferential movement.
Further, drive mechanism is the hollow circular cylinder that a lower end has flange, the hollow bulb partial volume of drive mechanism
Receive ball-screw；The flange upper surface of drive mechanism arranges dog link push rod, and the edge of flange is provided with putting in place of some projections
Boss, flange is offered the feed screw nut connecting hole for being connected with feed screw nut simultaneously, for being connected with feed screw nut guide rod
Feed screw nut guide rod hole；Drive mechanism (5) upper end as output shaft, offer outfan connecting hole.
Motion switching part includes dog link and switch head, and switch head is the hollow that a upper end arranges annular groove
Stepped cylindrical；Annular groove circumferential direction inside uniformly opens multiple spline rod aperture that sets, and is spiral slide between two adjacent dog link holes,
The height of each spiral slide is the most consistent with the hand of spiral；The lower section of switch head arranges feed screw nut guide rod；Drive mechanism upper
Hold through the hollow space of switch head and stretch out, during wherein feed screw nut guide rod is inserted into feed screw nut guide rod hole, and dog link
Push rod is consistent with spline rod aperture.
Switch head upper end, arranges dog link slideway, dog link slideway and drive mechanism with each spline rod aperture corresponding position
Being connected, dog link slideway has upper and lower two openings；Dog link center projections has chuck, and dog link is divided into upper and lower two by chuck
Point, wherein the top of dog link and chuck are placed in dog link slideway, the upper socket spring of dog link, dog link bottom card
It is connected in spline rod aperture；
Further, dog link push rod is consistent with dog link hole number and be 2.
Further, device also includes shell, wherein drives motor to be fixed on outer casing bottom, and reductor is supported by support
In enclosure, ball-screw is connected with the bracket bearing of reductor；Switch head is three grades of stepped cylindrical, wherein the first order and
It is fixed in shell by bearing between two grades of ladders.
Preferably, bearing is angular contact ball bearing.
Further, the output shaft rotation direction of drive mechanism is consistent with spiral slide descent direction.
Beneficial effect:
1 present invention uses single driving source i.e. achieve the linear motion of mechanism's outfan, rotary motion and straight line to return
Zero moves, and each motion stage does not exist motion coupling；
2) single in the present invention drive that double freedom mechanism structure is compact, lightweight, reliability is high, be particularly suitable for motion from
High and harsh to mechanism's weight demands space mechanism/robot for space field is required by degree.
Accompanying drawing explanation
Fig. 1 is single driving double freedom mechanism composition schematic diagram in the present invention；
Fig. 2 is the application schematic diagram in the present invention in lunar soil primary package device；
Fig. 3 is drive mechanism drive system composition schematic diagram in the present invention；
Fig. 4 is drive shaft structural representation in the present invention；
Fig. 5 is motion switching part structural representation in the present invention.
Detailed description of the invention
Develop simultaneously embodiment below in conjunction with the accompanying drawings, describes the present invention.
Embodiment 1, a kind of single driving double freedom driving means, this device includes the driving electricity set gradually from bottom to up
Machine 7, reductor 8, ball-screw 11, feed screw nut 12, drive mechanism 5 and motion switching part.
The output shaft driving motor 7 connects reductor 8.
The output shaft of reductor 8 connects ball-screw 11.
Arranging feed screw nut 12 on ball-screw 11, ball-screw 11 is for the gyration by the output shaft of reductor 8
It is converted into linear motion.
Feed screw nut 12 upper surface is connected drive mechanism 5；When driving motor 7 and reductor 8 to work, drive mechanism 5 exists
Under the promotion of feed screw nut 12, it is achieved the output moved along a straight line up and down.
Motion switching part and drive mechanism 5 circumference is connected, drive mechanism 5 move upward reach certain limit time,
Drive drive mechanism 5 circumferential movement, it is achieved the output of circumferential movement.
In the present embodiment, drive mechanism 5 as shown in Figure 4, is the lower end hollow circular cylinder with flange, drive mechanism
The hollow space of 5 accommodates ball-screw 11；The flange upper surface of drive mechanism 5 arranges dog link push rod 20, and the edge of flange sets
It is equipped with the boss 21 that puts in place of some projections, flange is offered the feed screw nut connecting hole for being connected with feed screw nut 12 simultaneously
18, for the feed screw nut guide rod hole 19 being connected with feed screw nut guide rod 23；Drive mechanism 5 upper end as output shaft, offer defeated
Go out to hold connecting hole 22；
Motion switching part is as it is shown in figure 5, include dog link 15 and switch head 13, and switch head 13 is that a upper end is arranged
The stepped cylindrical of the hollow of annular groove；Annular groove circumferential direction inside uniformly opens multiple spline rod aperture that sets, two adjacent dog links
Being spiral slide between hole, the height of each spiral slide is the most consistent with the hand of spiral；The lower section of switch head 13 arranges leading screw spiral shell
Female guide rod 23；The upper end of drive mechanism 5 passes the hollow space of switch head 13 and stretches out, and wherein feed screw nut guide rod 23 is inserted into
In feed screw nut guide rod hole 19, and dog link push rod 20 is consistent with spline rod aperture；
Switch head 13 upper end, arranges dog link slideway 17, dog link slideway 17 and biography with each spline rod aperture corresponding position
Motivation structure 5 is connected, and dog link slideway 17 has upper and lower two openings；Dog link 15 center projections has chuck, and dog link 15 is by card
Platform is divided into upper and lower two parts, and wherein the top of dog link 15 and chuck are placed in dog link slideway 17, the top of dog link 15
Socket spring, dog link 15 bottom is connected in spline rod aperture；
In the present embodiment, dog link push rod 20 is consistent with dog link hole number as shown in Figure 5 and be 2.
In the present embodiment, device also includes shell, as it is shown on figure 3, wherein drive motor 7 to be fixed on outer casing bottom, slows down
Machine 8 is supported in enclosure by support, and ball-screw 11 is connected with the bracket bearing of reductor 8；Switch head 13 is three grades of rank
Ladder cylinder, is wherein fixed in shell by bearing between the first order and second level ladder.As it is shown in figure 1, shell can be divided into
Hood 1, driving assembly housing 2, driving assembly housing lid 3, driving assembly support 4.
In the present embodiment, bearing is angular contact ball bearing.
The output shaft rotation direction of drive mechanism 5 is consistent with spiral slide descent direction.
Embodiment 2,
The motor process of this set drive mechanism is as follows:
1. the motion starting stage: in the motion starting stage, the lower surface of feed screw nut 12 is connected support 10 with reductor
Upper surface contacts, and feed screw nut 12 is positioned at lower limit with the assembly of outfan drive shaft 5, and feed screw nut guide rod 23 is positioned at leading screw
In nut guide rod hole 19, limit the round circumferential movement of feed screw nut 12 and outfan drive shaft 5 assembly；Dog link push rod 20 with
Dog link 15 is contactless, and under the effect of push rod spring 16,2 dog links 15 are in left movement switching hole 26 and right motion switching
In hole 27, limit the round circumferential movement of motion switching part 13；Drive assembly support 4, drive assembly housing 3, big angular contact ball
Bearing 14 limits the linear motion of motion switching part 13 jointly；
2. linear moving stage: driving motor 7 to drive ball-screw 11 to rotate by reductor 8, feed screw nut 12 is with defeated
Going out to hold drive shaft 5 assembly by under the guiding of feed screw nut guide rod 23, mechanism's outfan does straight line and moves upward；Along with motion
Being stepped up of displacement, dog link push rod 20 will progressively move and enter into left movement switching hole 26 and right motion switching hole 27
In, contact with dog link 15, and promote dog link 15 to move upward；Boss 21 and the lower end of motion switching part 13 until putting in place
Face contacts, and linear motion stops, and now dog link 15 will the most all exit left movement switching hole 26 and right motion switching hole 27,
No longer the round circumferential movement of motion switching part 13 will be retrained；
3. the circular motion stage: after linear motion reaches upper limit, when driving motor 7 to continue to original motion,
At the boss 21 that puts in place with under the effect of the lower surface contact friction force of motion switching part 13, motion switching part 13 will be with big angle
The inner ring of contact ball bearing 14 starts circle together and circumferentially rotates；Meanwhile, dog link 15, under the effect of push rod spring 16, enters
Enter in front spiral slide 24 and rear screw slideway 25 and slide along spiral slide；When two dog links slide in spiral slide,
Every half circumference will appear from a step impact, but as long as motor steering does not changes, mechanism's outfan will persistently rotate fortune
Dynamic；
4. mechanism's back to zero motion stage: when mechanism's outfan needs recurrent mutation initial position, at the base of circular motion
On plinth, adverse movement after driving motor 7 only to need to stop, maximum in the range of the return difference of half circumference, dog link 15 will slide into
Left movement switching hole 26 and right motion switching hole 27, be in the surface of spline push rod 20；Motor 7 is driven to continue adverse movement
Time, by left movement switching hole 26 and the constrained of right motion switching hole 27 reverse step, before dog link 15 will be unable to enter into
In spiral slide 24 and rear screw slideway 25, and limit the reverse circular motion of motion switching part 13；Meanwhile, leading screw spiral shell
Mother 12 and outfan drive shaft 5 assembly are by under the guiding of feed screw nut guide rod 23, and mechanism's outfan does downward the returning of straight line
Zero motion, until the upper surface that the lower surface of feed screw nut 12 connects support 10 with reductor contacts, mechanism's back to zero has been moved,
Mechanism's outfan will be again at motion initial position.
To sum up, these are only presently preferred embodiments of the present invention, be not intended to limit protection scope of the present invention.All
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvement etc. made, should be included in the protection of the present invention
Within the scope of.
Claims (6)
1. a single driving double freedom driving means, it is characterised in that this device includes the driving set gradually from bottom to up
Motor (7), reductor (8), ball-screw (11), feed screw nut (12), drive mechanism (5) and motion switching part；
The output shaft of described driving motor (7) connects reductor (8)；
The output shaft of described reductor (8) connects described ball-screw (11)；
Arranging feed screw nut (12) on described ball-screw (11), ball-screw (11) is for by the output shaft of reductor (8)
Gyration is converted into linear motion；
Described feed screw nut (12) upper surface is connected described drive mechanism (5)；When driving motor (7) and reductor (8) work,
Described drive mechanism (5) is under the promotion of feed screw nut (12), it is achieved the output moved along a straight line up and down；
Described motion switching part is connected with described drive mechanism (5) circumference, reaches certain moving upward of drive mechanism (5)
During scope, drive drive mechanism (5) circumferential movement, it is achieved the output of circumferential movement.
2. a kind of single driving double freedom driving means as claimed in claim 1, it is characterised in that described drive mechanism (5)
Being the lower end hollow circular cylinder with flange, the hollow space of drive mechanism (5) accommodates described ball-screw (11)；Transmission
The flange upper surface of mechanism (5) arranges dog link push rod (20), and the edge of flange is provided with the boss that puts in place (21) of some projections,
Offer the feed screw nut connecting hole (18) for being connected with feed screw nut (12) on flange simultaneously, be used for and feed screw nut guide rod
(23) the feed screw nut guide rod hole (19) being connected；Drive mechanism (5) upper end as output shaft, offer outfan connecting hole (22)；
Described motion switching part includes dog link (15) and switch head (13), and described switch head (13) is that a upper end is arranged
The stepped cylindrical of the hollow of annular groove；Described annular groove circumferential direction inside uniformly opens multiple spline rod aperture that sets, two adjacent only
Being spiral slide between bull stick hole, the height of each spiral slide is the most consistent with the hand of spiral；The lower section of described switch head (13)
Feed screw nut guide rod (23) is set；The upper end of described drive mechanism (5) passes the hollow space of described switch head (13) and stretches out,
During wherein feed screw nut guide rod (23) is inserted into described feed screw nut guide rod hole (19), and dog link push rod (20) stops with described
Bull stick hole is consistent；
Described switch head (13) upper end, arranges dog link slideway (17) with each spline rod aperture corresponding position, and described dog link is sliding
Road (17) is connected with drive mechanism (5), and dog link slideway (17) has upper and lower two openings；Described dog link (15) center projections
Having chuck, dog link (15) is divided into upper and lower two parts by chuck, and wherein the top of dog link (15) and chuck are placed in dog link
In slideway (17), the upper socket spring of dog link (15), dog link (15) bottom is connected in described spline rod aperture.
3. a kind of single driving double freedom driving means as claimed in claim 2, it is characterised in that described dog link push rod
(20) consistent with described dog link hole number and be 2.
4. a kind of single driving double freedom driving means as claimed in claim 2, it is characterised in that outside described device also includes
Shell, wherein drives motor (7) to be fixed on outer casing bottom, and reductor (8) is supported in enclosure, ball-screw (11) by support
It is connected with the bracket bearing of reductor (8)；Described switch head (13) is three grades of stepped cylindrical, wherein the first order and second level ladder
Between be fixed in described shell by bearing.
5. a kind of single driving double freedom driving means as described in claim 2,3 or 4, it is characterised in that described bearing
It is angular contact ball bearing.
6. a kind of single driving double freedom driving means as described in claim 2,3 or 4, it is characterised in that described transmission
The output shaft rotation direction of mechanism (5) is consistent with spiral slide descent direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610512125.1A CN106151433B (en) | 2016-06-30 | 2016-06-30 | A kind of single driving double freedom driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610512125.1A CN106151433B (en) | 2016-06-30 | 2016-06-30 | A kind of single driving double freedom driving device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106151433A true CN106151433A (en) | 2016-11-23 |
| CN106151433B CN106151433B (en) | 2018-08-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610512125.1A Active CN106151433B (en) | 2016-06-30 | 2016-06-30 | A kind of single driving double freedom driving device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107511838A (en) * | 2017-08-21 | 2017-12-26 | 北京精密机电控制设备研究所 | A kind of motor-driven double thread drive lacking of list refers to end effector of robot and method more |
| CN107919764A (en) * | 2017-12-05 | 2018-04-17 | 中国科学院沈阳自动化研究所 | A kind of double telecontrol equipments of list motor control |
| CN108050218A (en) * | 2018-01-29 | 2018-05-18 | 潍坊海丰自动化科技有限公司 | Linear drive apparatus and driving source |
| CN110242731A (en) * | 2019-07-24 | 2019-09-17 | 深圳市兆威机电股份有限公司 | Driving mechanism and transmission component |
| CN113639024A (en) * | 2021-10-15 | 2021-11-12 | 太原理工大学 | Dead electronic jar of lead screw nut floating centering anti-sticking |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107511838A (en) * | 2017-08-21 | 2017-12-26 | 北京精密机电控制设备研究所 | A kind of motor-driven double thread drive lacking of list refers to end effector of robot and method more |
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| CN110242731A (en) * | 2019-07-24 | 2019-09-17 | 深圳市兆威机电股份有限公司 | Driving mechanism and transmission component |
| CN113639024A (en) * | 2021-10-15 | 2021-11-12 | 太原理工大学 | Dead electronic jar of lead screw nut floating centering anti-sticking |
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| Publication number | Publication date |
|---|---|
| CN106151433B (en) | 2018-08-07 |
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