CN106272536A - A kind of two-freedom series connection servo articulation structure - Google Patents
A kind of two-freedom series connection servo articulation structure Download PDFInfo
- Publication number
- CN106272536A CN106272536A CN201610945465.3A CN201610945465A CN106272536A CN 106272536 A CN106272536 A CN 106272536A CN 201610945465 A CN201610945465 A CN 201610945465A CN 106272536 A CN106272536 A CN 106272536A
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- Prior art keywords
- freedom
- plate
- top board
- push rod
- articulation structure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
Abstract
The present invention relates to multi-freedom joint technical field, particularly relate to a kind of two-freedom series connection servo articulation structure, it includes top board, hang plate, the first degree of freedom mechanism and Two-Degree-of-Freedom mechanism, and described top board is provided with the through hole of accommodating described hang plate；Described first degree of freedom mechanism includes electronic push rod, is arranged on the symmetrically arranged interlock plate bottom described hang plate, is arranged on the symmetrically arranged top board connecting plate bottom described top board and clutch shaft bearing connector；Described Two-Degree-of-Freedom mechanism includes one-stage gear, secondary gear and the fixing motor connecting described hang plate and the second bearing connection.The two-freedom degree joint series connection servo articulation structure that the present invention provides, its simple in construction, cost of manufacture is low, installs, uses and easy to control, and versatility and practicality are relatively strong, and service life is long, it is simple to promote the use of.
Description
Technical field
The present invention relates to multi-freedom joint technical field, particularly relate to a kind of two-freedom series connection servo articulation structure.
Background technology
Along with the development of robotics, robot kind is on the increase, to the motility of joint of robot, compactedness,
Requirement intelligent, controllability is more and more higher.Two-freedom degree joint refers to have two axis and intersects vertically the joint of degree of freedom, this
The prototype in kind of joint generally exists on human body and animal body, such as human body and other walking neck joints of class animal, carpal joint,
Ankle joint, refer to the lower limb root joint etc. of root joint, waist joint, Eriocheir sinensis and other reptiles.Therefore, for various bionic machines
People, it is one of problem needing solution that making has the joint of two-freedom.
But, robot of the prior art two-freedom degree joint structure, there is inherent shortcoming, such as huge structure, make
Cost is high, and structure assembly degree is the highest, and intensity is low, and location is not accurate, controls difficulty big, and load-carrying ability is low, and these defects all limit
Make bionic machine man-based development, be not easy to promoting the use of of two-freedom degree joint structure.
Summary of the invention
(1) to solve the technical problem that
The present invention provides a kind of two-freedom degree joint series connection servo articulation structure, is used for solving deficiency of the prior art,
Its simple in construction, cost of manufacture is low, installs, uses and easy to control, and versatility and practicality are relatively strong, and service life is long, just
In promoting the use of.
(2) technical scheme
In order to solve above-mentioned technical problem, the present invention provides a kind of two-freedom series connection servo articulation structure, including top board,
Hang plate, the first degree of freedom mechanism and Two-Degree-of-Freedom mechanism, described top board is provided with through hole, accommodating in described through hole described in incline
Swash plate；
Described first degree of freedom mechanism includes electronic push rod, is arranged on the symmetrically arranged gearing bottom described hang plate
Plate, it is arranged on the symmetrically arranged top board connecting plate bottom described top board and clutch shaft bearing connector, described electronic push rod
Push rod expansion link and base are hinged with described hang plate and described top board respectively, in order to drive the most described top board of described hang plate
Rotating, described top board connecting plate and described interlock plate are respectively equipped with the first through hole and the second through hole, described clutch shaft bearing connector
Sequentially pass through described first through hole and described first through hole is rotationally connected described top board connecting plate and described interlock plate；
Described Two-Degree-of-Freedom mechanism include one-stage gear, secondary gear and the fixing motor connecting described hang plate and
Second bearing connection, the outfan of described motor and described second bearing connection are passed institute by the bottom of described hang plate
Stating hang plate, the traversing through end of described motor connects described one-stage gear, and described one-stage gear is engaged with described secondary gear, described
The inner ring of secondary gear connects the traversing through end of described second bearing connection.
Wherein, described clutch shaft bearing connector includes that clutch shaft bearing and the first axle sleeve, one end of described first axle sleeve are provided with
Flange, described flange is fixed on described interlock plate, the outer sheathed described clutch shaft bearing of the other end of described first axle sleeve, and described the
The outer ring of one bearing connects described top board connecting plate.
Wherein, described two-freedom series connection servo articulation structure also includes the first testing agency, described first testing agency
Including the first steering wheel, yi word pattern fixed plate and the first potentiometer, the body of described first potentiometer is arranged on described first
On steering wheel, described first steering wheel is arranged on the other end of described first axle sleeve, and the test side of described first potentiometer is fixed
Connecting described yi word pattern fixed plate, described yi word pattern fixed plate is arranged on described top board connecting plate.
Wherein, described second bearing connection includes that the second bearing and the second axle sleeve, one end of described second axle sleeve are provided with
Flange, described flange is fixed on described hang plate, outer sheathed described second bearing of the other end of described second axle sleeve, and described the
The outer ring of two bearings connects described secondary gear.
Wherein, described two-freedom series connection servo articulation structure also includes the second testing agency, described second testing agency
Including the second steering wheel, connecting sheet and the second potentiometer, the body of described second potentiometer is arranged on described second steering wheel
On, described second steering wheel fixes the other end connecting described second axle sleeve, and the test side of described second potentiometer is fixing to be connected
One end of described connection sheet, the other end of described connection sheet is arranged on described secondary gear.
Wherein, described second testing agency also includes clip, and the test side of described second potentiometer is by described fixing
Button is fixed on one end of described connection sheet.
Wherein, described first degree of freedom mechanism also includes the push rod connecting plate being arranged on bottom described hang plate and is arranged on
Push rod fixed plate bottom described top board, the push rod expansion link of described electronic push rod and base respectively with described push rod connecting plate and
Described push rod fixed plate is hinged.
Wherein, the push rod of described electronic push rod and base all by hinge respectively with described push rod connecting plate and described push rod
Fixed plate is hinged.
Wherein, described motor is reducing motor.
(3) beneficial effect
The two-freedom series connection servo articulation structure that the present invention provides, has the advantage that relative to prior art
1, the two-freedom series connection servo articulation structure that the present invention provides, simple in construction, cost of manufacture is low, installs, uses
And easy to control, versatility and practicality are relatively strong, and service life is long, it is simple to promote the use of；
2, the mode that electronic push rod combines is used with motor, it is achieved the fortune of two degree of freedom of two-freedom degree joint structure
Dynamic；
3, by arranging the first potentiometer and the second potentiometer, it is possible to accurately measure the first degree of freedom mechanism and second freely
The angle that degree mechanism rotates, easy to control；
4, in addition to the joint drive that may be used for robot, additionally it is possible to for the driving of two-freedom platform, versatility
By force, the application in these fields, determine the significance and value it furtherd investigate and analyzes, there is good society
Benefit and economic benefit.
Accompanying drawing explanation
The structural representation of the two-freedom series connection servo articulation structure that Fig. 1 provides for the present invention；
The shaft side figure of the two-freedom series connection servo articulation structure that Fig. 2 provides for the present invention；
The structural representation of the Two-Degree-of-Freedom mechanism that Fig. 3 provides for the present invention；
The clutch shaft bearing connector that Fig. 4 present invention provides connects interlock plate and the structural representation of top board connecting plate；
In figure, 1: top board；2: hang plate；3: electronic push rod；4: push rod fixed plate；5: the second steering wheels；6: push rod connects
Plate；7, interlock plate；8, clutch shaft bearing；9, top board connecting plate；10, yi word pattern fixed plate；11, the first potentiometer；12, motor；13、
One-stage gear；14, secondary gear；15, the second potentiometer；16, push rod expansion link；17, the first steering wheel；18, the second axle sleeve；
19, the second bearing；20, the first axle sleeve；21, clip；22, sheet is connected.
Detailed description of the invention
For the ease of understanding the present invention, below with reference to relevant drawings, the present invention is described more fully.In accompanying drawing
Give the better embodiment of the present invention.These are only the preferred embodiments of the present invention, not thereby limit the special of the present invention
Profit scope, every equivalent structure utilizing description of the invention and accompanying drawing content to be made or equivalence flow process conversion, or directly or
Connect and be used in other relevant technical fields, be the most in like manner included in the scope of patent protection of the present invention.
Unless otherwise defined, all of technology used herein and scientific terminology and the technical field belonging to the present invention
The implication that technical staff is generally understood that is identical.The term used the most in the description of the invention is intended merely to describe tool
The purpose of the embodiment of body, it is not intended that in limiting the present invention.Term as used herein " and/or " include one or more
Arbitrary and all of combination of relevant Listed Items.
The present invention provides a kind of two-freedom degree joint series connection servo articulation structure, is used for solving deficiency of the prior art,
Its simple in construction, cost of manufacture is low, installs, uses and easy to control, and versatility and practicality are relatively strong, and service life is long, just
In promoting the use of.
As Figure 1-4, the embodiment of the present invention provides a kind of two-freedom series connection servo articulation structure, including top board 1,
Hang plate the 2, first degree of freedom mechanism and Two-Degree-of-Freedom mechanism, top board 1 is provided with through hole, is equipped with hang plate 2 in through hole；The
Single-degree-of-freedom mechanism includes electronic push rod 3, is arranged on the symmetrically arranged interlock plate 7 bottom hang plate 2, is arranged on top board 1 end
The symmetrically arranged top board connecting plate 9 in portion and clutch shaft bearing connector, the push rod expansion link 16 of electronic push rod 3 and base are respectively
Hinged with hang plate 2 and top board 1, in order to drive hang plate 2 to rotate relative to top board 1, top board connecting plate 9 and interlock plate 7 set respectively
Having the first through hole and the second through hole, clutch shaft bearing connector sequentially passes through the first through hole and the first through hole is rotationally connected top board and connects
Plate 9 and interlock plate 7；Two-Degree-of-Freedom mechanism includes one-stage gear 13, secondary gear 14 and the fixing motor connecting hang plate 2
12 and second bearing connection, the outfan of motor 12 and the second bearing connection by the bottom of hang plate 2 pass described in incline
Swash plate 2, the traversing through end of motor 12 connects one-stage gear 13, and one-stage gear 13 is engaged with secondary gear 14, secondary gear 14 interior
Circle connects the traversing through end of the second bearing connection.The two-freedom series connection servo articulation structure that the present invention provides, by electronic top
Push rod expansion link 16 and its base are hinged on hang plate 2 and top board 1 by bar 3 respectively, and electronic push rod 3 drives hang plate 2 on top
Rotate relative to top board 1 tilted upward in through hole on plate 1, thus realize the motion of one degree of freedom；Motor 12 drives one-level
Gear 13 rotates, and one-stage gear 13 drives secondary gear 14 to rotate, it is achieved thereby that the motion of second degree of freedom.
The two-freedom degree joint structure that the present invention provides, uses the company of electronic push rod and driven by motor and bearing connection
Connecing, it is achieved that the motion of two degree of freedom of overall structure, this is simple and compact for structure, and cost of manufacture is low, installs and easy to operate, logical
By property and practical, service life is long, it is simple to promote the use of.
In the present embodiment, clutch shaft bearing connector includes clutch shaft bearing 8 and the first axle sleeve 20, and one end of the first axle sleeve 20 sets
Flange, flange is had to be fixed on interlock plate 7, the outer sheathed clutch shaft bearing 8 of the other end of the first axle sleeve 20, the outer ring of clutch shaft bearing 8
Connect top board connecting plate 9.First axle sleeve 20 is fixed on interlock plate 7 by flange, connects the first axle sleeve 20 by clutch shaft bearing 8
With top board connecting plate 9, it is achieved interlock plate 7 relatively rotates with top board connecting plate 9, i.e. realize the hang plate 2 phase relative to top board 1
To rotation.
The two-freedom series connection servo articulation structure that the present invention provides also include being connected on one of them interlock plate 7 the
One testing agency, the first testing agency includes the first steering wheel 17, yi word pattern fixed plate 10 and the first potentiometer 11, the first electricity
The body of position device 11 is arranged on the inner side of the first steering wheel 17, and the first steering wheel 17 is disposed therein described first axle sleeve
The other end of 20, the test side of the first potentiometer 11 passes from the inner side of the first steering wheel, and the test side passed is fixedly connected on
In yi word pattern fixed plate 10, yi word pattern fixed plate 10 is arranged on top board connecting plate 9.This two-freedom series connection servo articulation structure
The anglec of rotation of one degree of freedom motion can be detected by the first potentiometer 11, concrete, by by the first potentiometer 11
Body part be arranged on the first steering wheel 17 that can rotate under the drive of electronic push rod 3, the inspection of the first potentiometer 11
Survey end to be fixedly connected in the yi word pattern fixed plate 10 being fixed on top board connecting plate 9, thus detected by the first potentiometer 11
First steering wheel 17 is relative to the anglec of rotation of top board connecting plate 9, the angle that i.e. detection hang plate 2 rotates relative to top board 1.
In the present embodiment, the second bearing connection includes the second bearing 19 and the second axle sleeve 18, one end of the second axle sleeve 18
Being provided with flange, flange is fixed on hang plate 2, outer sheathed second bearing 19 of the other end of the second axle sleeve 18, the second bearing 19
Outer ring connects described secondary gear 14.Second axle sleeve 18 is fixed on hang plate 2 by flange, and is connected by the second bearing 19
Second axle sleeve 18 and secondary gear 14, it is achieved relatively rotating, i.e. at one-stage gear 13 of the second axle sleeve 18 and secondary gear 14
The secondary gear 14 rotary motion relative to hang plate 2 is realized under drive.
In the present embodiment, two-freedom series connection servo articulation structure also includes the second testing agency, second testing agency's bag
Including the second steering wheel 5, connect sheet 22 and the second potentiometer 15, the body of the second potentiometer 15 is arranged on the second steering wheel 5
Inner side, the second fixing other end connecting the second axle sleeve 18 of steering wheel 5, the test side of the second potentiometer 15 is from the second steering wheel 5
Inner side pass, the test side passed fix be connected in connect sheet 22 one end, connect sheet 22 the other end be arranged on secondary gear
On 14.This two-freedom series connection servo articulation structure can detect the rotation of second degree of freedom motion by the second potentiometer 15
Angle, concrete, by the body part of the second potentiometer 15 is arranged on fixing with the second axle sleeve 18 be connected second turn to
On dish 5, the test side of the second potentiometer 15 is fixed on the one end connecting sheet 22, thus connects sheet by the second potentiometer 15 detection
22 relative to the anglec of rotation of the second steering wheel 5, and i.e. detection secondary gear 14 is relative to the anglec of rotation of hang plate 2.
In the present embodiment, in order to the test side of the second potentiometer 15 being fixed on the one end connecting sheet 22, the second detection
Mechanism also includes clip 21, and the test side of the second potentiometer 15 is fixed on the one end connecting sheet 22 by clip 21.
In the present embodiment, in order to realize electronic push rod 3 hinged with top board 1 and hang plate 2 respectively, the first degree of freedom mechanism
Also include the push rod connecting plate 6 being arranged on bottom hang plate and be arranged on the push rod fixed plate 4 bottom top board 1, electronic push rod 3
Push rod expansion link 16 is hinged with push rod connecting plate 6, and the base of electronic push rod 3 is hinged with push rod fixed plate 4.Further, electronic push rod 3
Push rod expansion link 16 and base all hinged with push rod connecting plate 6 and push rod fixed plate 4 respectively by hinge.
The two-freedom series connection servo articulation structure that the present invention provides, motor 12 is as driving the second degree of freedom mechanism kinematic
Power source, and in order to simplify structure design, save space, use reducing motor to realize the power drive of second degree of freedom.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention
Within god and principle, any modification, equivalent substitution and improvement etc. made, should be included within the scope of the present invention.
Claims (9)
1. a two-freedom series connection servo articulation structure, it is characterised in that include top board, hang plate, the first degree of freedom mechanism
And Two-Degree-of-Freedom mechanism, described top board is provided with through hole, accommodating described hang plate in described through hole；
Described first degree of freedom mechanism includes electronic push rod, is arranged on the symmetrically arranged interlock plate bottom described hang plate, sets
Putting the symmetrically arranged top board connecting plate bottom described top board and clutch shaft bearing connector, the push rod of described electronic push rod is stretched
Contracting bar and base are hinged with described hang plate and described top board respectively, in order to drive the most described top panel turns of described hang plate,
Described top board connecting plate and described interlock plate are respectively equipped with the first through hole and the second through hole, and described clutch shaft bearing connector is worn successively
Cross described first through hole and described first through hole is rotationally connected described top board connecting plate and described interlock plate；
Described Two-Degree-of-Freedom mechanism includes one-stage gear, secondary gear and the fixing motor and second connecting described hang plate
Bearing connection, the outfan of described motor and described second bearing connection by the bottom of described hang plate pass described in incline
Swash plate, the traversing through end of described motor connects described one-stage gear, and described one-stage gear is engaged with described secondary gear, described two grades
The inner ring of gear connects the traversing through end of described second bearing connection.
Two-freedom the most according to claim 1 series connection servo articulation structure, it is characterised in that described clutch shaft bearing connects
Part includes that clutch shaft bearing and the first axle sleeve, one end of described first axle sleeve are provided with flange, and described flange is fixed on described interlock plate
On, the outer sheathed described clutch shaft bearing of the other end of described first axle sleeve, the outer ring of described clutch shaft bearing connects described top board and connects
Plate.
Two-freedom the most according to claim 2 series connection servo articulation structure, it is characterised in that described two-freedom is connected
Servo articulation structure also include the first testing agency, described first testing agency include the first steering wheel, yi word pattern fixed plate with
And first potentiometer, the body of described first potentiometer is arranged on described first steering wheel, and described first steering wheel is arranged on
The other end of described first axle sleeve, the test side of described first potentiometer is fixing connects described yi word pattern fixed plate, a described word
Type fixed plate is arranged on described top board connecting plate.
Two-freedom the most according to claim 1 series connection servo articulation structure, it is characterised in that described second bearing connects
Part includes that the second bearing and the second axle sleeve, one end of described second axle sleeve are provided with flange, and described flange is fixed on described hang plate
On, outer sheathed described second bearing of the other end of described second axle sleeve, the outer ring of described second bearing connects described secondary gear.
Two-freedom the most according to claim 4 series connection servo articulation structure, it is characterised in that described two-freedom is connected
Servo articulation structure also includes that the second testing agency, described second testing agency include the second steering wheel, connect sheet and second
Potentiometer, the body of described second potentiometer is arranged on described second steering wheel, and the fixing connection of described second steering wheel is described
The other end of the second axle sleeve, the test side of described second potentiometer fixes the one end connecting described connection sheet, described connection sheet
The other end is arranged on described secondary gear.
Two-freedom the most according to claim 5 series connection servo articulation structure, it is characterised in that described second testing agency
Also include that clip, the test side of described second potentiometer are fixed on one end of described connection sheet by described clip.
7. connect servo articulation structure according to the two-freedom according to any one of claim 1-6, it is characterised in that described the
Single-degree-of-freedom mechanism also includes the push rod connecting plate being arranged on bottom described hang plate and is arranged on the push rod bottom described top board
Fixed plate, the push rod expansion link of described electronic push rod and base cut with scissors with described push rod connecting plate and described push rod fixed plate respectively
Connect.
Two-freedom the most according to claim 7 series connection servo articulation structure, it is characterised in that the top of described electronic push rod
Bar and base are all hinged with described push rod connecting plate and described push rod fixed plate respectively by hinge.
9. according to the two-freedom series connection servo articulation structure according to any one of claim 1-6, it is characterised in that described electricity
Machine is reducing motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610945465.3A CN106272536B (en) | 2016-11-02 | 2016-11-02 | A kind of two-freedom series connection servo joint structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610945465.3A CN106272536B (en) | 2016-11-02 | 2016-11-02 | A kind of two-freedom series connection servo joint structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106272536A true CN106272536A (en) | 2017-01-04 |
| CN106272536B CN106272536B (en) | 2018-11-23 |
Family
ID=57719140
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610945465.3A Expired - Fee Related CN106272536B (en) | 2016-11-02 | 2016-11-02 | A kind of two-freedom series connection servo joint structure |
Country Status (1)
| Country | Link |
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| CN (1) | CN106272536B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3444478A1 (en) * | 1984-12-06 | 1986-06-12 | Hans Heynau GmbH, 8000 München | JOINT HEAD FOR INDUSTRIAL ROBOTS |
| DE3532265A1 (en) * | 1985-09-10 | 1987-03-12 | Manutec Gmbh | Articulated head for an industrial robot |
| CN102284959A (en) * | 2011-07-28 | 2011-12-21 | 广州数控设备有限公司 | Wrist for two-degree-of-freedom industrial robot |
| CN202428447U (en) * | 2012-01-12 | 2012-09-12 | 燕山大学 | Two-freedom-degree robot neck joint |
| US20140251054A1 (en) * | 2013-03-07 | 2014-09-11 | Engineering Services Inc. | Two joint module |
| CN104942822A (en) * | 2015-06-05 | 2015-09-30 | 上海宇航系统工程研究所 | Two-degree-of-freedom joint of space robot |
| CN105058419A (en) * | 2015-08-14 | 2015-11-18 | 哈尔滨工大服务机器人有限公司 | Two-degree-of-freedom elbow joint driving device for garment model robot |
| CN206733043U (en) * | 2016-11-02 | 2017-12-12 | 中国农业大学 | A kind of two-freedom series connection servo articulation structure |
-
2016
- 2016-11-02 CN CN201610945465.3A patent/CN106272536B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3444478A1 (en) * | 1984-12-06 | 1986-06-12 | Hans Heynau GmbH, 8000 München | JOINT HEAD FOR INDUSTRIAL ROBOTS |
| DE3532265A1 (en) * | 1985-09-10 | 1987-03-12 | Manutec Gmbh | Articulated head for an industrial robot |
| CN102284959A (en) * | 2011-07-28 | 2011-12-21 | 广州数控设备有限公司 | Wrist for two-degree-of-freedom industrial robot |
| CN202428447U (en) * | 2012-01-12 | 2012-09-12 | 燕山大学 | Two-freedom-degree robot neck joint |
| US20140251054A1 (en) * | 2013-03-07 | 2014-09-11 | Engineering Services Inc. | Two joint module |
| CN104942822A (en) * | 2015-06-05 | 2015-09-30 | 上海宇航系统工程研究所 | Two-degree-of-freedom joint of space robot |
| CN105058419A (en) * | 2015-08-14 | 2015-11-18 | 哈尔滨工大服务机器人有限公司 | Two-degree-of-freedom elbow joint driving device for garment model robot |
| CN206733043U (en) * | 2016-11-02 | 2017-12-12 | 中国农业大学 | A kind of two-freedom series connection servo articulation structure |
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| Publication number | Publication date |
|---|---|
| CN106272536B (en) | 2018-11-23 |
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Granted publication date: 20181123 Termination date: 20211102 |