CN106272536B - A kind of two-freedom series connection servo joint structure - Google Patents
A kind of two-freedom series connection servo joint structure Download PDFInfo
- Publication number
- CN106272536B CN106272536B CN201610945465.3A CN201610945465A CN106272536B CN 106272536 B CN106272536 B CN 106272536B CN 201610945465 A CN201610945465 A CN 201610945465A CN 106272536 B CN106272536 B CN 106272536B
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- Prior art keywords
- plate
- freedom
- mandril
- top plate
- bearing
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Classifications
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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 more particularly to a kind of two-freedom series connection servo joint structures comprising top plate, hang plate, the first freedom degree mechanism and Two-Degree-of-Freedom mechanism, the top plate are equipped with the through-hole for accommodating the hang plate；First freedom degree mechanism includes electronic mandril, the symmetrically arranged interlock plate that the hang plate bottom is arranged in, the symmetrically arranged top plate connecting plate and first bearing connector that the top plate bottom is arranged in；The Two-Degree-of-Freedom mechanism includes one-stage gear, secondary gear and the motor and second bearing connector that are fixedly connected with the hang plate.Two-freedom degree joint provided by the invention is connected servo joint structure, and structure is simple, low manufacture cost, installation, using and it is easy to control, versatility and practicability are stronger, long service life, convenient for promoting the use of.
Description
Technical field
The present invention relates to multi-freedom joint technical field more particularly to a kind of two-freedom series connection servo joint structures.
Background technique
With the development of robot technology, robot type is increasing, to the flexibility of joint of robot, compactedness,
Intelligence, the requirement of controllability are higher and higher.Two-freedom degree joint refers to that tool intersects vertically the joint of freedom degree there are two axis, this
The prototype in kind of joint is generally existing on human body and animal body, for example, human body and the neck joint of other walking class animals, wrist joint,
Ankle-joint refers to root joint, waist joint, the leg root joint etc. of crab and other reptiles.Therefore, for various bionic machines
People, it is one of problem to be solved that making, which has the joint of two-freedom,.
But robot two-freedom degree joint structure in the prior art, there is inherent shortcoming, such as huge structure, production
At high cost, structure integrated level is not high, and intensity is low, and positioning is not accurate, and control difficulty is big, and load-carrying ability is low etc., these defects limit
Bionic machine man-based development has been made, the popularization and use of two-freedom degree joint structure are not easy to.
Summary of the invention
(1) technical problems to be solved
The present invention provides a kind of two-freedom degree joint series connection servo joint structure, for solving deficiency in the prior art,
Its structure is simple, low manufacture cost, installation, using and it is easy to control, versatility and practicability are stronger, long service life, just
In popularization and use.
(2) technical solution
In order to solve the above technical problem, the present invention provides a kind of two-freedom connect servo joint structure, including top plate,
Hang plate, the first freedom degree mechanism and Two-Degree-of-Freedom mechanism, the top plate are equipped with through-hole, incline described in accommodating in the through-hole
Inclined plate；
First freedom degree mechanism includes electronic mandril, the symmetrically arranged gearing that the hang plate bottom is arranged in
Plate, the symmetrically arranged top plate connecting plate and first bearing connector that the top plate bottom is set, the electronic mandril
Mandril telescopic rod and pedestal are hinged with the hang plate and the top plate respectively, to drive the relatively described top plate of the hang plate
Rotation, the top plate connecting plate and the interlock plate are respectively equipped with first through hole and the second through-hole, the first bearing connector
It sequentially passes through the first through hole and second through-hole is rotatablely connected the top plate connecting plate and the interlock plate；
The Two-Degree-of-Freedom mechanism include one-stage gear, secondary gear and be fixedly connected the hang plate motor and
Second bearing connector, the output end of the motor and the second bearing connector are pierced by institute by the bottom of the hang plate
Hang plate is stated, the traversing through end of the motor connects the one-stage gear, and the one-stage gear is engaged with the secondary gear, described
The inner ring of secondary gear connects the traversing through end of the second bearing connector.
Wherein, the first bearing connector includes first bearing and the first axle sleeve, and one end of first axle sleeve is equipped with
Flange, the flange are fixed on the interlock plate, are arranged the first bearing outside the other end of first axle sleeve, and described the
The outer ring of one bearing connects the top plate connecting plate.
Wherein, the two-freedom series connection servo joint structure further includes the first testing agency, first testing agency
Including the first steering wheel, "-" type fixed plate and the first potentiometer, the ontology of first potentiometer is arranged described first
On steering wheel, the other end of first axle sleeve is arranged in first steering wheel, and the test side of first potentiometer is fixed
The "-" type fixed plate is connected, the "-" type fixed plate is arranged on the top plate connecting plate.
Wherein, the second bearing connector includes second bearing and the second axle sleeve, and one end of second axle sleeve is equipped with
Flange, the flange are fixed on the hang plate, are arranged the second bearing outside the other end of second axle sleeve, and described the
The outer ring of two bearings connects the secondary gear.
Wherein, the two-freedom series connection servo joint structure further includes the second testing agency, second testing agency
Including the second steering wheel, connection sheet and the second potentiometer, the ontology of second potentiometer is arranged in second steering wheel
On, second steering wheel is fixedly connected with the other end of second axle sleeve, and the test side of second potentiometer is fixedly connected
The other end of one end of the connection sheet, the connection sheet is arranged on the secondary gear.
Wherein, second testing agency further includes fixing buckle, and the test side of second potentiometer passes through the fixation
Button is fixed on one end of the connection sheet.
Wherein, first freedom degree mechanism further includes that the mandril connecting plate that the hang plate bottom is arranged in and setting exist
The mandril fixed plate of the top plate bottom, the mandril telescopic rod and pedestal of the electronic mandril respectively with the mandril connecting plate and
The mandril fixed plate is hinged.
Wherein, the mandril of the electronic mandril and pedestal pass through hinge respectively with the mandril connecting plate and the mandril
Fixed plate is hinged.
Wherein, the motor is decelerating motor.
(3) beneficial effect
Two-freedom series connection servo joint structure provided by the invention, has the following advantages that compared with the existing technology：
1, two-freedom series connection servo joint structure provided by the invention, structure is simple, low manufacture cost, and installation uses
And it is easy to control, versatility and practicability are stronger, long service life, convenient for promoting the use of；
2, using electronic mandril in such a way that motor combines, the fortune of two freedom degrees of two-freedom degree joint structure is realized
It is dynamic；
It 3, being capable of precise measurement the first freedom degree mechanism and the second freedom by the first potentiometer of setting and the second potentiometer
The angle of mechanism rotation is spent, it is easy to control；
4, other than the joint drive that can be used for robot, additionally it is possible to for the driving of two-freedom platform, versatility
By force, the application in these fields determines the significance and value furtherd investigate and analyzed to it, has good society
Benefit and economic benefit.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of two-freedom provided by the invention series connection servo joint structure；
Fig. 2 is the shaft side figure of two-freedom provided by the invention series connection servo joint structure；
Fig. 3 is the structural schematic diagram of Two-Degree-of-Freedom mechanism provided by the invention；
The structural schematic diagram of Fig. 4 connection of first bearing connector interlock plate and top plate connecting plate provided by the invention；
In figure, 1：Top plate；2：Hang plate；3：Electronic mandril；4：Mandril fixed plate；5：Second steering wheel；6：Mandril connection
Plate；7, interlock plate；8, first bearing；9, top plate connecting plate；10, "-" type fixed plate；11, the first potentiometer；12, motor；13,
One-stage gear；14, secondary gear；15, the second potentiometer；16, mandril telescopic rod；17, the first steering wheel；18, the second axle sleeve；
19, second bearing；20, the first axle sleeve；21, fixing buckle；22, connection sheet.
Specific embodiment
To facilitate the understanding of the present invention, a more comprehensive description of the invention is given in the following sections with reference to the relevant attached drawings.In attached drawing
Give better embodiment of the invention.The above is only a preferred embodiment of the present invention, is not intended to limit of the invention special
Sharp range, it is all using equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content, directly or
It connects and is used in other related technical areas, be included within the scope of the present invention.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more
Any and all combinations of relevant listed item.
The present invention provides a kind of two-freedom degree joint series connection servo joint structure, for solving deficiency in the prior art,
Its structure is simple, low manufacture cost, installation, using and it is easy to control, versatility and practicability are stronger, long service life, just
In popularization and use.
As shown in Figs 1-4, a kind of two-freedom series connection servo joint structure is provided in the embodiment of the present invention, including top plate 1,
Hang plate 2, the first freedom degree mechanism and Two-Degree-of-Freedom mechanism, top plate 1 are equipped with through-hole, are equipped with hang plate 2 in through-hole；The
Single-degree-of-freedom mechanism includes electronic mandril 3, the symmetrically arranged interlock plate 7 that 2 bottom of hang plate is arranged in, is arranged at 1 bottom of top plate
The symmetrically arranged top plate connecting plate 9 and first bearing connector in portion, mandril telescopic rod 16 and the pedestal difference of electronic mandril 3
It is hinged with hang plate 2 and top plate 1, it is rotated to drive incline plate 2 relative to top plate 1, top plate connecting plate 9 and interlock plate 7 are set respectively
There are first through hole and the second through-hole, first bearing connector sequentially passes through first through hole and connects with the second through-hole rotation connection top plate
Plate 9 and interlock plate 7；Two-Degree-of-Freedom mechanism includes one-stage gear 13, secondary gear 14 and the motor for being fixedly connected with hang plate 2
12 and second bearing connector, the output end and second bearing connector of motor 12 are pierced by by the bottom of hang plate 2 described to incline
Inclined plate 2, the traversing through end of motor 12 connect one-stage gear 13, and one-stage gear 13 is engaged with secondary gear 14, secondary gear 14 it is interior
The traversing through end of circle connection second bearing connector.Two-freedom series connection servo joint structure provided by the invention, passes through electronic top
Mandril telescopic rod 16 and its pedestal are hinged on hang plate 2 and top plate 1 by bar 3 respectively, and electronic mandril 3 drives hang plate 2 pushing up
It is rotated in through-hole on plate 1 relative to 1 tilted upward of top plate, to realize the movement of one degree of freedom；Motor 12 drives level-one
Gear 13 rotates, and one-stage gear 13 drives secondary gear 14 to make rotating motion, to realize the movement of second freedom degree.
Two-freedom degree joint structure provided by the invention, using electronic mandril and motor drive and the company of bearing connection
It connects, realizes the movement of two freedom degrees of overall structure, this is simple and compact for structure, low manufacture cost, installs and easy to operate, leads to
With property and practical, long service life, it is convenient for promoting the use of.
In the present embodiment, first bearing connector includes first bearing 8 and the first axle sleeve 20, and one end of the first axle sleeve 20 is set
There is flange, flange is fixed on interlock plate 7, and first bearing 8, the outer ring of first bearing 8 are arranged outside the other end of the first axle sleeve 20
Connect top plate connecting plate 9.First axle sleeve 20 is fixed on interlock plate 7 by flange, connects the first axle sleeve 20 by first bearing 8
With top plate connecting plate 9, the relative rotation of interlock plate 7 and top plate connecting plate 9, i.e. phase of the realization hang plate 2 relative to top plate 1 are realized
To rotation.
Two-freedom provided by the invention series connection servo joint structure further includes the be connected on one of interlock plate 7
One testing agency, the first testing agency include the first steering wheel 17, "-" type fixed plate 10 and the first potentiometer 11, the first electricity
The ontology of position device 11 is arranged on the inside of the first steering wheel 17, and the first steering wheel 17 is disposed therein first axle sleeve
The test side of 20 other end, the first potentiometer 11 is pierced by the inside of the first steering wheel, and the test side being pierced by is fixedly connected on
In "-" type fixed plate 10, "-" type fixed plate 10 is arranged on top plate connecting plate 9.Two-freedom series connection servo joint structure
The rotation angle of one degree of freedom movement is able to detect by the first potentiometer 11, specifically, by by the first potentiometer 11
Body part be arranged on the first steering wheel 17 that can be rotated under the drive of electronic mandril 3, the inspection of the first potentiometer 11
It surveys end to be fixedly connected in the "-" type fixed plate 10 being fixed on top plate connecting plate 9, to detect by the first potentiometer 11
The angle that rotation angle of first steering wheel 17 relative to top plate connecting plate 9, i.e. detection hang plate 2 are rotated relative to top plate 1.
In the present embodiment, second bearing connector includes second bearing 19 and the second axle sleeve 18, one end of the second axle sleeve 18
Equipped with flange, flange is fixed on hang plate 2, is arranged second bearing 19 outside the other end of the second axle sleeve 18, second bearing 19
Outer ring connects the secondary gear 14.Second axle sleeve 18 is fixed on hang plate 2 by flange, and is connected by second bearing 19
Second axle sleeve 18 and secondary gear 14 realize the relative rotation of the second axle sleeve 18 and secondary gear 14, i.e., in one-stage gear 13
Drive rotary motion of the lower realization secondary gear 14 relative to hang plate 2.
In the present embodiment, two-freedom series connection servo joint structure further includes the second testing agency, the second testing agency packet
The second steering wheel 5, connection sheet 22 and the second potentiometer 15 are included, the second steering wheel 5 is arranged in the ontology of the second potentiometer 15
Inside, the second steering wheel 5 are fixedly connected with the other end of the second axle sleeve 18, and the test side of the second potentiometer 15 is from the second steering wheel 5
Inside be pierced by, the fixed one end for being connected in connection sheet 22 in the test side that is pierced by, the other end of connection sheet 22 is arranged in secondary gear
On 14.Two-freedom series connection servo joint structure is able to detect the rotation of second freedom degree movement by the second potentiometer 15
Angle, specifically, being turned to by the way that the body part of the second potentiometer 15 to be arranged in be fixedly connected with the second axle sleeve 18 second
On disk 5, the test side of the second potentiometer 15 is fixed on one end of connection sheet 22, to detect connection sheet by the second potentiometer 15
The 22 rotation angle relative to the second steering wheel 5, i.e. rotation angle of the detection secondary gear 14 relative to hang plate 2.
In the present embodiment, in order to which the test side of the second potentiometer 15 is fixed on one end of connection sheet 22, the second detection
Mechanism further includes fixing buckle 21, and the test side of the second potentiometer 15 is fixed on one end of connection sheet 22 by fixing buckle 21.
In the present embodiment, in order to realize hinged, first freedom degree mechanism of the electronic mandril 3 respectively with top plate 1 and hang plate 2
It further include the mandril connecting plate 6 that hang plate bottom is set and the mandril fixed plate 4 that 1 bottom of top plate is set, electronic mandril 3
Mandril telescopic rod 16 and mandril connecting plate 6 are hinged, and the pedestal and mandril fixed plate 4 of electronic mandril 3 are hinged.Also, electronic mandril 3
Mandril telescopic rod 16 and pedestal to pass through hinge hinged with mandril connecting plate 6 and mandril fixed plate 4 respectively.
Two-freedom series connection servo joint structure provided by the invention, motor 12 is as the second freedom degree mechanism kinematic of driving
Power source, and in order to simplify structure design, save space, using decelerating motor realize second freedom degree power drive.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (7)
- The servo joint structure 1. a kind of two-freedom is connected, which is characterized in that including top plate, hang plate, the first freedom degree mechanism And Two-Degree-of-Freedom mechanism, the top plate are equipped with through-hole, the accommodating hang plate in the through-hole；First freedom degree mechanism includes electronic mandril, the symmetrically arranged interlock plate that the hang plate bottom is arranged in, sets The symmetrically arranged top plate connecting plate and first bearing connector in the top plate bottom are set, the mandril of the electronic mandril is stretched Contracting bar and pedestal are hinged with the hang plate and the top plate respectively, to drive the relatively described top panel turns of the hang plate, The top plate connecting plate and the interlock plate are respectively equipped with first through hole and the second through-hole, and the first bearing connector is successively worn It crosses the first through hole and second through-hole is rotatablely connected the top plate connecting plate and the interlock plate；The Two-Degree-of-Freedom mechanism includes one-stage gear, secondary gear and the motor and second for being fixedly connected with the hang plate Bearing connection, the output end of the motor and the second bearing connector are pierced by by the bottom of the hang plate described to incline The traversing through end of inclined plate, the motor connects the one-stage gear, and the one-stage gear is engaged with the secondary gear, the second level The inner ring of gear connects the traversing through end of the second bearing connector；The first bearing connector includes first bearing and the first axle sleeve, and one end of first axle sleeve is equipped with flange, described Flange is fixed on the interlock plate, is arranged the first bearing outside the other end of first axle sleeve, the first bearing Outer ring connects the top plate connecting plate；The second bearing connector includes second bearing and the second axle sleeve, and one end of second axle sleeve is equipped with flange, described Flange is fixed on the hang plate, is arranged the second bearing outside the other end of second axle sleeve, the second bearing Outer ring connects the secondary gear.
- The servo joint structure 2. two-freedom according to claim 1 is connected, which is characterized in that the two-freedom series connection Servo joint structure further includes the first testing agency, first testing agency include the first steering wheel, "-" type fixed plate with And first potentiometer, the ontology of first potentiometer are arranged on first steering wheel, the first steering wheel setting exists The other end of first axle sleeve, the test side of first potentiometer are fixedly connected with the "-" type fixed plate, a word Type fixed plate is arranged on the top plate connecting plate.
- The servo joint structure 3. two-freedom according to claim 1 is connected, which is characterized in that the two-freedom series connection Servo joint structure further includes the second testing agency, and second testing agency includes the second steering wheel, connection sheet and second The ontology of potentiometer, second potentiometer is arranged on second steering wheel, and second steering wheel is fixedly connected described The test side of the other end of second axle sleeve, second potentiometer is fixedly connected with one end of the connection sheet, the connection sheet The other end is arranged on the secondary gear.
- The servo joint structure 4. two-freedom according to claim 3 is connected, which is characterized in that second testing agency It further include fixing buckle, the test side of second potentiometer is fixed on one end of the connection sheet by the fixing buckle.
- 5. two-freedom described in any one of -4 is connected servo joint structure according to claim 1, which is characterized in that described the Single-degree-of-freedom mechanism further includes the mandril connecting plate that the hang plate bottom is arranged in and the mandril that the top plate bottom is arranged in Fixed plate, the mandril telescopic rod and pedestal of the electronic mandril are cut with scissors with the mandril connecting plate and the mandril fixed plate respectively It connects.
- The servo joint structure 6. two-freedom according to claim 5 is connected, which is characterized in that the top of the electronic mandril It is hinged with the mandril connecting plate and the mandril fixed plate respectively that bar and pedestal pass through hinge.
- 7. the series connection of two-freedom described in any one of -4 servo joint structure according to claim 1, which is characterized in that the electricity Machine is decelerating 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 CN106272536A (en) | 2017-01-04 |
| CN106272536B true 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 |
|---|---|
| CN (1) | CN106272536B (en) |
Family Cites Families (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 |
| US9044865B2 (en) * | 2013-03-07 | 2015-06-02 | Engineering Services Inc. | Two joint module |
| CN104942822B (en) * | 2015-06-05 | 2017-03-08 | 上海宇航系统工程研究所 | A kind of two-freedom degree joint of robot for space |
| CN105058419B (en) * | 2015-08-14 | 2017-06-16 | 哈尔滨工大服务机器人有限公司 | A kind of Yi Mo robots two-freedom elbow joint drive device |
| 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
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| CN106272536A (en) | 2017-01-04 |
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