CN106584501A - Two-degree-of-freedom joint mechanism - Google Patents
Two-degree-of-freedom joint mechanism Download PDFInfo
- Publication number
- CN106584501A CN106584501A CN201510683763.5A CN201510683763A CN106584501A CN 106584501 A CN106584501 A CN 106584501A CN 201510683763 A CN201510683763 A CN 201510683763A CN 106584501 A CN106584501 A CN 106584501A
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- China
- Prior art keywords
- rotary shaft
- motor
- transmission mechanism
- driving gear
- degree
- Prior art date
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Abstract
The invention relates to the field of mechanical automation and provides a two-degree-of-freedom joint mechanism. The two-degree-of-freedom joint mechanism comprises a base, a first rotary shaft, a second rotary shaft, a first driving motor, a second driving motor, a first transmission mechanism and a second transmission mechanism. A support is arranged on the base. The first rotary shaft is mounted on the support and can rotate around the horizontal axis. The second rotary shaft is arranged on the base and can rotate around the vertical axis. The second rotary shaft is fixedly connected with the support and can drive the support to rotate around the vertical axis. The two-degree-of-freedom joint mechanism supplies driving power in a motor driving mode and is high in flexibility and universality, compact in structure, high in reliability, simple in structure and high in strength and load. Besides, the clearances between driving gears and driven gears are eliminated through an eccentric flange or an anti-backlash sleeve. The transmission accuracy between the gears is improved. The accuracy and reliability of joint motion are improved.
Description
Technical field
The present invention relates to field of mechanical automation control, more particularly to a kind of two degree-of-freedom joint mechanism.
Background technology
Used as the important step of machine man-environment interaction, service robot arm performance can connect shadow
Ring the operable ability and intelligent level of robot.The intelligent robot of multiple degree of freedom arm is installed
The mankind can be needed from part be freed in the superior labor of thinking, such as household cleaning, medical treatment accompany and attend to,
Edutainment etc..All kinds of joints for constituting arm play indispensable effect in arm running,
Joint performance directly affects machine human reriability and practicality.
At present, robot arm joint mainly has hydraulic-driven, and the control system of hydraulic means is more multiple
Miscellaneous, this body weight is larger；In prior art, the compactedness of articulation mechanism is not high, reliability is low, and
And articulation mechanism flexibility and versatility it is not high.
The content of the invention
It is contemplated that at least solving one of above-mentioned technical problem, there is provided a kind of compact, reliability be high,
Flexibility and versatility are preferable, the big two degree-of-freedom joint mechanism of simple structure, intensity high capacity.
For achieving the above object, the present invention is employed the following technical solutions：
The invention provides a kind of two degree-of-freedom joint mechanism, including,
Pedestal；
First rotary shaft, first rotation axis horizontal is placed and can rotated around horizontal axis；
Second rotary shaft, second rotary shaft is vertically placed and can rotated around vertical axis；
First motor, first motor provides rotary power for first rotary shaft；
Second motor, second motor provides rotary power for second rotary shaft；
First transmission mechanism, first transmission mechanism is connected to the first motor and the first rotary shaft
Between, for the rotary power that the first motor is provided to be transferred to into the first rotary shaft；
Second transmission mechanism, second transmission mechanism is connected to the second motor and the second rotary shaft
Between, for the rotary power that the second motor is provided to be transferred to into the second rotary shaft；
Support, the peace that first rotary shaft can rotate around horizontal axis are provided with above the pedestal
Dress is on the bracket；Second rotary shaft can be arranged on pedestal around what vertical axis rotated, institute
State the second rotary shaft to be fixedly connected with the support and the support can be driven to rotate around vertical axis.
In some embodiments, the support is located at the top of pedestal, and second transmission mechanism is located at base
The lower section of seat, second rotary shaft is located in the pedestal, the upper end of second rotary shaft with
Support is fixedly connected, and the lower end of second rotary shaft is connected with the second transmission mechanism.
In some embodiments, second rotary shaft is quill shaft, and first transmission mechanism is arranged on
On the support, first motor is connected through the quill shaft with first transmission mechanism.
In some embodiments, first transmission mechanism includes the first active that can be rotated around vertical axis
Gear and the first driven gear that can be rotated around horizontal axis, first driving gear is driven with first
Gear engagement connection, first driven gear is fixedly connected with first rotary shaft；Described first
Motor drives the first driving gear to rotate around vertical axis, the rotating band of first driving gear
Dynamic first driven gear rotates around horizontal axis, and then drives the rotation of the first rotary shaft.
In some embodiments, second transmission mechanism includes the second active that can be rotated around vertical axis
Gear and the second driven gear, second driving gear is connected with the engagement of the second driven gear, described
Second driven gear is fixedly connected with the second rotary shaft；Second motor drives the second driving tooth
Wheel rotates around vertical axis, and second driving gear rotarily drives the second driven gear around vertical axes
Line rotates, and then drives the rotation of the second rotary shaft.
In some embodiments, motor installing rack is fixedly connected with below the pedestal, described
Two motors are fixed on the motor installing rack.
In some embodiments, be provided between the motor installing rack and the second motor for
Adjust the eccentric flange of centre-to-centre spacing between the second driving gear and the second driven gear, the eccentric flange
Side be fixedly connected with the second motor, opposite side is fixedly connected with motor installing rack.
In some embodiments, eccentric flange installing hole, the driving electricity are provided with the eccentric flange
Eccentric orfice is provided with machine installing rack, the eccentric flange is by the eccentric flange installing hole and bias
The cooperation in hole is fixed on the motor installing rack；The eccentric orfice is multiple, by eccentric method
Blue installing hole coordinates from different eccentric orfices, can adjust between the second driving gear and the second driven gear
Centre-to-centre spacing.
In some embodiments, between first motor and the first driving gear the gap set that disappears is provided with
Cylinder, the gap sleeve that disappears is resisted against the lower section of the first driving gear, for adjust the first driving gear with
Drive gap between first driven gear.
In some embodiments, rotary shaft installing hole is provided with the support, first rotary shaft is led to
Cross installation that the rotary shaft installing hole can be rotated around horizontal axis on the bracket；On the support
Part below rotary shaft installing hole is provided with lightening hole, is provided with motor on the support and fixes
Hole, first motor is connected by the motor fixing hole with the first transmission mechanism.
The beneficial effects of the present invention is：Driving power, flexibility are provided using motor-driven mode
It is high with versatility, and compact conformation, reliability are high, while simple structure, intensity high capacity are big.
In addition, in the present invention, by eccentric flange or the gap sleeve that disappears eliminating driving gear and driven tooth
Gap between wheel, improves the transmission accuracy between gear, increased joint motions precision and can
By property.
Description of the drawings
Fig. 1 is the two degree-of-freedom joint mechanism overall schematic that the present invention is provided.
Fig. 2 is the generalized section in one direction of two degree-of-freedom joint mechanism that the present invention is provided.
Fig. 3 is the generalized section of the two degree-of-freedom joint mechanism other direction that the present invention is provided.
Fig. 4 is the package assembly explosive view of the two degree-of-freedom joint mechanism that the present invention is provided.
Fig. 5 is the structural representation of eccentric flange.
Fig. 6 is the assembly structure diagram of pedestal, support, the first rotary shaft and the first transmission mechanism.
Fig. 7 is the structural representation of support.
Description of the drawings：
First motor 10；First transmission mechanism 12；First driving gear 122；First from
Moving gear 124；First rotary shaft 14；Clutch shaft bearing 142；Clutch shaft bearing end cap 144；The
Two motors 20；Second transmission mechanism 22；Second driving gear 222；Second driven gear
224；Second rotary shaft 24；Second bearing 242；Pedestal 30；Support 40；Rotary shaft is pacified
Dress hole 402；Lightening hole 404；Motor fixing hole 406；Cable hole 408；Strengthen side plate 409；
Motor installing rack 50；Eccentric orfice 502；Installing rack through hole 504；Eccentric flange 60；
Eccentric flange installing hole 602；Flange positioning boss 604；Motor fixing hole 606；Flange
Through hole 608；The gap that disappears sleeve 70.
Specific embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, its
In from start to finish same or similar label represent same or similar element or with same or like work(
The element of energy.It is exemplary below with reference to the embodiment of Description of Drawings, it is intended to for explaining this
Invention, and be not considered as limiting the invention.
In describing the invention, it is to be understood that term " " center ", " longitudinal direction ", " horizontal ", " length
Degree ", " width ", " thickness ", " on ", D score, "front", "rear", "left", "right", " vertical ", " water
It is flat ", " top ", " bottom " " interior ", the orientation of the instruction such as " outward " or position relationship be based on side shown in the drawings
Position or position relationship, are for only for ease of the description present invention and simplify description, rather than indicate or imply
The device or element of indication must have specific orientation, with specific azimuth configuration and operation, therefore
It is not considered as limiting the invention.
Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or implying
Relative importance or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ",
One or more this feature can be expressed or be implicitly included to the feature of " second ".The present invention's
In description, " multiple " are meant that two or more, unless otherwise expressly limited specifically.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " setting ", " company
Connect ", the term such as " fixation " should be interpreted broadly, for example, it may be being fixedly connected, or removable
Connection is unloaded, or is integrally connected；Can be mechanically connected, or electrically connect；Can be direct
It is connected, it is also possible to be indirectly connected to by intermediary, can be the connection of two element internals.For
For one of ordinary skill in the art, above-mentioned term can be as the case may be understood in the present invention
Concrete meaning.
In all embodiments of the present invention, as shown in figures 1 to 6, horizontal direction is the Y in Fig. 1
Direction, vertical direction is the X-direction in Fig. 1；In Fig. 6, horizontal direction is left and right directions, vertically
Direction is above-below direction.
The two degree-of-freedom joint mechanism that the present invention is provided, as shown in figs. 1-7, including：
Pedestal 30.The pedestal 30 is used to play a supportive role the other components of whole articulation mechanism,
Meanwhile, whole articulation mechanism is arranged on robot arm, production line or transportation environment by the pedestal 30
In other devices on.
First rotary shaft 14, the horizontal positioned of the first rotary shaft 14 simultaneously can rotate around horizontal axis.Should
First rotary shaft 14 is erected in the horizontal direction on pedestal 30, i.e. the axis of the first rotary shaft 14 is edge
What horizontal direction was placed, as shown in Fig. 2 the left and right directions of the first rotary shaft 14 is its axis direction,
Namely horizontal direction.Meanwhile, first rotary shaft 14 can be rotated around horizontal axis, also
It is to say, the first rotary shaft 14 can complete spinning movement around its axis on pedestal 30.First rotation
Rotating shaft 14 provides the rotary freedom in horizontal direction for whole articulation mechanism.
Second rotary shaft 24, second rotary shaft 24 is vertically placed and can rotated around vertical axis.Should
Second rotary shaft 24 is arranged vertically on pedestal 30, i.e. the axis of the second rotary shaft 24 is edge
What vertical direction was placed, as shown in figure 3, the above-below direction of the second rotary shaft 24 is its axis direction,
Namely vertical direction.Meanwhile, second rotary shaft 24 can be rotated around vertical axis, also
It is to say, the second rotary shaft 24 can be rotated around its axis relative to pedestal 30.Second rotation
Axle 24 provides the rotary freedom on vertical direction for whole articulation mechanism.
First motor 10, first motor 10 is that first rotary shaft 14 provides rotation
Rotatory force.
Second motor 20, second motor 20 is that second rotary shaft 24 provides rotation
Rotatory force.
First transmission mechanism 12, first transmission mechanism 12 is connected to the first motor 10 and
Between one rotary shaft 14, for the rotary power that the first motor 10 is provided to be transferred to into the first rotation
Rotating shaft 14.As shown in figure 5, in one embodiment of the present of invention, the first motor 10 is around vertical axes
Line rotates, and so, the first motor 10 provides the rotary power rotated around vertical axis, this
When, the first transmission mechanism 12 includes two functions, and one is connected with the first motor 10
Around the part that vertical axis rotate, another is will to be converted into and the first rotation around vertical axis rotary power
The converting member of the consistent rotary power in the direction of rotation of rotating shaft 14.So, the first transmission mechanism 12 will
The driving force of the first motor 10 is transferred to the first rotary shaft 14, and then drives the first rotary shaft 14
Rotated.
Second transmission mechanism 22, second transmission mechanism 22 is connected to the second motor 20 and
Between two rotary shafts 24, for the rotary power that the second motor 20 is provided to be transferred to into the second rotation
Rotating shaft 24.
In the two degree-of-freedom joint mechanism that the present invention is provided, the top of pedestal 30 is provided with support 40,
Above-mentioned first rotary shaft 14 is arranged on the support 40, and can be rotated relative to the support 40,
It rotates to be the rotation around horizontal axis；Second rotary shaft 24 is arranged on pedestal 30, and can phase
For pedestal 30 rotates, it rotates to be the rotation around vertical axis.Meanwhile, the second rotary shaft 24
It is fixedly connected with support 40, and can rotates under the drive of the second rotary shaft 24, it is rotated to be
Around the rotation of vertical axis.
The articulation mechanism that the present invention is provided, by two motors the biography in whole articulation mechanism is driven
The running of motivation structure and rotary shaft；Whole drive system is more flexible and efficiency high, versatility are good.
Meanwhile, realize the driving effect of the double freedom of articulation mechanism, compact conformation, save space, collection
Cheng Du has also obtained larger improvement, and use range is wider.
In one particular embodiment of the present invention, as illustrated in fig. 4 or 6, it is provided with pedestal 30
Support 40, the support 40 is connected by the second rotary shaft 24 in pedestal 30 with pedestal 30,
And can rotate under the drive of the second rotary shaft 24.Wherein, the second rotary shaft 24 is from the bottom to top
Through pedestal 30, the outside of the second rotary shaft 24 is consolidated by second bearing 242 with the inner side of pedestal 30
Fixed connection, and second rotary shaft 24 can do spinning movement, the second rotation in second bearing 242
The installation direction of rotating shaft 24 and second bearing 242 is all above-below direction, the installation direction art technology
Personnel are easy to understand, refer to the central axis direction of the second rotary shaft 24 and second bearing 242.In this reality
In applying example, support 40 is located at the top of pedestal 30, and the support 40 is the first rotary shaft 14 and the
One transmission mechanism 12 provides support.First rotary shaft 14 is horizontally set on the support 40, i.e., and first
The central shaft of rotary shaft 14 is in the horizontal direction.Meanwhile, the first motor 10 and second drives electricity
Machine 20 is located at the lower section of pedestal 30, by the first transmission mechanism 12 and the biography of the second transmission mechanism 22
Pass, transfer a driving force to the first rotary shaft 14 and the second rotary shaft 24, and then drive the first rotary shaft
14 and second rotary shaft 24 rotation.
In one embodiment of the present of invention, as described above, support 40 is located at the top of pedestal 30, the
Two transmission mechanisms 22 are located at the lower section of pedestal 30, and the second rotary shaft 24 is located in pedestal 30, the
The upper end of two rotary shafts 24 is fixedly connected with support 40, and the lower end of the second rotary shaft 24 is driven with second
Mechanism 22 connects.Above-mentioned " wearing " is it should be appreciated that the middle setting of pedestal 30 has the second rotary shaft
24 installing space, at least a portion of the second rotary shaft 24 is arranged in the installing space, and is located at
Part in the installing space is fixedly connected with the madial wall of pedestal 30, while can be empty in the installation
Interior rotation.
In an alternative embodiment of the invention, as shown in figure 3, the second rotary shaft 24 is quill shaft, the
One transmission mechanism 12 is arranged on support 40, and the first motor 10 passes through above-mentioned quill shaft and first
Transmission mechanism 12 connects.On the basis of above-described embodiment, further will be located in pedestal 30
Second rotary shaft 24 makes quill shaft, the first motor 10 is located in quill shaft, through this
The upper end of the first motor 10 of quill shaft is connected with the first transmission mechanism 12.Here, first drive
Dynamic motor 10 can pass through quill shaft with body, it is also possible to only by the output shaft of the first motor 10
Quill shaft is partially passed through, as long as can realize that the power to the first transmission mechanism 12 is provided.
In one specific embodiment of the present invention, as shown in Fig. 2 the first transmission mechanism 12 include can be around
First driving gear 122 of vertical axis rotation and the first driven gear that can be rotated around horizontal axis
124, the first driving gear 122 is connected with the engagement of the first driven gear 124.It is mentioned above,
First transmission mechanism 12 receives rotary power of first motor 10 around vertical axis, and by the
The cooperation of one driving gear 122 and the first driven gear 124, the rotation that this is rotated around vertical axis
Power is converted to the rotary power rotated around horizontal axis, and then is transferred to the first rotary shaft 14, drives
First rotary shaft 14 rotates around horizontal axis.
More specifically, the first driven gear 124 is fixedly connected with the first rotary shaft 14, and first drives electricity
Machine 10 drives the first driving gear 122 to rotate around vertical axis, and the rotation of the first driving gear 122 will
Drive the first driven gear 124 to rotate around horizontal axis, and then drive the rotation of the first rotary shaft 14.
Above-mentioned transmittance process, a kind of preferred mode for simply providing in one embodiment of the present of invention；
The rotary power conversion commonly used in other industry and transfer device, are also in the present invention feasible.
It is similar with the first transmission mechanism 12, in one embodiment of the present of invention, as shown in figure 3, second
Transmission mechanism 22 includes the second driving gear 222 and the second driven gear that can be rotated around vertical axis
224, the second driving gear 222 is connected with the engagement of the second driven gear 224.Due in the present embodiment,
The direction of rotation one of the rotary power that the second motor 20 is provided, its direction and the second rotary shaft 24
Cause；Therefore, in the present embodiment, the rotation side of the second driving gear 222 and the second driven gear 224
To being also consistent, direction of rotation need not be changed here.Certainly, if because of special circumstances,
When the direction of rotation of the second motor 20 is inconsistent with the direction of rotation of the second rotary shaft 24, this
The fit system of the first driving gear 122 and the first driven gear 124 in bright in a upper embodiment with
And the transformational structure of direction of rotation coordinates, and is also feasible, this area skill in the second transmission mechanism 22
Art personnel can carry out appropriate setting and adjustment according to actually used situation.
More specifically, in the present embodiment, the second driven gear 224 and the second rotary shaft 24 are fixed and connected
Connect, the second motor 20 drives the second driving gear 222 to rotate around vertical axis, the second driving tooth
Second driven gear 224 that rotarily drives of wheel 222 rotates around vertical axis, and then drives second to rotate
The rotation of axle 24.
In order to preferably motor is combined together with pedestal 30, in one embodiment of the present of invention,
As shown in figure 4, being fixedly connected with motor installing rack 50 in the lower section of pedestal 30, second drives electricity
Machine 20 is fixed on the motor installing rack 50.In the present embodiment, the first motor 10 can
With on the motor installing rack 50, it is also possible to directly through the motor installing rack 50
On through hole, be directly connected with pedestal 30；Its connected mode with motor installing rack 50,
Can be connected by way of bearing on the motor installing rack 50 with selection, certainly, because
The motor installing rack 50 is mutually fixed with pedestal 30, therefore the first motor 10 and second
Motor 20 must be rotated on the motor installing rack 50.
In the present invention, there is gap in the combination between gear and gear, the gap can bring transmission to miss
Difference；Therefore, in order to preferably reduce driving error, gear-driven precision is improved, the present invention is in tooth
Wheel running part increased gap-eliminating structure, and the gap control between gear and gear is ensured by gap-eliminating structure
System within limits, and then reduces driving error, it is ensured that transmission accuracy.
In order to realize the effect above, in one embodiment of the present of invention, motor installing rack 50 with
It is provided between second motor 20 for adjusting the second driving gear 222 and the second driven gear
The eccentric flange 60 of centre-to-centre spacing between 224, by the effect of the eccentric flange 60, realizes being led to second
The control of centre-to-centre spacing between the driven gear 224 of moving gear 222 and second, that is to say control second actively
Drive gap between the driven gear 224 of gear 222 and second, improves transmission accuracy.More specifically,
The side of above-mentioned eccentric flange 60 is fixedly connected with the second motor 20, the other end and motor
Installing rack 50 is fixedly connected.That is, the second motor 20 sequentially passes through the eccentric flange 60 and drives
Motor mounting rack 50, is connected with the second transmission mechanism 22.
In order to more detailed explanation eccentric flange 60 is how to realize the gap effect that disappears, the present invention's
In one embodiment, as shown in Figure 4 and Figure 5, eccentric flange installing hole is provided with eccentric flange 60
602, be provided with eccentric orfice 502 on motor installing rack 50, above-mentioned eccentric flange installing hole 602 with
Connected by screw or other modes between eccentric orfice 502；By the eccentric flange installing hole 602
With the cooperation of eccentric orfice 502, eccentric flange 60 is fixedly connected with motor installing rack 50；For
Realize the message effect of eccentric flange 60, eccentric orfice 502 on above-mentioned motor installing rack 50
For multiple, when eccentric flange installing hole 602 is connected from different eccentric orfices 502, second drives
Relative position between motor 20 and motor installing rack 50 is different, so, can be achieved with inside
The second driving gear 222 and the second driven gear 224 between gap it is different, it is final to realize disappearing
Gap is acted on.More specifically, coordinated from different eccentric orfices 502 by eccentric flange installing hole 602,
Adjustable centre-to-centre spacing between second driving gear 222 and the second driven gear 224.
In another embodiment of the present invention, there is provided the first driving gear 122 and the first driven gear 124
Between the gap mode that disappears.As shown in figure 3, the first motor 10 and the first driving gear 122 it
Between be provided with the gap sleeve 70 that disappears, the gap sleeve 70 that disappears is resisted against the lower section of the first driving gear 122, enters
And adjust the drive gap between the first driving gear 122 and the first driven gear 124.The gap set that disappears
Cylinder 70 is that the first driving gear 122 provides a support force upwards so that the first driving gear 122
Acted on by the support force, preferably coordinated with the first driven gear 124, reduced drive gap.This
Art personnel can pass through the gap sleeve 70 that disappears for replacing different length and size, and then adjustment first
Gap between the driven gear 124 of driving gear 122 and first, reduces driving error.The above-mentioned gap that disappears
The concrete structure of sleeve 70, can select disc spring or cylindrical spring, and disc spring or cylindrical spring are arranged
Between the first motor 10 and the first driving gear 122.
In an alternative embodiment of the invention, as shown in fig. 7, being provided with rotary shaft installation on support 40
Hole 402, the first rotary shaft 14 is arranged on support 40 by rotary shaft installing hole 402, and first
Rotary shaft 14 can rotate around horizontal axis.Meanwhile, in order to improve overall flexibility and the load-bearing of support 40
Ability, the part being located at below rotary shaft installing hole 402 on support 40 is provided with lightening hole 404.
Motor fixing hole 406 is provided with support 40, the first motor 10 passes through above-mentioned motor fixing hole
406 are connected with the first transmission mechanism 12.
In the present invention, as shown in Fig. 2 passing through clutch shaft bearing between the first rotary shaft 14 and support 40
142 connections；Specifically, as shown in Fig. 2 being provided with relative two gripper shoe in the both sides of support 40,
Also, the rotary shaft installing hole 402 for installing the first rotary shaft 14 is provided with the supporting plate, the
One rotary shaft 14 is fixed and is connected in rotary shaft installing hole 402 by clutch shaft bearing 142.Also,
The outside of clutch shaft bearing 142 is provided with clutch shaft bearing end cap 144, for protecting clutch shaft bearing 142
Running.
As shown in figure 3, being provided with second bearing 242 between the second rotary shaft 24 and pedestal 30, lead to
Cross second bearing 242 second rotary shaft 24 is fixedly connected in pedestal 30.
As shown in fig. 7, in a preferred embodiment of the present invention, being provided with for cabling on support 40
Cable hole 408 and the reinforcement side plate 409 for the intensity of reinforced support 40.
As shown in figure 4, being provided with installing rack through hole 504 on motor installing rack 50, second drives
Motor 20 sequentially passes through the flange through hole 608 on eccentric flange 60 and installing rack through hole 504 and second
Transmission mechanism 22 connects.Meanwhile, motor fixing hole 606 is provided with eccentric flange 60, lead to
Cross the motor fixing hole 606 to be fixedly connected eccentric flange 60 with the second motor 20.
As shown in figure 5, in one embodiment of the present of invention, flange positioning is provided with eccentric flange 60
Boss 604, during assembling, flange positioning boss 604 is stretched in installing rack through hole 504, to eccentric method
Blue 60 installation is played and positioning action.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ",
The description of " specific example " or " some examples " etc. means to combine the concrete spy that the embodiment or example are described
Levy, structure, material or feature are contained at least one embodiment of the present invention or example.At this
In specification, identical embodiment or example are not necessarily referring to the schematic representation of above-mentioned term.
And, the specific features of description, structure, material or feature can be in one or more any realities
Apply and combined in an appropriate manner in example or example.
Although embodiments of the invention have been shown and described above, it is to be understood that above-mentioned reality
It is exemplary to apply example, it is impossible to be interpreted as limitation of the present invention, and one of ordinary skill in the art exists
Within the scope of the invention can be to above-described embodiment in the case of without departing from principle and objective of the invention
It is changed, changes, replacing and modification.
Claims (10)
1. a kind of two degree-of-freedom joint mechanism, it is characterised in that include：
Pedestal；
First rotary shaft, first rotation axis horizontal is placed and can rotated around horizontal axis；
Second rotary shaft, second rotary shaft is vertically placed and can rotated around vertical axis；
First motor, first motor provides rotary power for first rotary shaft；
Second motor, second motor provides rotary power for second rotary shaft；
First transmission mechanism, first transmission mechanism is connected to the first motor and the first rotary shaft
Between, for the rotary power that the first motor is provided to be transferred to into the first rotary shaft；
Second transmission mechanism, second transmission mechanism is connected to the second motor and the second rotary shaft
Between, for the rotary power that the second motor is provided to be transferred to into the second rotary shaft；
Support, the peace that first rotary shaft can rotate around horizontal axis are provided with above the pedestal
Dress is on the bracket；Second rotary shaft can be arranged on pedestal around what vertical axis rotated, institute
State the second rotary shaft to be fixedly connected with the support and the support can be driven to rotate around vertical axis.
2. two degree-of-freedom joint mechanism according to claim 1, it is characterised in that the support
Positioned at the top of pedestal, second transmission mechanism is located at the lower section of pedestal, and second rotary shaft is worn
It is located in the pedestal, the upper end of second rotary shaft is fixedly connected with support, second rotation
The lower end of axle is connected with the second transmission mechanism.
3. two degree-of-freedom joint mechanism according to claim 2, it is characterised in that described second
Rotary shaft is quill shaft, and first transmission mechanism is arranged on the bracket, and described first drives electricity
Machine is connected through the quill shaft with first transmission mechanism.
4. the two degree-of-freedom joint mechanism according to claims 1 to 3 any one, its feature exists
In, first transmission mechanism include the first driving gear that can rotate around vertical axis with can be around level
First driven gear of axis rotation, first driving gear is connected with the engagement of the first driven gear,
First driven gear is fixedly connected with first rotary shaft；First motor drives the
One driving gear rotates around vertical axis, and first driving gear rotarily drives the first driven gear
Rotate around horizontal axis, and then drive the rotation of the first rotary shaft.
5. the two degree-of-freedom joint mechanism according to claims 1 to 3 any one, its feature exists
In second transmission mechanism is driven including the second driving gear that can be rotated around vertical axis and second
Gear, second driving gear and the second driven gear engagement be connected, second driven gear and
Second rotary shaft is fixedly connected；Second motor drives the second driving gear to revolve around vertical axis
Turn, second driven gear that rotarily drives of second driving gear rotates around vertical axis, and then band
The rotation of dynamic second rotary shaft.
6. two degree-of-freedom joint mechanism according to claim 5, it is characterised in that the pedestal
Lower section be fixedly connected with motor installing rack, second motor is fixed on and described drives electricity
On machine installing rack.
7. two degree-of-freedom joint mechanism according to claim 6, it is characterised in that the driving
It is provided between motor mounting rack and the second motor driven with second for adjusting the second driving gear
The eccentric flange of centre-to-centre spacing between gear, the side of the eccentric flange is fixed with the second motor and is connected
Connect, opposite side is fixedly connected with motor installing rack.
8. two degree-of-freedom joint mechanism according to claim 7, it is characterised in that the bias
Eccentric flange installing hole is provided with flange, eccentric orfice is provided with the motor installing rack, institute
State eccentric flange and the motor is fixed on by the cooperation of the eccentric flange installing hole and eccentric orfice
On installing rack；The eccentric orfice is multiple, is coordinated from different eccentric orfices by eccentric flange installing hole,
Adjustable centre-to-centre spacing between second driving gear and the second driven gear.
9. two degree-of-freedom joint mechanism according to claim 4, it is characterised in that described first
The gap sleeve that disappears is provided between motor and the first driving gear, the gap sleeve that disappears is resisted against first
The lower section of driving gear, for adjusting the drive gap between the first driving gear and the first driven gear.
10. two degree-of-freedom joint mechanism according to claim 1, it is characterised in that described
Rotary shaft installing hole is provided with frame, first rotary shaft can be around water by the rotary shaft installing hole
The installation of flat axis rotation is on the bracket；The portion being located on the support below rotary shaft installing hole
Set up separately and be equipped with lightening hole, motor fixing hole is provided with the support, first motor passes through
The motor fixing hole is connected with the first transmission mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN108406795A (en) * | 2018-03-05 | 2018-08-17 | 宁波Gqy视讯股份有限公司 | A kind of robot and its line traffic control neck joint |
| CN109139844A (en) * | 2018-11-01 | 2019-01-04 | 北京京诚之星科技开发有限公司 | A kind of transform linear motion device |
| CN109397327A (en) * | 2018-12-11 | 2019-03-01 | 哈尔滨工业大学（深圳） | A kind of two degree-of-freedom joint device based on multi-stage speed-reducing transmission |
| CN109649770A (en) * | 2019-01-24 | 2019-04-19 | 北京鸿庄医疗器械科技有限公司 | A kind of driving assembly and formulation machine |
| CN114665658A (en) * | 2022-03-10 | 2022-06-24 | 西北核技术研究所 | Multi-path high-voltage pulse output rotating device and assembling method thereof |
| CN109649770B (en) * | 2019-01-24 | 2024-05-03 | 北京鸿庄医疗器械科技有限公司 | Driving assembly and formula machine |
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| CN114665658B (en) * | 2022-03-10 | 2023-06-16 | 西北核技术研究所 | Multi-path high-voltage pulse output rotating device and assembling method thereof |
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