CN107081785A - Bilayer turns back the multi-stage rotary mechanism of driving - Google Patents
Bilayer turns back the multi-stage rotary mechanism of driving Download PDFInfo
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- CN107081785A CN107081785A CN201710310308.XA CN201710310308A CN107081785A CN 107081785 A CN107081785 A CN 107081785A CN 201710310308 A CN201710310308 A CN 201710310308A CN 107081785 A CN107081785 A CN 107081785A
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- China
- Prior art keywords
- connecting rod
- nut
- electric motor
- rotor
- motor stand
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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
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
Abstract
Turned back the embodiments of the invention provide a kind of bilayer the multi-stage rotary mechanism of driving, driven member includes multistage connecting rod, motor is connected with the first rotor, screw rod is connected with the second rotor, first rotor and the drive connection of the second rotor, nut is provided with connecting portion, multistage connecting rod is sequentially connected with, first order connecting rod is connected with electric motor stand, second level connecting rod is connected with electric motor stand, first pull bar is connected with electric motor stand and second level connecting rod, the second pull bar is respectively connected with interval of between the two-stage connecting rod of first level of connecting rod, second pull bar is connected with two-stage connecting rod, resetting-mechanism is arranged at least one junction between adjacent multistage connecting rod.Bilayer provided in an embodiment of the present invention turns back the multi-stage rotary mechanism of driving, turned back drive mechanism by using bilayer, so that the original output of power source and the driving output to driven member are located at two layers respectively, and realized and turned back by interlayer transmission mechanism, so as to save space axially shared by transmission output.
Description
Technical field
The present embodiments relate to a kind of drive mechanism, more particularly to a kind of bilayer turns back the multi-stage rotary mechanism of driving.
Background technology
Manipulator can imitate some holding functions of human hand and arm, to be captured by fixed routine, carry object or operation
The automatic pilot of instrument.Manipulator is the industrial robot occurred earliest, is also the modern machines people occurred earliest, it can
Instead of the heavy labor of people to realize the mechanization and automation of production, it can be operated under hostile environment to protect personal safety,
Thus it is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.Sensu lato manipulator differs to establish a capital
The structure of complicated apish hand, in the industrial production, the device similar to arm structure is also to have relatively broad application,
Rotatable linkage component is for example driven by drive mechanism, to realize to the stirring of the object on production line, the function such as stop,
In addition, also many manipulators are also for disabled person's design, to serve as the artificial limb of disabled person, so that it is certain to allow disabled person to have
Crawl object ability.
, it is necessary to drive arm or finger by drive mechanism in the mechanism of manipulator so that arm or finger energy
Enough along articulation, so as to realize the crawl to object.The rotation of arm or finger needs to realize by driving source, existing
Have in technology and typically completed by motor driving, and motor exports power, it is necessary to by one by way of output shaft rotation
Fixed transmission mechanism design just can be output on arm or finger to drive it to rotate.The transmission mechanism design of prior art takes
Space is larger, or larger, it is necessary to carry out particular design etc. to articular portion on articular portion influence.
The content of the invention
The embodiment of the present invention provides the multi-stage rotary mechanism that a kind of bilayer turns back driving, to save shared by drive mechanism
Space.
To achieve these goals, turned back the embodiments of the invention provide a kind of bilayer the multi-stage rotary mechanism of driving, its
Including electric motor stand, interlayer transmission mechanism, motor, screw rod and the nut with screw rod cooperation, driven member and reset machine
Structure, the driven member includes multistage connecting rod, and the multistage connecting rod is at least more than three-level, and the motor is fixed on the electricity
In machine frame, and it is connected by output shaft with the first rotor of interlayer transmission mechanism, the screw rod and nut are arranged at described
The lower section of electric motor stand, one end of the screw rod is connected with the second rotor of the interlayer transmission mechanism, and described first rotates
It is connected between body and the second rotor, the nut is arranged on the electric motor stand bottom, and the nut is in radial direction
On fixed relative to the electric motor stand, and can relatively described electric motor stand move in the axial direction, the nut and institute
The homonymy that motor is located at the interlayer transmission mechanism is stated, the axial direction of the screw rod is fixed, when the screw rod is rotated, driven
The nut is moved in the axial direction, the connecting portion being connected with the driven member is provided with the nut, for passing through
The motion of the nut in the axial direction drives to be turned between the driven member motion, the multistage connecting rod by second connecting rod
Axle is rotationally sequentially connected with, and first order connecting rod is rotatably connected by first connecting rod rotating shaft with the electric motor stand, and institute
State first order connecting rod to be connected with the connecting portion on the nut by flexible attachment components or bent connection member, described
Second level even the rod is connected by the first pull bar with the electric motor stand, and the two ends of first pull bar pass through the first rod shaft and institute
State electric motor stand and described second level connecting rod is rotatably connected, first pull bar and first order connecting rod formation cross knot
Structure, it is described at interval of second pull bar is respectively connected between the two-stage connecting rod of first level of connecting rod after the second level connecting rod
The two ends of second pull bar are rotatably connected respectively by second rod shaft with the two-stage connecting rod, second pull bar with
The first level of connecting rod formation chi structure being spaced, the resetting-mechanism is arranged at least one between the adjacent multistage connecting rod
Individual junction, for some or all of application into connecting rods at different levels and driving force of the nut to the first order connecting rod
The opposite reset force of effect.
Bilayer provided in an embodiment of the present invention turns back the multi-stage rotary mechanism of driving, is turned back transmission knot by using bilayer
Structure, coordinates the particular design of screw rod and nut so that the original output of power source and the driving to driven member are exported and distinguished
Positioned at two layers, and realized and turned back by interlayer transmission mechanism, so as to save space axially shared by transmission output.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of specification, and in order to allow above and other objects of the present invention, feature and advantage can
Become apparent, below especially exemplified by the embodiment of the present invention.
Brief description of the drawings
Fig. 1 turns back one of the principle schematic of drive mechanism for the bilayer of the embodiment of the present invention one.
Fig. 2 for the embodiment of the present invention one bilayer turn back drive mechanism principle schematic two.
Fig. 3 turns back one of the principle schematic of drive mechanism for the bilayer of the embodiment of the present invention two.
Fig. 4 for the embodiment of the present invention two bilayer turn back drive mechanism principle schematic two.
Fig. 5 for the embodiment of the present invention two bilayer turn back drive mechanism principle schematic three.
Fig. 6 for the embodiment of the present invention two bilayer turn back drive mechanism principle schematic four.
Fig. 7 turns back one of the principle schematic of drive mechanism for the bilayer of the embodiment of the present invention three.
Fig. 8 for the embodiment of the present invention three bilayer turn back drive mechanism principle schematic two.
Fig. 9 for the embodiment of the present invention three bilayer turn back drive mechanism principle schematic three.
Figure 10 for the embodiment of the present invention three bilayer turn back drive mechanism principle schematic four.
Figure 11 turns back one of the principle schematic of drive mechanism for the bilayer of the embodiment of the present invention four.
Figure 12 for the embodiment of the present invention four bilayer turn back drive mechanism principle schematic two.
Figure 13 for the embodiment of the present invention four bilayer turn back drive mechanism principle schematic three.
Figure 14 for the embodiment of the present invention four bilayer turn back drive mechanism principle schematic four.
Drawing reference numeral explanation：31- electric motor stands；32- interlayer transmission mechanisms；311- motors；34- screw rods；35- nuts；
The rotors of 321- first；The rotors of 322- second；323- upper stratas bearing；324- lower floors bearing；38- driven member；39- connections
Portion；40- first rotating shafts；41- elastomers；42- first order connecting rods；43- second level connecting rod；The rotating shafts of 44- second；The pull bars of 45- first；
The rotating shafts of 46- the 3rd；The rotating shafts of 47- the 4th；48- torsion springs；The pull bars of 49- second；50- first connecting rod rotating shafts；51- second connecting rod rotating shafts；
The rod shafts of 52- first；The rod shafts of 53- second.
Embodiment
The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although showing the disclosure in accompanying drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
Limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
Complete conveys to those skilled in the art.
Embodiment one
As depicted in figs. 1 and 2, the principle schematic of its drive mechanism of being turned back for the bilayer of the embodiment of the present invention, the present invention
The bilayer of embodiment turns back drive mechanism including electric motor stand 31, interlayer transmission mechanism 32, motor 311, screw rod 34 and and spiral shell
The nut 35 that bar 34 coordinates.
Motor 311 is fixed in electric motor stand 31, and passes through output shaft and the first rotor 321 of interlayer transmission mechanism 32
Connection.In actual applications, because therefore the rotating speed that motor 311 is exported, may may be used also with the rotating speed being actually needed difference
With including reduction assemblies, the rotating speed that motor is exported to be adjusted, reduction assemblies are arranged on the output end of motor 311, defeated
Shaft is connected by reduction assemblies with the output end of motor 311.
Screw rod 34 and nut 35 are arranged at the lower section of electric motor stand 31, and nut 35 is in radial directions relative to electric motor stand
31 fix, and can in the axial direction be moved with respect to electric motor stand 31, and the of one end of screw rod 34 and interlayer transmission mechanism 32
Two rotors 322 are connected, and are connected between the first rotor 321 and the second rotor 322.
Nut 35 mentioned here is fixed relative to electric motor stand 31 in radial directions to be referred to, nut 35 is in radial direction
On be bound, and on axial direction decontrol so that when screw rod 34 is rotated, nut 35 can be moved diametrically.
Concrete implementation mode can have a variety of, for example, the bottom of electric motor stand 31 can be provided with rail plate, nut
35 can be connected by rail plate with electric motor stand 31 so that the nut 35 in radial directions (above-below direction in figure) with
Electric motor stand 31 is fixedly connected, and can be slided in the axial direction.The rail plate can also be without carrying effect, Jin Jinti
For constraint effect radially, certainly, more preferably, nut 35 is connected on rail plate, so that the rail plate
Certain carrying effect is played, that is, allows nut 35 in addition to being moved except axial direction, the free degree in other directions is slided
Dynamic guide rail is fixed, so, and nut 35 is connected by rail plate with electric motor stand 31 to regard electric motor stand 31 as lower floor's spiral shell
The supporting body of bar 34 and the mechanism of nut 35, i.e. rail plate in addition to the guide effect for playing the horizontal movement to nut 35,
The effect of the certain load-bearing also acted, so as to reduce the load-carrying members in mechanism of lower floor, Wo Menke to a certain extent
So that this bilayer drive mechanism of turning back to be referred to as slide rail type bilayer and turns back drive mechanism.
For another example nut 35 diametrically can be fixedly connected with electric motor stand 31 by pin, and pin can pass through
The chute being arranged on electric motor stand 31 is moved in the axial direction.For another example electric motor stand 31 and nut 35 can also be passed through
The fixation of radial direction is realized in shape design, and the shape of electric motor stand 31 and nut 35 is designed as pasting each other in radial directions
Merge and rotate mutual exclusion, nut 35 can be slided in the lower surface of electric motor stand 31, and such as electric motor stand 31 and nut 35 are all provided with
It is calculated as square, and fits each other, in the case where nut 35 is fitted with the lower surface of electric motor stand 31, nut 35 can not be in footpath
It is rotated up to side, so that being relatively fixed diametrically is realized, can be very low in mechanical complexity by such structure
In the case of realize it is radially fixed design in axial sliding, and cause close structure, save space.
Wherein, it can be connected between the first above-mentioned rotor 321 and the second rotor 322 by meshed transmission gear,
That is the first rotor 321 and the second rotor 322 can be intermeshing two gears, in addition, the first rotor 321 and the
It can also be connected between two rotors 322 by chain or belt transmission.In addition, as shown in Fig. 2 interlayer transmission mechanism 32 may be used also
So that including the double-deck bearing being fixed on electric motor stand, (the upper strata bearing and lower floor's bearing being fixedly secured to one another can be independent
It is wholely set in the part of electric motor stand or with electric motor stand, exists as a part for electric motor stand), it is defeated
Shaft passes through the upper strata bearing 323 of double-deck bearing to be connected with the first rotor 321, and screw rod 34 passes through lower floor's bearing of double-deck bearing
324 are connected with the second rotor 322.The lower part such as lower floor's screw rod 34 and nut 35 can carried out by double-deck bearing
It is fixed on direction on electric motor stand 31, plays certain fixation and carrying effect, the He of upper strata bearing 323 being fixedly secured to one another
Lower floor's bearing 324 enables to levels drive mechanism to be tightly secured together, and improves the stability of integrated model.
Nut 35 is arranged on the bottom of electric motor stand 31, and can be slided with respect to electric motor stand 31, (in Fig. 1 below nut
Four-headed arrow represents the glide direction of nut) nut 35 and motor 311 be located at the homonymy of interlayer transmission mechanism 32.Preferably, spiral shell
The side of the remote interlayer transmission mechanism 32 of mother 35 is enclosed construction, and the connecting portion 39 being connected with driven member can be arranged at
On the end face of the side of the remote interlayer transmission mechanism of nut 35, the substantially position of connecting portion 39 is only symbolically indicated in figure
Put.
In addition, (horizontal direction in figure) is fixed in the axial direction for the screw rod 34 being arranged at below electric motor stand 31, work as spiral shell
When bar 34 is rotated, drive nut 35 to move in the axial direction, the connecting portion being connected with driven member 38 is provided with nut 35
39, for driving driven member to move by the motion of nut in the axial direction.Here connecting portion 39 can be used for admittedly
Surely the mechanism of rope body is either for fixing pivot or linkage of linkage etc., it can be understood as fixing nut
The mechanism of connection member between 35 and driven member 38 or the band of position.
Here driven member 38 can be connected with electric motor stand 31 or with the connectionless relation of electric motor stand 31
Miscellaneous part.
The technical scheme of the present embodiment can apply to following scene, and driven member is located at the lower section of electric motor stand, and
Motor and reduction assemblies need to be fixed in electric motor stand, and the direction where the output shaft of motor and driven member institute
Inconsistent (such as the position direction of motor output shaft to the left, and where driven member is the right side of electric motor stand in direction
Side), in this case, the structure of the present embodiment can be applied well, is solved the above problems, and can fully save
Axial space.In addition, in said mechanism, screw rod and nut body have auto-lock function, and when motor stops output torque, spiral shell
Female position can be remained stationary as, so that with certain position memory function, while also causing the situation that stopping is exported in motor
Under, driven member will not be moved to opposite direction.
In summary, the bilayer of the present embodiment turns back drive mechanism, and it is located in electric motor stand as the motor of power source,
By output shaft along the outside output torque of horizontal direction, as shown in figure 1, most the torque of motor output is transferred to output shaft at last
The first rotor positioned at electric motor stand one end, then the first rotor torque is exported to lower floor by being connected, then
The straight-line feed that the torque that motor is exported is converted to nut is moved by the screw rod and nut that are arranged at lower floor, and eventually through
Nut is to driven member output driving power, and driving force mainly comes from the tractive force that nut carries out generation during feed motion,
So as to drive driven member to move.It can be seen that whole power output route is presented from upper strata to lower floor and turned back
Path, so as to fully save space axially shared by transmission output, nut is slidably arranged at electric motor stand
Bottom, also take full advantage of the carrier that electric motor stand is moved as straight-line feed, and also enable levels mechanism to tie
Structure is compact, the space shared by further reducing mechanism.
It should be noted that the orientation such as described " on ", " under " in the present embodiment is the relative position in finger, when
So above-mentioned bilayer turn back drive mechanism set along vertical direction when, " on ", " under " is to refer to above and below relative to ground, above-mentioned
Guide rail and double-deck bearing will provide for bearing capacity for gravity.It should be appreciated to those skilled in the art that
When above-mentioned bilayer turn back drive mechanism set along other directions when, such as horizontal positioned, above-mentioned guide rail and double-deck bearing
Also it can provide and resist other pulling force from horizontal direction etc., so that the driving part of levels is closely joined together.
In addition, as a kind of distressed structure, above-mentioned bilayer drive mechanism of turning back can be arranged in cavity, by cavity by levels
Driving structure be tightly secured together each other in radial directions, the cavity can be reserved and is connected out with driven member
Mouthful.
In addition, it is necessary to which explanation, above-mentioned bilayer drive mechanism of turning back can be entered as an independent driver element
Row is manufactured, and is standardized by the connecting portion for connecting driven member, that is, is provided the external connection interface of standard, Neng Goufang
Just it is connected with other driven member.Above-mentioned bilayer drive mechanism of turning back is not limited to apply in the field of manipulator, may be used also
To provide the application in a variety of industrial technologies, for example, above-mentioned driven member can need to be turned within the specific limits
Dynamic baffle mechanism, for another example above-mentioned driven member can be pressing mechanism for being moved along a straight line etc., by this implementation
The bilayer drive mechanism of turning back of example can provide driving force, can provide driving force in the case of space-consuming very little.
Embodiment two
As shown in Figures 3 to 6, the principle schematic of its drive mechanism of being turned back for the bilayer of the embodiment of the present invention two, in Fig. 1
On the basis of shown structure chart, driven member 38 is added.The driven member 38 passes through first rotating shaft 40 and motor machine
Frame 31 is rotatably connected, and (four-headed arrows of the Fig. 3 into Fig. 4 below nut represents the slip side of nut under the driving of nut 35
To), driven member 38 can be rotated relative to electric motor stand 31 (in Fig. 3 driven member end arrow represent driven
The rotation direction of part).
Further, because the movement locus and nut 35 of driven member 38 are different, and movement locus is nor flat
Go or point-blank, therefore, flexible attachment components or bendable are preferred to use between driven member 38 and nut 35
Connection member is rolled over as connection member, and to avoid the appearance of locking state, connection member can be connected to the connecting portion of nut 35
On 39.Specifically, body of restricting (as shown in Figure 3 and Figure 4) or linkage can be passed through between driven member 38 and nut 35
Connection (as shown in Figure 5), wherein, linkage can be using two sections or the connecting rod of the two section above.
By said structure, during nut 35 is moved along a straight line, rope body or linkage are pulled and driven
Part 38, rope body or linkage form torque between the fixing point and first rotating shaft 40 in driven member 38, so that
So that driven member 38 is rotated centered on first rotating shaft 40.
Due in said mechanism, adding driven member, and driven member is pivotally to connect
On electric motor stand, therefore, said mechanism may also be referred to as the rotating mechanism of double-deck driving of turning back.
In addition, resetting-mechanism is also provided with electric motor stand 31, for applying with nut 35 to driven member 38
The opposite reset force of driving force.The effect of the reset force is to enable to driven member 38 all the time by both direction
Active force, i.e., the driving force from nut 35 and the reset force from resetting-mechanism, so that driven member 38 is in motion
During and stop at an arbitrary position in the state of remain stable state, in addition, the effect of the resetting-mechanism also exists
In when nut 35 is moved right along in figure, driven member 38 is enabled to be rotated up by the traction of reset force, from
And realize and reset, generally, the driving force that nut 35 applies enables to driven member 38 to rotate down, and reset force makes
The driven member 38 is obtained to be rotated up.
The resetting-mechanism can be provided in torsion spring or offer and driven member 38 in first rotating shaft 40
Other power sources of the opposite driving force of rotation direction, for example, an elastomeric element can be set on electric motor stand 31, and will
Connected between the elastomeric element and driven member 38 by compliant member, when driven member 38 is rotated down, elastic portion
Part, which is stretched, provides a counter force, or is reset force.For another example as shown in fig. 6, resetting-mechanism can also be connection
Elastomer 41 between frame and driven member, there is provided with turning when driven member 38 is rotated down for the elastomer 41
Dynamic pulling force in opposite direction, so that when motor is rotated backward, driven member 38 is enabled to by the pulling force of elastomer 41
It is rotated up.
As illustrated by embodiment one, screw rod 34 and the mechanism of nut 35 have auto-lock function, are turned round when motor 311 stops output
During square, the position of nut 35 can be remained stationary as, so as to certain position memory function, also to stop in the output of motor 311
In the case of only, driven member 38 will not be moved to opposite direction, on this basis, if also there is reset force, can be caused
Driven member 38 is maintained at that current location is motionless, so that with the position lock function to driven member 38.
Due in said mechanism, adding driven member and resetting-mechanism, therefore, said mechanism may also be referred to as double
Layer turns back the slew gear of driving.
It should be noted that above-mentioned resetting-mechanism is a kind of preferred embodiment of the embodiment of the present invention, needing to reset
, can also be without setting special resetting-mechanism under scene, but resetted by external strength, for example, when bilayer turns back
(accompanying drawing is rotated clockwise 90 degree) when screw rod and nut in drive mechanism are set vertically downward, driven member can be relied on
The gravity of itself provides reset force in the component perpendicular to screw rod direction.
The mechanism of the present embodiment, the power for exporting motor to be directed to lower floor from upper strata by way of turning back, and
The power output direction of motor is changed, the power output of motor is directly over driven member and electric motor stand so as to avoid
Coupling part, without carrying out complicated design to the coupling part of driven member and electric motor stand, so as to reduce
The complexity of this part.It should be noted that in manipulator field, the coupling part of driven member and electric motor stand can
To be considered as articular portion, the mechanism design of the present embodiment sufficiently lower the complexity of articular portion.For example, above-mentioned quilt
Driving part can be the finger of manipulator, and bilayer turns back, drive mechanism can be arranged in palm.In addition it is also necessary to illustrate
, the drive mechanism of the present embodiment is more than that the field of manipulator can be applied to, and can also be applied to other have joint
Bionic mechanical structure division, for example, the mechanical structure of simulation thigh and shank, electric motor stand and bolt and nut structure are located at big
On leg, driven member is shank.
Embodiment three
As shown in Figure 7 to 10, the principle schematic of its drive mechanism of being turned back for the bilayer of the embodiment of the present invention three.This reality
Apply example with the difference of embodiment two to be, the driven member of the present embodiment includes two-stage bar linkage structure, correspondingly, nut pair
The mode that it drives is also different.
One end of the first order connecting rod 42 of above-mentioned two-stage bar linkage structure is rotatable by first rotating shaft 40 and electric motor stand 31
Connection, one end of the second level connecting rod 43 of two-stage bar linkage structure can be turned with the other end of first order connecting rod 42 by the second rotating shaft 44
Dynamic connection, is provided with the first pull bar 45 between second level connecting rod 43 and electric motor stand 31, and one end of the first pull bar 45 passes through the
Three rotating shafts 46 are rotatably connected with electric motor stand 31, and the other end of the first pull bar 45 passes through the 4th rotating shaft 47 and second level connecting rod 43
It is rotatably connected, the 3rd rotating shaft 46 is arranged at the top of first rotating shaft 40, the 4th rotating shaft 47 is arranged at the lower section of the second rotating shaft 44,
First pull bar 45 and the formation chi structure of first order connecting rod 42.
Further, because the movement locus and first order connecting rod 42 of the first pull bar 45 are different, and movement locus is not yet
It is parallel or point-blank, therefore, first order connecting rod 42 can be provided with hollow region, and the first pull bar 45 is passed through in this
Dummy section and the formation chi structure of first order connecting rod 42.Further, since the movement locus and nut 35 of first order connecting rod 42 are different,
And movement locus is nor parallel or point-blank, and therefore, first order connecting rod 42 can pass through flexible attachment components
Or bent connection member, as connection member, to avoid the appearance of locking state, connection member can be connected to nut 35
Connecting portion 39 on.Specifically, can be by restrict body or linkage (such as Fig. 7 institutes between first order connecting rod 42 and nut 35
Show) connection, wherein, linkage can be using two sections or the connecting rod of the two section above.
By said structure, during nut 35 is moved along a straight line, rope body or linkage pull the first order
Connecting rod 42, rope body or linkage form torque between the fixing point and first rotating shaft 40 on first order connecting rod 42, so that
So that first order connecting rod 42 is rotated centered on first rotating shaft 40.During first order connecting rod 42 is moved, the
One pull bar 45 forms torque between the 4th rotating shaft 47 and the second rotating shaft 44, so that second level connecting rod 43 is with the second rotating shaft 44
Centered on rotated, realize near-end apply driving force, remote action can be made simultaneously.As shown in fig. 7, in Fig. 7 state
Under, first order connecting rod 42 and second level connecting rod 43 are in horizontality, when under drive of the nut 35 in motor 311 to left movement
When, first order connecting rod 42 and second level connecting rod 43 rotate, according to the formation design and nut and the first cascade of nut 35
The design of connection member between bar 42 can control the slewing area of final first order connecting rod 42 and second level connecting rod 43, such as
Shown in Fig. 8, first order connecting rod 42 and second level connecting rod 43 can from Fig. 7 state change be Fig. 8 institutes under the drive of nut 35
The state shown.
Due in said mechanism, adding two-stage bar linkage structure, and two-stage bar linkage structure is pivotally
It is sequentially connected with electric motor stand, therefore, said mechanism may also be referred to as the two-stage rotating mechanism of double-deck driving of turning back.
In addition, resetting-mechanism is also provided with second level connecting rod 43 and the junction of first order connecting rod 42, for applying
The reset force opposite to the effect produced by the driving force of driven member with nut 35,35 pairs of described nut here is driven
Effect produced by the driving force of dynamic component actually refers to：The horizontal movement of nut 35 drives first order connecting rod 42 to rotate, and enters
And first order connecting rod 42 drives second level connecting rod 43 to rotate by the first pull bar 45.It is therefore contemplated that resetting-mechanism here
Actually it is applied with the reset force opposite with the first driving force of the pull bar 45 to second level connecting rod 43.The resetting-mechanism is acted on
In enabling to active force of the second level connecting rod 43 all the time by both direction, i.e., driving force from the first pull bar 45 and come from
The reset force of resetting-mechanism, so that second level connecting rod 43 is in motion process and in the state of stopping at an arbitrary position
Stable state is remained, in addition, the effect of the resetting-mechanism is also resided in when nut 35 is moved right along in figure, by multiple
The traction of position power enables to second level connecting rod 43 to be rotated up, so that reset is realized, generally, the driving that nut 35 applies
Power enables to first order connecting rod 42 and second level connecting rod 43 to rotate down, and reset force causes second level connecting rod 43 to turn upwards
It is dynamic.
Torsion spring 48 or provide and the second cascade that the resetting-mechanism can be specifically provided in the second rotating shaft 44
Other power sources of the opposite driving force of the rotation direction of bar 43 a, for example, elasticity can be set on first order connecting rod 42
Part, and will be connected between the elastomeric element and second level connecting rod 43 by compliant member, turned downwards by second level connecting rod 43
When dynamic, elastomeric element, which is stretched, provides a counter force, or is reset force.For example, as shown in Figure 9 and Figure 10, torsion spring
48 have two extensions, extend respectively to first order connecting rod 42 and the direction of second level connecting rod 43, and to the He of first order connecting rod 42
Second level connecting rod 43, which applies, makes first order connecting rod 42 and second level connecting rod 43 return to the reset force of predetermined angle, so that in motor
311 when rotating backward, and enables to second level connecting rod 43 to be rotated up (being respectively perpendicular in Figure 10 by the elastic force of torsion spring 48
The arrow of first level of connecting rod and second level connecting rod represents the direction of reset force).
As shown in Figure 10, in the state of Figure 10, first order connecting rod 42 and second level connecting rod 43 are in plumbness, work as spiral shell
When mother 35 moves right under the drive of motor 311, first order connecting rod 42 and second level connecting rod 43 rotate, according to torsion spring 48
Formation design and the design between the first pull bar 45 and first order connecting rod 42 and second level connecting rod 43 can control finally
First order connecting rod 42 and second level connecting rod 43 slewing area, as shown in figure 9, first order connecting rod 42 and second level connecting rod 43 can
Using under the drive in torsion spring 48 from Figure 10 state change as the state shown in Fig. 9.
As illustrated by embodiment one, screw rod 34 and the mechanism of nut 35 have auto-lock function, are turned round when motor 311 stops output
During square, the position of nut 35 can be remained stationary as, so as to certain position memory function, also to stop in the output of motor 311
In the case of only, second level connecting rod 43 will not be moved to opposite direction, on this basis, if also there is reset force, can be caused
Second level connecting rod 43 is maintained at that current location is motionless, so that with the position lock function to second level connecting rod 43.
In addition, as a kind of optional scheme, the resetting-mechanism in the present embodiment can also be with the above embodiments 21
Sample, is arranged on electric motor stand 31, can specifically be arranged on one end of first order connecting rod 42 and the junction of electric motor stand 31.Should
Resetting-mechanism is used to apply the reset force opposite to the driving force of first order connecting rod 42 with nut 35.The effect of the reset force is
Active force of the first order connecting rod 42 all the time by both direction is enabled to, i.e., the driving force from nut 35 and carrys out Self-resetting machine
The reset force of structure, so that first order connecting rod 42 is protected all the time in motion process and in the state of stopping at an arbitrary position
Stable state is held, in addition, the effect of the resetting-mechanism is also resided in when nut 35 is moved right along in figure, passes through reset force
Traction enables to first order connecting rod 42 to be rotated up, so as to realize reset, generally, the driving force that nut 35 applies can
So that first order connecting rod 42 is rotated down, and reset force causes the first order connecting rod 42 to be rotated up.At the same time, the first cascade
The motion of bar 42 or stress, can also be acted on by the first pull bar 45 to second level connecting rod 43, so as to realize second level connecting rod 43
Locking or reset etc..
Specifically, the resetting-mechanism can be provided in torsion spring or offer and the first order in first rotating shaft 40
Other power sources of the opposite driving force of the rotation direction of connecting rod 42 a, for example, elasticity can be set on electric motor stand 31
Part, and will be connected between the elastomeric element and first order connecting rod 42 by compliant member, rotated down in first order connecting rod 42
When, elastomeric element, which is stretched, provides a counter force, or is reset force.
Certain conduct, optional mode, can also one end of first order connecting rod 42 and the junction of electric motor stand 31, two grades
Connecting rod 43 is respectively provided with resetting-mechanism with the junction of first order connecting rod 42, so as to increase overall upper reset force.
It may also be referred to as due in said mechanism, adding two-stage bar linkage structure and resetting-mechanism, therefore, said mechanism
Bilayer turns back the two-stage slew gear of driving.
It should be noted that above-mentioned resetting-mechanism is a kind of preferred embodiment of the embodiment of the present invention, needing to reset
, can also be without setting special resetting-mechanism under scene, but resetted by external strength, for example, when bilayer turns back
(accompanying drawing is rotated clockwise 90 degree) when screw rod and nut in drive mechanism are set vertically downward, second level connecting rod can be relied on
The gravity of itself provides reset force in the component perpendicular to screw rod direction.
The mechanism of the present embodiment, the power for exporting motor to be directed to lower floor from upper strata by way of turning back, and
The power output direction of motor is changed, the power output of motor is directly over first order connecting rod, the second cascade so as to avoid
The coupling part of bar and electric motor stand, without the connection to first order connecting rod, second level connecting rod and electric motor stand
Part carries out complicated design, so as to reduce the complexity of this part.It should be noted that in manipulator field, first
The coupling part of level connecting rod, second level connecting rod and electric motor stand can be considered as articular portion, and the mechanism of the present embodiment is designed,
It sufficiently lower the complexity of articular portion.For example, above-mentioned first order connecting rod can be the base finger joint of manipulator, above-mentioned
Second level even the rod can be the nearly finger joint of manipulator, and bilayer turns back, drive mechanism can be arranged in palm.In addition it is also necessary to say
Bright, the drive mechanism of the present embodiment can not just be applied to the field of manipulator, and can also be applied to other has pass
The bionic mechanical structure division of section, for example, the mechanical structure of simulation thigh and shank, electric motor stand and bolt and nut structure are located at
On thigh, first order connecting rod can be shank, and second level connecting rod can be pin.
Example IV
As shown in Figure 11 to 14, the principle schematic of its drive mechanism of being turned back for the bilayer of the embodiment of the present invention four.This reality
Apply example with the difference of embodiment three to be, the driven member of the present embodiment includes multistage bar linkage structure, in the present embodiment,
Multistage connecting rod is at least more than three-level, and in the presence of the connecting rod that three are sequentially connected with.Correspondingly, the mode that nut drives to it also has
Institute is different.
Rotationally it is sequentially connected with by second connecting rod rotating shaft 51 between above-mentioned multistage connecting rod, first order connecting rod 42 passes through
One connecting rod rotating shaft 50 is rotatably connected with electric motor stand 31, and first order connecting rod 42 passes through flexible attachment components or bent
Connection member is connected with the connecting portion 39 on nut 35, and second level connecting rod 43 is connected by the first pull bar 45 with electric motor stand 31,
The two ends of first pull bar 45 by the first rod shaft 52 and electric motor stand 31 and second level connecting rod 43 be rotatably connected, first
Pull bar 45 and the formation chi structure of first order connecting rod 42.
After the connecting rod of the second level, at interval of be respectively connected between the two-stage connecting rod of first level of connecting rod the second pull bar 49 (as
Exemplary, Figure 11 is only illustrated into Figure 14 using level Four connecting rod as example), the two ends of the second pull bar 49 are drawn by second
Bar rotating shaft 53 is rotatably connected respectively with two-stage connecting rod, the second pull bar 49 and the first level of connecting rod formation chi structure being spaced.
Further, because the movement locus of pull bar is different with connecting rod, and movement locus is nor parallel or one
On bar straight line, therefore, every grade of connecting rod can have hollow region, and the first pull bar 45 and the second pull bar 49 pass through the hollow region
With first order connecting rod 42 and the first level of connecting rod being spaced formation chi structure.Further, since the movement locus of first order connecting rod 42
It is different with nut 35, and movement locus, nor parallel or point-blank, therefore, first order connecting rod 42 can pass through
Flexible attachment components or bent connection member are as connection member, to avoid the appearance of locking state, and connection member can be with
It is connected on the connecting portion 39 of nut 35.Specifically, body or the connecting rod of restricting can be passed through between first order connecting rod 42 and nut 35
Mechanism connection (as shown in figure 11), wherein, linkage can be using two sections or the connecting rod of the two section above.
By said structure, during nut 35 is moved along a straight line, rope body or linkage pull the first order
Connecting rod 42, rope body or linkage form torque between the fixing point and first rotating shaft 40 on first order connecting rod 42, so that
So that first order connecting rod 42 is rotated centered on first rotating shaft 40.During first order connecting rod 42 is moved, the
One pull bar 45 forms torque between the 4th rotating shaft 47 and the second rotating shaft 44, so that second level connecting rod 43 is with the second rotating shaft 44
Centered on rotated, similarly, the rest may be inferred for the rotating manner of the connecting rod after second level connecting rod 43, realize near-end apply drive
Power, remote action can be made simultaneously.As shown in figure 11, in the state of Figure 11, first order connecting rod 42 and second level connecting rod 43
In parastate, when under drive of the nut 35 in motor 311 to left movement, first order connecting rod 42 and second level connecting rod 43 are sent out
It is raw to rotate, it can be controlled according to the formation design and the design of the connection member between nut 35 and first order connecting rod 42 of nut 35
The slewing area of the final first order connecting rod 42 of system and second level connecting rod 43, as shown in figure 12, first order connecting rod 42 and the second level
Connecting rod 43 can from Figure 11 state change be the state shown in Figure 12 under the drive of nut 35.
Due in said mechanism, adding multistage bar linkage structure, and multistage bar linkage structure is pivotally
It is sequentially connected with electric motor stand, therefore, said mechanism may also be referred to as the multistage rotating mechanism of double-deck driving of turning back.
In addition, the junction between multistage connecting rod is also provided with resetting-mechanism, and as shown in FIG., adjacent multistage
Multiple coupling parts are formed between connecting rod, resetting-mechanism can be provided with least one coupling part (can be only at one
Set or many places or whole), for some or all of application into connecting rods at different levels and nut to the first cascade
The opposite reset force of effect of the driving force of bar.Effect of the nut mentioned here to the driving force of first order connecting rod be actually
Refer to：The horizontal movement of nut 35 drives first order connecting rod 42 to rotate, and then first order connecting rod 42 drives the by the first pull bar 45
Second level even the rod 43 is rotated, and the rotation of second level connecting rod 42 can drive third level link rotatable by the second pull bar 49 again, successively class
Act on pushing away, so as to drive the motion of this multistage connecting rod.Therefore, the resetting-mechanism for being arranged on junction can consider and be applied with
The reset force opposite to the driving force of rear stage connecting rod with previous stage connecting rod.Reset is respectively provided with the junction between connecting rods at different levels
Exemplified by mechanism, the effect of the reset force is the active force for enabling to connecting rods at different levels all the time by both direction, i.e., from drawing
The driving force of bar and the reset force from resetting-mechanism, so that connecting rod at different levels is any in motion process and stopping at
Stable state is remained in the state of position, in addition, the effect of the resetting-mechanism also reside in when nut 35 along in figure to the right
During motion, connecting rods at different levels are enabled to be rotated up by the traction of reset force, so that reset is realized, generally, nut 35
The driving force of application enables to connecting rods at different levels to rotate down, and reset force causes connecting rods at different levels to be rotated up.
The resetting-mechanism can be provided in torsion spring 48 or offer and the rotation of connecting rods at different levels in connecting rod rotating shaft
Other power sources of driving force in opposite direction a, for example, elastomeric element can be set on previous stage connecting rod, and by the bullet
Connected between property part and rear stage connecting rod by compliant member, when connecting rod is rotated down, elastomeric element is stretched offer one
Individual counter force, or it is reset force.For example, as shown in Figure 13 and Figure 14, torsion spring 48 has two extensions, respectively forwardly
First level of connecting rod and rear stage connecting rod direction are extended, and first level of connecting rod and the application of rear stage connecting rod make previous stage connecting rod and latter forward
Level connecting rod returns to the reset force of predetermined angle, so as to when motor 311 is rotated backward, be enabled to by the elastic force of torsion spring 48
Rear stage connecting rod is rotated up that (arrow that previous stage connecting rod and rear stage connecting rod are respectively perpendicular in Figure 14 represents the side of reset force
To).Wherein, as shown in Figure 13 and Figure 14, two extensions of torsion spring 48, are plugged on previous stage connecting rod and rear stage connecting rod respectively
End.
As illustrated by embodiment one, screw rod 34 and the mechanism of nut 35 have auto-lock function, are turned round when motor 311 stops output
During square, the position of nut 35 can be remained stationary as, so as to certain position memory function, also to stop in the output of motor 311
In the case of only, connecting rods at different levels will not be moved to opposite direction, on this basis, if also there is reset force, can be caused at different levels
Connecting rod is maintained at that current location is motionless, so that with the position lock function to connecting rods at different levels.
In addition, as a kind of optional scheme, the resetting-mechanism in the present embodiment can also be with the above embodiments 21
Sample, is arranged on electric motor stand 31, can specifically be arranged on one end of first order connecting rod 42 and the junction of electric motor stand 31.Should
Resetting-mechanism is used to apply the reset force opposite to the driving force of first order connecting rod 42 with nut 35.The effect of the reset force is
Active force of the first order connecting rod 42 all the time by both direction is enabled to, i.e., the driving force from nut 35 and carrys out Self-resetting machine
The reset force of structure, so that first order connecting rod 42 is protected all the time in motion process and in the state of stopping at an arbitrary position
Stable state is held, in addition, the effect of the resetting-mechanism is also resided in when nut 35 is moved right along in figure, passes through reset force
Traction enables to first order connecting rod 42 to be rotated up, so as to realize reset, generally, the driving force that nut 35 applies can
So that first order connecting rod 42 is rotated down, and reset force causes the first order connecting rod 42 to be rotated up.At the same time, the first cascade
The motion of bar 42 or stress, can also be acted on by the first pull bar 45 to second level connecting rod 43, so as to realize second level connecting rod 43
Locking or reset etc., and as illustrated, by the driven Design between connecting rods at different levels, this reset force is also continued to next
Level transmission, drives motion or the stress of this multistage connecting rod.
Specifically, the resetting-mechanism can be provided in torsion spring or offer and the first order in first rotating shaft 40
Other power sources of the opposite driving force of the rotation direction of connecting rod 42 a, for example, elasticity can be set on electric motor stand 31
Part, and will be connected between the elastomeric element and first order connecting rod 42 by compliant member, rotated down in first order connecting rod 42
When, elastomeric element, which is stretched, provides a counter force, or is reset force.
Certain conduct, optional mode can also be in the junction of one end of first order connecting rod 42 and electric motor stand 31, at different levels
Junction between connecting rod is respectively provided with resetting-mechanism, so as to increase overall upper reset force.
It may also be referred to as due in said mechanism, adding multistage bar linkage structure and resetting-mechanism, therefore, said mechanism
Bilayer turns back the multi-stage rotary mechanism of driving.
It should be noted that above-mentioned resetting-mechanism is a kind of preferred embodiment of the embodiment of the present invention, needing to reset
, can also be without setting special resetting-mechanism under scene, but resetted by external strength, for example, when bilayer turns back
(accompanying drawing is rotated clockwise 90 degree) when screw rod and nut in drive mechanism are set vertically downward, connecting rods at different levels can be relied on certainly
The gravity of body provides reset force in the component perpendicular to screw rod direction.
The mechanism of the present embodiment, the power for exporting motor to be directed to lower floor from upper strata by way of turning back, and
The power output direction of motor is changed, the power output of motor is directly over multistage connecting rod and electric motor stand so as to avoid
Coupling part, without carrying out complicated design to the coupling part of multistage connecting rod and electric motor stand, so as to reduce
The complexity of this part.It should be noted that in manipulator field, the coupling part of multistage connecting rod and electric motor stand can
To be considered as articular portion, the mechanism design of the present embodiment sufficiently lower the complexity of articular portion.In addition it is also necessary to say
Bright, the drive mechanism of the present embodiment can not just be applied to the field of manipulator, and can also be applied to other has pass
The bionic mechanical structure division of section, for example, the mechanical structure of simulation thigh and shank.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (10)
- The multi-stage rotary mechanism of driving 1. a kind of bilayer turns back, it is characterised in that including electric motor stand, interlayer transmission mechanism, electricity Machine, screw rod and nut, driven member and the resetting-mechanism coordinated with screw rod, the driven member include many cascades Bar, the multistage connecting rod is at least more than three-level,The motor is fixed in the electric motor stand, and is connected by output shaft with the first rotor of interlayer transmission mechanism,The screw rod and nut are arranged at the lower section of the electric motor stand, one end of the screw rod and the interlayer transmission mechanism Second rotor is connected, and is connected between first rotor and the second rotor, and the nut is arranged on the motor Frame lower, the nut is fixed relative to the electric motor stand in radial directions, and can relatively described electric motor stand exist Moved on axial direction, the nut is located at the homonymy of the interlayer transmission mechanism with the motor,The axial direction of the screw rod is fixed, when the screw rod is rotated, and drives the nut to move in the axial direction, the spiral shell The connecting portion being connected with the driven member is provided with mother, for driving institute by the motion of the nut in the axial direction Driven member motion is stated,Rotationally it is sequentially connected with by second connecting rod rotating shaft between the multistage connecting rod, first order connecting rod is turned by first connecting rod Axle is rotatably connected with the electric motor stand, and the first order connecting rod passes through flexible attachment components or bent connecting portion Part is connected with the connecting portion on the nut, and the second level connecting rod is connected by the first pull bar with the electric motor stand, described The two ends of first pull bar are rotatably connected by the first rod shaft with the electric motor stand and described second level connecting rod, described First pull bar and first order connecting rod formation chi structure,After the second level connecting rod, at interval of being respectively connected with second pull bar, institute between the two-stage connecting rod of first level of connecting rod The two ends for stating the second pull bar are rotatably connected respectively by second rod shaft with the two-stage connecting rod, second pull bar Be spaced first level of connecting rod formation chi structure,The resetting-mechanism is arranged at least one junction between the adjacent multistage connecting rod, for into connecting rods at different levels The some or all of application reset force opposite to the effect of the driving force of the first order connecting rod with the nut.
- 2. mechanism according to claim 1, it is characterised in that the resetting-mechanism is to be arranged on the second connecting rod rotating shaft On torsion spring, the torsion spring has two extensions, and the direction of the two-stage connecting rod connected respectively to the connecting rod rotating shaft is extended, And apply the reset force for making the two-stage connecting rod return to predetermined angle to the two-stage connecting rod.
- 3. mechanism according to claim 1, it is characterised in that every grade of connecting rod is respectively provided with hollow region, first pull bar With second pull bar cross knot is formed through the hollow region with the first order connecting rod and the first level of connecting rod being spaced Structure.
- 4. mechanism according to claim 1, it is characterised in that the driven member by restrict body or linkage with Connecting portion connection on the nut.
- 5. mechanism according to claim 1, it is characterised in that first rotor and the second rotor are gear, institute State and connected between the first rotor and second rotor by meshed transmission gear.
- 6. mechanism according to claim 1, it is characterised in that lead between first rotor and second rotor Cross chain or belt transmission connection.
- 7. mechanism according to claim 1, it is characterised in that also including reduction assemblies, the reduction assemblies are arranged on institute The output end of motor is stated, the output shaft is connected by the reduction assemblies with the output end of the motor.
- 8. mechanism according to claim 1, it is characterised in that interlayer transmission mechanism also includes being fixed on the electric motor stand On double-deck bearing, the output shaft passes through the upper strata bearing of double-deck bearing to be connected with first rotor, and the screw rod is worn The lower floor's bearing for crossing the double-deck bearing is connected with second rotor.
- 9. mechanism according to claim 1, it is characterised in that first rotor and second rotor are radially On direction in same plane.
- 10. mechanism according to claim 1, it is characterised in that the bottom of the electric motor stand is provided with rail plate, The nut is connected by the rail plate with the electric motor stand so that the nut in the radial direction with the motor machine Frame is fixedly connected, and can be slided in the axial direction.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2017101555612 | 2017-03-16 | ||
| CN201710155561 | 2017-03-16 |
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| CN107081785A true CN107081785A (en) | 2017-08-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710310308.XA Pending CN107081785A (en) | 2017-03-16 | 2017-05-05 | Bilayer turns back the multi-stage rotary mechanism of driving |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107901060A (en) * | 2017-10-13 | 2018-04-13 | 杭州若比邻机器人科技有限公司 | Screw drives and the finger mechanism of worm and gear driving |
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