CN107150356A - Two-freedom degree joint structure - Google Patents
Two-freedom degree joint structure Download PDFInfo
- Publication number
- CN107150356A CN107150356A CN201710571402.0A CN201710571402A CN107150356A CN 107150356 A CN107150356 A CN 107150356A CN 201710571402 A CN201710571402 A CN 201710571402A CN 107150356 A CN107150356 A CN 107150356A
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- China
- Prior art keywords
- gear
- bevel gear
- gap
- frame
- disappears
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Abstract
The present invention relates to Industrial Robot Technology field, more particularly to two-freedom degree joint structure.It includes：First frame, first driving means, first gear axle, first bevel gear, the second frame, the second drive device, second gear axle, second bevel gear, the 3rd frame, output gear shaft, output bevel gear wheel, the gap that disappears drive device, clearance elimination gear axle and the gap bevel gear that disappears；First bevel gear is arranged on first gear axle, and first driving means driving first gear axle is rotated；Second bevel gear is arranged on second gear axle, and the second drive device driving second gear axle is rotated；Output bevel gear wheel is arranged on output gear shaft；The gap that disappears bevel gear is arranged on clearance elimination gear axle, and the gap that disappears drive device driving clearance elimination gear axle is rotated；Output bevel gear wheel, the gap that disappears bevel gear engage with first bevel gear, second bevel gear simultaneously respectively.The two-freedom degree joint structure of the present invention can not only realize elevating movement, spinning motion and pitching rotation compound motion, and transmission accuracy is higher.
Description
Technical field
The present invention relates to Industrial Robot Technology field, more particularly to two-freedom degree joint structure.
Background technology
Industrial robot is the multi-joint manipulator or multivariant installations towards industrial circle, and it can hold automatically
Row work, is to lean on self power and control ability to realize a kind of machine of various functions.Articulation structure is industrial robot
Critical function element.The transmission accuracy of articulation structure directly determines the transmission accuracy of industrial robot.
A kind of articulation structure of prior art includes first bevel gear, second bevel gear and third hand tap gear, the first cone tooth
Wheel and second bevel gear are engaged with third hand tap gear simultaneously.When first bevel gear and second bevel gear rotate in same direction, drive
Third hand tap gear is realized one degree of freedom, when first bevel gear and second bevel gear are rotated backward, drive third hand tap
Gear realizes another free degree.
The deficiency that above-mentioned articulation structure is present is, due to the presence of error, inevitably causes third hand tap gear and the
One bevel gear, the effect of second bevel gear alternative one, when third hand tap gear and first bevel gear close contact, third hand tap gear
There is drive gap between second bevel gear, so that transmission accuracy is reduced；When third hand tap gear and second bevel gear are tight
When contiguity is touched, there is drive gap between third hand tap gear and first bevel gear, so that brake precision is reduced.
The content of the invention
(1) technical problem to be solved
The compound fortune of elevating movement, spinning motion and pitching rotation can not only be realized it is an object of the invention to provide one kind
It is dynamic, and the higher two-freedom degree joint structure of transmission accuracy.
(2) technical scheme
In order to achieve the above object, the main technical schemes that the present invention is used include：
The present invention provides a kind of two-freedom degree joint structure.Specifically, the two-freedom degree joint structure includes：First driving
Unit, the second driver element, output unit and the gap unit that disappears；
First driver element includes the first frame and the first driving means being arranged in the first frame, is arranged on the first machine
First gear axle and first bevel gear on frame, first bevel gear are arranged on first gear axle, first driving means driving the
One gear shaft is rotated；
Second driver element includes the second frame and the second drive device being arranged in the second frame, is arranged on the second machine
Second gear axle and second bevel gear on frame, second bevel gear are arranged on second gear axle, the second drive device driving the
Two gear shafts are rotated；
Output unit includes the 3rd frame and the output gear shaft, the output bevel gear wheel that are arranged in the 3rd frame, output cone
Gear is arranged on output gear shaft；
The gap that disappears unit includes the gap drive device that disappears that body is connected with output gear shaft, the gap that disappears being arranged in the 3rd frame
Gear shaft and the gap bevel gear that disappears, the gap that disappears bevel gear are arranged on clearance elimination gear axle, and the gap that disappears drive device driving clearance elimination gear axle turns
It is dynamic；
First frame is fixedly connected with the second frame, and the 3rd frame is connected with the first frame, the second gantry rotation；
First bevel gear and second bevel gear are coaxially disposed, and the gap that disappears bevel gear and output bevel gear wheel are coaxially disposed, output cone
Gear is engaged with first bevel gear, second bevel gear, and the gap that disappears bevel gear engages with first bevel gear, second bevel gear.
Further, the gap that disappears drive device includes the gap motor reducer that disappears, the output shaft of the gap that disappears motor reducer and the gap that disappears
Gear shaft is connected.
Further, first driving means include the first motor reducer, the output shaft of the first motor reducer and first
Gear shaft is connected.
Further, the second drive device includes the second motor reducer, the output shaft of the second motor reducer and second
Gear shaft is connected.
Further, first driving means also include the first reducing gear, and the output shaft of the first motor reducer passes through the
One reducing gear is connected with first gear axle.
Further, the second drive device also includes the second reducing gear, and the output shaft of the second motor reducer passes through the
Two reducing gears are connected with second gear axle.
Further, the first reducing gear includes the first worm gear and the first worm screw, the first worm screw and the first motor reducer
Output shaft fixed connection, the first worm gear is connected on first gear axle.
Further, the second reducing gear includes the second worm gear and the second worm screw, the second worm screw and the second motor reducer
Output shaft fixed connection, the second worm gear is connected on second gear axle.
Further, the 3rd frame is connected by clutch shaft bearing with the first gantry rotation；
3rd frame is connected by second bearing with the second gantry rotation.
Further, two-freedom degree joint structure of the invention also includes：
Controller, controller is connected with first motor reducer, the second motor reducer and the gap motor reducer that disappears.
(3) beneficial effect
The beneficial effects of the invention are as follows：
The two-freedom degree joint structure of the present invention, first driving means driving first gear axle is rotated, the second drive device
Second gear axle is driven to rotate, and when first gear axle and second gear axle constant speed rotation in the same direction, output gear shaft pitching is not
Rotation；
The two-freedom degree joint structure of the present invention, first driving means driving first gear axle is rotated, the second drive device
Second gear axle is driven to rotate, and when first gear axle and the reverse constant speed rotation of second gear axle, output gear shaft rotation is not
Pitching；
The two-freedom degree joint structure of the present invention, first driving means driving first gear axle is rotated, the second drive device
Second gear axle is driven to rotate, and when first gear axle and unequal second gear rotating speed, output gear shaft makees rotation pitching
Compound motion；
The two-freedom degree joint structure of the present invention, first driving means driving first gear axle is rotated, the second drive device
Second gear axle is driven to rotate, and the torque of first driving means output is identical with the torque direction that the second drive device is exported,
Differ in size, the gap that disappears drive device driving clearance elimination gear axle is rotated, and the gap drive device that disappears output torque so that first gear
Axle and second gear axle constant speed rotation in the same direction, output gear shaft pitching not rotation, and drive gap is eliminated, transmission accuracy is more
It is high；
The two-freedom degree joint structure of the present invention, first driving means driving first gear axle is rotated, the second drive device
Drive second gear axle to rotate, and the torque of first driving means output and the torque direction of the second drive device output on the contrary,
Differ in size, the gap that disappears drive device driving clearance elimination gear axle is rotated, and the gap drive device that disappears output torque so that first gear
Axle and the reverse constant speed rotation of second gear axle, output gear shaft rotation not pitching, and drive gap is eliminated, transmission accuracy is more
It is high.
To sum up, two-freedom degree joint structure of the invention can not only realize elevating movement, spinning motion and pitching rotation
Compound motion, and transmission accuracy is higher.
Brief description of the drawings
Fig. 1 is the structural representation of two-freedom degree joint structure in embodiment；
Fig. 2 is removed after the first frame, the second frame and the 3rd frame for two-freedom degree joint structure in embodiment
Structural representation；
Fig. 3 is the output unit of two-freedom degree joint structure in embodiment and the structural representation for the gap unit that disappears.
【Description of reference numerals】
In figure：
1：First driver element；11：First frame；12：First motor reducer；13：First worm gear；14：First worm screw；
15：First gear axle；16：First bevel gear；17：First spring bearing；18：First shaft coupling；
2：Second driver element；21：Second frame；22：Second motor reducer；23：Second worm gear；24：Second worm screw；
25：Second gear axle；26：Second bevel gear；27：Second spring bearing；28：Second shaft coupling；
3：Output unit；31：3rd frame；32：Output gear shaft；33：Output bevel gear wheel；34：3rd spring bearing；
35：4th spring bearing；36：Connect disk；37：Axle bush；38：Connecting rod；
4：The gap that disappears unit；41：The gap that disappears motor reducer；42：Clearance elimination gear axle；43：The gap that disappears bevel gear；44：5th support
Bearing；45：6th spring bearing；46：The gap that disappears shaft coupling；
5：Clutch shaft bearing；
6：Second bearing.
Embodiment
In order to preferably explain the present invention, in order to understand, below in conjunction with the accompanying drawings, by embodiment, to this hair
It is bright to be described in detail.
Reference picture 1- Fig. 3, the two-freedom degree joint structure of the present embodiment at least includes：First driver element 1, second drives
Unit 2, output unit 3 and the gap unit 4 that disappears.
First driver element 1
First driver element 1 includes the first frame 11 and the first driving means being arranged in the first frame 11, is arranged on
First gear axle 15 and first bevel gear 16 in first frame 11.
First gear axle 15 is arranged in the first frame 11 by the first spring bearing 17, the first 17 pair first of spring bearing
15 positioning supporting roles of gear shaft.
First bevel gear 16 is arranged on first gear axle 15.The first hollow shaft, the first tooth are provided with first frame 11
Wheel shaft 15 passes through the first hollow shaft, and first bevel gear 16 is arranged on part of the first gear axle 15 outside the first frame 11.
First driving means driving first gear axle 15 is rotated.
First driving means include the first motor reducer 12.First motor reducer 12 is fixed on first by flange frame
In frame 11.First motor reducer 12 integrates motor and reducing gear, can not only provide larger torque, and volume
It is smaller.The output shaft of first motor reducer 12 is connected with first gear axle 15, the first motor reducer 12 and first gear axle
15 are directly or indirectly connected.
Specifically, first driving means also include the first reducing gear, and the output shaft of the first motor reducer 12 passes through the
One reducing gear is connected with first gear axle 15.First reducing gear can select planetary gear speed reducing mechanism, worm-gear speed reducer
Structure etc..
In the present embodiment, the first reducing gear includes the first worm gear 13 and the first worm screw 14, the first worm gear 13 and the first snail
Bar 14 is engaged, and not only realizes big gearratio, and small volume.The first worm gear 13 used in the present embodiment and the first worm screw
Self-locking does not occur between 14, and can realize and rotate and reverse transmission.First worm screw 14 and the output of the first motor reducer 12
Axle is connected, and attachment is to be connected, connected by flange arrangement by first shaft coupling 18.First worm gear 13 is connected in first
On gear shaft 15, attachment is to be connected, be directly welded and fixed by flat key.Adopted on the basis of the first motor reducer 12
With the first worm gear 13 and the first worm screw 14 output speed is further reduced, and structure is compacter simple.
The present embodiment, the first worm screw of the first motor reducer 12 driving 14 rotates at the same speed, the first worm screw 14 and the first worm gear
13 engagements are slowed down, and worm-gear driven first gear axle 15 is rotated at the same speed, so that first bevel gear 16 is same with first gear axle 15
Speed is rotated.
Second driver element 2
Second driver element 2 includes the second frame 21 and the second drive device being arranged in the second frame 21, is arranged on
Second gear axle 25 and second bevel gear 26 in second frame 21.
Second gear axle 25 is arranged in the second frame 21 by the second spring bearing 27, the second 27 pair second of spring bearing
25 positioning supporting roles of gear shaft.
Second bevel gear 26 is arranged on second gear axle 25.The second hollow shaft, the second tooth are provided with second frame 21
Wheel shaft 25 passes through the second hollow shaft, and second bevel gear 26 is arranged on part of the second gear axle 25 outside the second frame 21.
Second drive device driving second gear axle 25 is rotated.
Second drive device includes the second motor reducer 22.Second motor reducer 22 is fixed on second by flange frame
In frame 21.Second motor reducer 22 integrates motor and reducing gear, can not only provide larger torque, and volume
It is smaller.The output shaft of second motor reducer 22 is connected with second gear axle 25, the second motor reducer 22 and second gear axle
25 are directly or indirectly connected.
Specifically, the second drive device also includes the second reducing gear, and the output shaft of the second motor reducer 22 passes through the
Two reducing gears are connected with second gear axle 25.Second reducing gear can select planetary gear speed reducing mechanism, worm-gear speed reducer
Structure etc..
In the present embodiment, the second reducing gear includes the second worm gear 23 and the second worm screw 24, the second worm gear 23 and the second snail
Bar 24 is engaged, and not only realizes big gearratio, and small volume.The second worm gear 23 used in the present embodiment and the second worm screw
Self-locking does not occur between 24, and can realize and rotate and reverse transmission.Second worm screw 24 and the output of the second motor reducer 22
Axle is connected, and attachment is to be connected, connected by flange arrangement by second shaft coupling 28.Second worm gear 23 is connected in second
On gear shaft 25, attachment is to be connected, be directly welded and fixed by flat key.Adopted on the basis of the second motor reducer 22
With the second worm gear 23 and the second worm screw 24 output speed is further reduced, and structure is compacter simple.
The present embodiment, the second worm screw of the second motor reducer 22 driving 24 rotates at the same speed, the second worm screw 24 and the second worm gear
23 engagements are slowed down, and worm-gear driven second gear axle 25 is rotated at the same speed, so that second bevel gear 26 is same with second gear axle 25
Speed is rotated.
Output unit 3
Output unit 3 includes the 3rd frame 31 and the output gear shaft 32, the output bevel gear wheel that are arranged in the 3rd frame 31
33。
Output bevel gear wheel 33 is arranged on output gear shaft 32.Output gear shaft 32 passes through the 3rd spring bearing 34 and the 4th
Spring bearing 35 is arranged on the inner chamber of the 3rd frame 31, and the 3rd spring bearing 34 and the 4th spring bearing 35 are to output gear shaft 32
Play positioning supporting role.
The gap that disappears unit 4
The gap that disappears unit 4 include body be connected with output gear shaft 32 the gap drive device that disappears, be arranged in the 3rd frame 31
Clearance elimination gear axle 42 and the gap bevel gear 43 that disappears.
In the present embodiment, output gear shaft 32 is connected with the body for the gap drive device that disappears, and is not and the gap drive device that disappears
Output shaft connection.
The gap that disappears bevel gear 43 is arranged on clearance elimination gear axle 42.Clearance elimination gear axle 42 passes through the 5th spring bearing 44 and the 6th
Spring bearing 45 is arranged on the inner chamber of the 3rd frame 31, and the 5th spring bearing 44 and the 6th spring bearing 45 are to output gear shaft 32
Play positioning supporting role.Clearance elimination gear axle 42 passes through the hole of output gear shaft 32 and the hole of output bevel gear wheel 33 so that the gap that disappears is bored
Gear 43 is oppositely arranged with output bevel gear wheel 33.The gap that disappears bevel gear 43 mode such as is connected by flat key, is welded to connect and being fixedly installed
On clearance elimination gear axle 42.
The gap that disappears drive device driving clearance elimination gear axle 42 is rotated.
The gap that disappears drive device includes the gap motor reducer 41 that disappears.The gap that disappears motor reducer 41 is connected with output gear shaft 32,
Specifically, as shown in Fig. 2 output gear shaft 32 is connected by axle bush 37 with even disk 36, even disk 36 is connected with connecting rod 38 by bolt
Connect, the gap that disappears motor reducer 41 is fixed on connecting rod 38 by flange frame.The gap that disappears motor reducer 41 collects motor and reducing gear
In one, larger torque, and small volume can not only be provided.The output shaft of the gap that disappears motor reducer 41 and clearance elimination gear axle
42 are connected, and the gap that disappears motor reducer 41 and clearance elimination gear axle 42 are directly or indirectly connected.Specifically, the gap that disappears motor reducer 41
Output shaft and clearance elimination gear axle 42 be connected by the gap shaft coupling 46 that disappears or connected by modes such as flange arrangement, welding.
Wherein, the body one of output gear shaft 32, axle bush 37, company's disk 36 and connecting rod 38 and the gap motor reducer 41 that disappears
Motion；The gap that disappears bevel gear 43 is placed in the mesopore of output gear shaft 32；The gap that disappears bevel gear 43 and the 3rd frame 31 are by the 5th
Spring bearing 44 and the axial restraint of the 6th spring bearing 45 are circumferentially rotated；The frame 31 of output gear shaft 32 and the 3rd passes through the 3rd
Support bearing 34 and the axial restraint of the 4th spring bearing 35 are circumferentially rotated.Elevating movement, spinning motion and pitching in the present embodiment
Rotation compound motion can be transmitted by connecting rod 38.
The present embodiment, the driving clearance elimination gear of the gap that disappears motor reducer 41 axle 42 is rotated at the same speed, so that the gap bevel gear that disappears
43 rotate at the same speed with clearance elimination gear axle 42.
First frame 11 is fixedly connected with the second frame 21, and the 3rd frame 31 is rotated with the first frame 11, the second frame 21
Connection.Specifically, the 3rd frame 31 is rotated with the first frame 11 by clutch shaft bearing 5 and is connected, and the 3rd frame 31 passes through the second axle
6 are held to be connected with the rotation of the second frame 21.Clutch shaft bearing 5 is set in the first hollow shaft of the first frame 11, in the first hollow shaft
The shaft shoulder against clutch shaft bearing 5 inner ring, for being positioned to clutch shaft bearing 5.Second bearing 6 is set in the second of the second frame 21
In hollow shaft, the shaft shoulder in the second hollow shaft against second bearing 6 inner ring, for being positioned to second bearing 6.
First bevel gear 16 and second bevel gear 26 are coaxially disposed, and the gap that disappears bevel gear 43 and output bevel gear wheel 33 are coaxially set
Put, output bevel gear wheel 33 is engaged with first bevel gear 16, second bevel gear 26, the gap that disappears bevel gear 43 and first bevel gear 16,
Second bevel gear 26 is engaged.First gear axle 15 (or second gear axle 25) and output gear shaft 32 (or clearance elimination gear
Axle 42) it is mutually perpendicular to.
The two-freedom degree joint structure of the present embodiment also includes controller, controller and the first motor reducer 12, second
Motor reducer 22 and the gap motor reducer 41 that disappears are connected.Controller is used to control the first motor reducer 12, the second motor to subtract
The output torque of fast machine 22 and the gap motor reducer 41 that disappears.
Operation principle
1st, 32 pitching not rotations of output gear shaft
When the identical and equal rotating speed with the direction of rotation of second gear axle 25 of first gear axle 15, output gear shaft 32 is only bowed
Face upward not rotation.
The gap that disappears method：As shown in figure 3, controlling the output torque of the first motor reducer 12, the first motor by controller
The torque that reductor 12 is delivered to first gear axle 15 by the first worm screw 14, the deceleration device of the first worm gear 13 is T1；Pass through control
Device processed controls the output torque of the second motor reducer 22, and the second motor reducer 22 passes through the second worm screw 24, the second worm gear 23
The torque that deceleration device is delivered to second gear axle 25 is T2, the torque of second gear axle 25 and the torque side of first gear axle 15
To it is identical, differ in size；The output torque of gap motor reducer 41 of disappearing is controlled by controller, the gap that disappears motor reducer 41 is transmitted
Torque to clearance elimination gear axle 42 is T3, as T2 ＜ T1, when, T3=T1-T2, and second gear axle 25 is turned to, work as T2>T1, when,
T3=T2-T1, and turn to first gear axle 15.The gap that disappears bevel gear 43 is close with first bevel gear 16, second bevel gear 26
Engagement, as T2 ＜ T1, there is gap with engaging for second bevel gear 26, work as T2 in output bevel gear wheel 33>T1, output bevel gear wheel 33 with
There is gap in the engagement of first bevel gear 16.The torque T1 of first bevel gear 16 and the torque T2 formation torques of second bevel gear 26
Difference, so as to eliminate drive gap, improves transmission accuracy, and the first cone tooth can be made up using the torque T3 for the gap bevel gear 43 that disappears
The torque T1 of wheel 16 and the torque differences of the torque T2 formation of second bevel gear 26, so that first gear axle 15 and second gear
The direction of rotation of axle 25 is identical and rotating speed is equal, 32 pitching not rotations of output gear shaft.
2nd, 32 rotation not pitching of output gear shaft
When the opposite and equal rotating speed with the direction of rotation of second gear axle 25 of first gear axle 15, output gear shaft 32 is certainly
Turn not pitching.
The gap that disappears method：As shown in figure 3, controlling the output torque of the first motor reducer 12, the first motor by controller
The torque that reductor 12 is delivered to first gear axle 15 by the first worm screw 14, the deceleration device of the first worm gear 13 is T1；Pass through control
Device processed controls the output torque of the second motor reducer 22, and the second motor reducer 22 passes through the second worm screw 24, the second worm gear 23
The torque that deceleration device is delivered to second gear axle 25 is T2, the torque of second gear axle 25 and the torque side of first gear axle 15
To it is opposite, differ in size；The output torque of gap motor reducer 41 of disappearing is controlled by controller, the gap that disappears motor reducer 41 is transmitted
Torque to clearance elimination gear axle 42 is T3, as T2 ＜ T1, when, T3=T1-T2, and first gear axle 15 is turned to, work as T2>T1, when,
T3=T2-T1, and turn to second gear axle 25.The gap that disappears bevel gear 43 is close with first bevel gear 16, second bevel gear 26
Engagement, as T2 ＜ T1, there is gap with engaging for second bevel gear 26, work as T2 in output bevel gear wheel 33>T1, output bevel gear wheel 33 with
There is gap in the engagement of first bevel gear 16.The torque T1 of first bevel gear 16 and the torque T2 formation torques of second bevel gear 26
Difference, so as to eliminate drive gap, improves transmission accuracy, and the first cone tooth can be made up using the torque T3 for the gap bevel gear 43 that disappears
The torque T1 of wheel 16 and the torque differences of the torque T2 formation of second bevel gear 26, so that first gear axle 15 and second gear
The direction of rotation of axle 25 is opposite and rotating speed is equal, 32 rotation not pitching of output gear shaft.
The two-freedom degree joint structure of the present embodiment, first driving means driving first gear axle 15 is rotated, the second driving
Device driving second gear axle 25 is rotated, and when first gear axle 15 and second gear 25 constant speed rotation in the same direction of axle, output gear
32 pitching not rotations of axle.
The two-freedom degree joint structure of the present embodiment, first driving means driving first gear axle 15 is rotated, the second driving
Device driving second gear axle 25 is rotated, and when first gear axle 15 and second gear 25 reverse constant speed rotation of axle, output gear
32 rotation not pitching of axle.
The two-freedom degree joint structure of the present embodiment, first driving means driving first gear axle 15 is rotated, the second driving
Device driving second gear axle 25 is rotated, and when first gear axle 15 and the unequal rotating speed of second gear axle 25, output gear shaft
32 make rotation pitching compound motion.
The two-freedom degree joint structure of the present embodiment, first driving means driving first gear axle 15 is rotated, the second driving
Device driving second gear axle 25 is rotated, and torque and the torque direction of the second drive device output of first driving means output
It is identical, differ in size, the gap that disappears drive device driving clearance elimination gear axle 42 is rotated, and the gap drive device that disappears output torque so that the
When one gear shaft 15 and second gear 25 constant speed rotation in the same direction of axle, 32 pitching not rotations of output gear shaft, and eliminate transmission
Gap, transmission accuracy is higher.
The two-freedom degree joint structure of the present embodiment, first driving means driving first gear axle 15 is rotated, the second driving
Device driving second gear axle 25 is rotated, and torque and the torque direction of the second drive device output of first driving means output
On the contrary, differ in size, the gap that disappears drive device driving clearance elimination gear axle 42 is rotated, and the gap drive device that disappears output torque so that the
When one gear shaft 15 and second gear 25 reverse constant speed rotation of axle, 32 rotation not pitching of output gear shaft, and eliminate transmission
Gap, transmission accuracy is higher.
To sum up, the two-freedom degree joint structure of the present embodiment can not only realize elevating movement, spinning motion and pitching certainly
Turn compound motion, and transmission accuracy is higher.
Above content is only presently preferred embodiments of the present invention, for one of ordinary skill in the art, according to the present invention's
Thought, will change in specific embodiments and applications, and this specification content should not be construed as to the present invention
Limitation.
Claims (10)
1. a kind of two-freedom degree joint structure, it is characterised in that including：It is first driver element (1), the second driver element (2), defeated
Go out unit (3) and the gap unit (4) that disappears；
First driver element (1) includes the first frame (11) and the first driving means being arranged in the first frame (11), set
First gear axle (15) and first bevel gear (16) in the first frame (11), the first bevel gear (16) are arranged on first
On gear shaft (15), the first driving means driving first gear axle (15) rotates；
Second driver element (2) includes the second frame (21) and the second drive device being arranged in the second frame (21), set
Second gear axle (25) and second bevel gear (26) in the second frame (21), the second bevel gear (26) are arranged on second
On gear shaft (25), the second drive device driving second gear axle (25) rotates；
Output unit (3) includes the 3rd frame (31) and the output gear shaft (32) being arranged in the 3rd frame (31), output cone
Gear (33), the output bevel gear wheel (33) is arranged on output gear shaft (32)；
The gap that disappears unit (4) include body be connected with output gear shaft (32) the gap drive device that disappears, be arranged on the 3rd frame (31)
On clearance elimination gear axle (42) and the gap bevel gear (43) that disappears, the gap bevel gear (43) that disappears is arranged on clearance elimination gear axle (42),
The gap drive device driving clearance elimination gear axle (42) that disappears is rotated；
First frame (11) is fixedly connected with the second frame (21), the 3rd frame (31) and the first frame (11), the second machine
Frame (21) rotates connection；
First bevel gear (16) and second bevel gear (26) are coaxially disposed, and the gap that disappears bevel gear (43) and output bevel gear wheel (33) are coaxial
Set, the output bevel gear wheel (33) is engaged with first bevel gear (16), second bevel gear (26), the gap bevel gear that disappears
(43) engaged with first bevel gear (16), second bevel gear (26).
2. two-freedom degree joint structure according to claim 1, it is characterised in that
The gap drive device that disappears includes the gap motor reducer (41) that disappears, and the output shaft of the gap motor reducer (41) that disappears is with disappearing
Gap gear shaft (42) is connected.
3. two-freedom degree joint structure according to claim 2, it is characterised in that
The first driving means include the first motor reducer (12), the output shaft of first motor reducer (12) and the
One gear shaft (15) is connected.
4. two-freedom degree joint structure according to claim 3, it is characterised in that
Second drive device includes the second motor reducer (22), the output shaft of second motor reducer (22) and the
Two gear shafts (25) are connected.
5. two-freedom degree joint structure according to claim 3, it is characterised in that
The first driving means also include the first reducing gear, and the output shaft of first motor reducer (12) passes through first
Reducing gear is connected with first gear axle (15).
6. two-freedom degree joint structure according to claim 4, it is characterised in that
Second drive device also includes the second reducing gear, and the output shaft of second motor reducer (22) passes through second
Reducing gear is connected with second gear axle (25).
7. two-freedom degree joint structure according to claim 5, it is characterised in that
First reducing gear includes the first worm gear (13) and the first worm screw (14), first worm screw (14) and the first motor
The output shaft fixed connection of reductor (12), first worm gear (13) is connected on first gear axle (15).
8. two-freedom degree joint structure according to claim 6, it is characterised in that
Second reducing gear includes the second worm gear (23) and the second worm screw (24), second worm screw (24) and the second motor
The output shaft fixed connection of reductor (22), second worm gear (23) is connected on second gear axle (25).
9. two-freedom degree joint structure according to claim 1, it is characterised in that
3rd frame (31) is rotated with the first frame (11) by clutch shaft bearing (5) and is connected；
3rd frame (31) is rotated with the second frame (21) by second bearing (6) and is connected.
10. two-freedom degree joint structure according to claim 4, it is characterised in that also include：
Controller, controller and first motor reducer (12), the second motor reducer (22) and the gap motor reducer that disappears
(41) connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107789059A (en) * | 2017-09-19 | 2018-03-13 | 山东科技大学 | A kind of minimally invasive abdominal operation robot |
| CN109027560A (en) * | 2018-09-13 | 2018-12-18 | 深圳市三阶微控实业有限公司 | A kind of high-precision XY mobile platform and its implementation |
| CN109194024A (en) * | 2018-09-13 | 2019-01-11 | 深圳市三阶微控实业有限公司 | A kind of high-precision motor realization device and method |
| CN110774277A (en) * | 2019-12-02 | 2020-02-11 | 福州大学 | Snake-shaped arm three-degree-of-freedom wrist joint and movement method |
| WO2021073001A1 (en) * | 2019-10-14 | 2021-04-22 | 河北工业大学 | Robot double-arm structure |
| CN113601517A (en) * | 2021-06-25 | 2021-11-05 | 光华临港工程应用技术研发(上海)有限公司 | Nurse robot |
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| JP2012121080A (en) * | 2010-12-06 | 2012-06-28 | Yaskawa Electric Corp | Articulated robot and robot joint structure |
| CN105666509A (en) * | 2016-03-17 | 2016-06-15 | 清华大学 | Three-degree-of-freedom surface-movable robot finger unit device |
| CN106181996A (en) * | 2016-07-29 | 2016-12-07 | 东北大学 | A kind of six degree of freedom mechanical hand of Dual-motors Driving |
| CN106182071A (en) * | 2016-08-05 | 2016-12-07 | 北京理工大学 | Two degrees of freedom rotates flexible differential driving joint module |
| CN106286748A (en) * | 2016-10-13 | 2017-01-04 | 重庆大学 | Dual input multi-change speed worm reducer |
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| JP2012121080A (en) * | 2010-12-06 | 2012-06-28 | Yaskawa Electric Corp | Articulated robot and robot joint structure |
| CN105666509A (en) * | 2016-03-17 | 2016-06-15 | 清华大学 | Three-degree-of-freedom surface-movable robot finger unit device |
| CN106181996A (en) * | 2016-07-29 | 2016-12-07 | 东北大学 | A kind of six degree of freedom mechanical hand of Dual-motors Driving |
| CN106182071A (en) * | 2016-08-05 | 2016-12-07 | 北京理工大学 | Two degrees of freedom rotates flexible differential driving joint module |
| CN106286748A (en) * | 2016-10-13 | 2017-01-04 | 重庆大学 | Dual input multi-change speed worm reducer |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107789059A (en) * | 2017-09-19 | 2018-03-13 | 山东科技大学 | A kind of minimally invasive abdominal operation robot |
| CN109027560A (en) * | 2018-09-13 | 2018-12-18 | 深圳市三阶微控实业有限公司 | A kind of high-precision XY mobile platform and its implementation |
| CN109194024A (en) * | 2018-09-13 | 2019-01-11 | 深圳市三阶微控实业有限公司 | A kind of high-precision motor realization device and method |
| CN109027560B (en) * | 2018-09-13 | 2020-09-15 | 深圳市三阶微控实业有限公司 | High-precision XY moving platform and implementation method thereof |
| WO2021073001A1 (en) * | 2019-10-14 | 2021-04-22 | 河北工业大学 | Robot double-arm structure |
| CN110774277A (en) * | 2019-12-02 | 2020-02-11 | 福州大学 | Snake-shaped arm three-degree-of-freedom wrist joint and movement method |
| CN113601517A (en) * | 2021-06-25 | 2021-11-05 | 光华临港工程应用技术研发(上海)有限公司 | Nurse robot |
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