CN108247671A - A kind of robot steering engine - Google Patents
A kind of robot steering engine Download PDFInfo
- Publication number
- CN108247671A CN108247671A CN201810099747.5A CN201810099747A CN108247671A CN 108247671 A CN108247671 A CN 108247671A CN 201810099747 A CN201810099747 A CN 201810099747A CN 108247671 A CN108247671 A CN 108247671A
- Authority
- CN
- China
- Prior art keywords
- drive shaft
- open slot
- motion
- steering engine
- sphere
- 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.)
- Pending
Links
- 230000033001 locomotion Effects 0.000 claims abstract description 42
- 230000004308 accommodation Effects 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 4
- 239000000686 essence Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
Abstract
The present invention relates to robotic technology fields,A kind of robot steering engine is provided,Including the first motion,Second motion,Output shaft,First drive module and the second drive module,First motion is provided with output shaft,Second drive shaft square crossing of the first drive shaft of first motion and second motion,And the central point of first drive shaft and second drive shaft coincides together,First drive shaft and second drive shaft are driven respectively by the first driving drive module and the second drive module,Pass through Vector modulation,The Plane Rotation of described first driving drive module and the orthogonal directions of second drive module driving is blended into the Three dimensional rotation of the output shaft,Pass through Vector modulation,It is moved so as to which joint of robot to be synthesized to the hemispherical of an axial direction,It is compact-sized,Coordinate the control algolithm of steering engine,Realize the joint motions of flexible and changeable axial mechanical arm.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of robot steering engines.
Background technology
In the making at present in bio-robot, we have widely used steering engine.Steering engine is equivalent to robot
Muscle, we allow the joint motions of robot by steering engine.The rotation of steering engine is old-fashioned and inflexible turn unlike common electric machine
Circle, any angle and then accurately stop that it can be rotated to according to your instruction between the control angular range of steering engine support
Come.Steering engine is made of direct current generator, train of reduction gears, sensor and control circuit, is a set of automaton, for giving
Fixed PWM inputs, can be automatically brought to designated position, and keep constant the output of system, and the control of steering engine is very simple, uses
Family inputs different PWM duty cycles, and steering engine can reach different positions, and user does not need to be concerned about how steering engine starts to walk how
Accelerate, how to slow down, therefore steering engine, be widely used general.
Robot machine people steering engine on the market generally only has single motor driving at present, can only carry out single rotation fortune
It is dynamic, it can not realize the various dimensions movement of single node, there are the problem of joint is too fat to move, form is distorted, movement underaction is changeable.
Invention content
The purpose of the present invention is to provide a kind of movement of various dimensions, compact-sized, the more flexible changeable, Neng Gou of control
Arbitrary direction robot steering engine in the range of hemisphere face.The robot steering engine by the rotation of both direction it is advanced into the single centre of sphere,
The Three dimensional rotation of single output shaft solves the problems, such as in traditional robot industry that joint is too fat to move, form distortion.
To achieve the above object, the technical solution adopted by the present invention is：A kind of robot steering engine, including the first motion
With the second motion, first motion is provided with output shaft, the first drive shaft of first motion and institute
State the second drive shaft square crossing of the second motion, and the central point of first drive shaft and second drive shaft
It coincides together, first drive shaft and second drive shaft are respectively by the first driving drive module and the second drive module
Driving, by Vector modulation, by the described first driving drive module and the orthogonal directions of second drive module driving
Plane Rotation be blended into the Three dimensional rotation of the output shaft.
Further, first motion includes the first sphere, and second motion includes the second sphere, institute
It states the second ball interior and is provided with the spherical accommodation space that diameter is more than first sphere, first sphere is rotatably embedding
It is sleeved in the spherical accommodation space of second sphere, first drive shaft sets first outer surface of spheroid along directly respectively
The both ends in diameter direction, second drive shaft are separately positioned on the diametrically opposite both ends of the second outer surface of spheroid.
Further, the axial line plane of first sphere along first drive shaft is provided with a width more than described
First open slot of the overall diameter of output shaft, the axis parallel of the opening groove bottom and first drive shaft are described defeated
One end of shaft is rotatably provided at the centre of sphere of first sphere, and is swung along first open slot, described first
The arc chord angle of open slot is 140 °.
Further, second sphere is provided with width more than the output along the second drive shaft axial line plane
Overall diameter the second open slot, the axis parallel of the second opening groove bottom and second drive shaft, along described the
Two open slot vertical direction are provided with the third open slot that width is more than second drive shaft, and the output shaft passes through described the
Two open slots are swung along second open slot, and first drive shaft is open across the third open slot along the third
It swings and rotates in slot.
Further, the arc chord angle of second open slot is 140 °, and the arc chord angle of the third open slot is 330 °.
Further, the third open slot is set respectively in the width direction with the second open slot infall both ends
The quarter butt of the restricted first drive shaft swing position.
Further, first drive module and the second drive module are servo motor.
Compared with prior art, a kind of robot steering engine provided by the invention, passes through the first sphere nested against one another, second
Sphere and the output shaft extended, the first sphere, the second sphere are driven by two drive modules, two described first, second
The sphere center of circle coincides, and by Vector modulation, the Three dimensional rotation that the Plane Rotation of two drive modules is blended into output shaft is defeated
Shaft can be freely rotated in 140 ° of all directions, in this way, the rotation of two vertical direction of drive module is advanced into single ball
The Three dimensional rotation of the heart, single output shaft solves the problems, such as in traditional robot industry that joint is too fat to move, form distortion, the ball-type
Robot steering engine has really simulated the pattern of robot arm joint flexible motion.
Description of the drawings
Fig. 1 is a kind of structural exploded view of robot steering engine provided by the invention；
Fig. 2 is a kind of installation diagram of robot steering engine provided by the invention；
Fig. 3 is a kind of schematic diagram of the first motion of robot steering engine provided by the invention；
Fig. 4 is a kind of vertical view of the second motion of robot steering engine provided by the invention；
Fig. 5 is a kind of schematic diagram of the second motion of robot steering engine provided by the invention；
Fig. 6 is a kind of output shaft structure diagram of robot steering engine provided by the invention.
Specific embodiment
In order to be more clearly understood that the objectives, technical solutions, and advantages of the present invention, below in conjunction with the accompanying drawings to provided by the invention
Preferred embodiment does specific detailed description.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention,
It is not intended to limit the present invention, based on the embodiments of the present invention, those of ordinary skill in the art are not making creative labor
All other embodiments obtained under the premise of dynamic, shall fall within the protection scope of the present invention.
Please refer to Fig. 1-Fig. 6, for the present invention a preferred embodiment, a kind of robot steering engine, including：The spherical shape of cavity-like
Housing 1 and be arranged on the first motion 2 of the spherical shell interior accommodating space, the second motion 3, output shaft 4,
First drive module 5 and the first drive module 6, the outer surface of spheroid of first motion 2 is peripherally disposed to be had
One width is more than the first arc-shaped open slot 21 of 4 overall diameter of output shaft, and one end of the output shaft 4 is arranged on described
It is swung at the centre of sphere of first motion 2 and along first open slot 21.
Specifically, as shown in Fig. 2, second sphere 3 is spindle rotationally arranged in the spherical shell 1, described second
The ball interior of motion 3 is provided with the hollow spheres greater diameter than 2 overall diameter of the first motion, and described first
Motion 2 is rotatably nested in the hollow spheres, and the outer surface of spheroid of second motion 3 is along the circumferential direction
It is provided with mutually perpendicular the second open slot 31 being arc-shaped and third open slot 32, the width of second open slot 31 is big
In the overall diameter of the output shaft 4,32 width of third open slot is more than the overall diameter of first drive shaft 22.
Specifically, as shown in Figs. 1-3, first drive shaft 22 passes through the third open slot 32 and the described first driving
Module 5 is rotatablely connected, and first drive shaft 22 is swung along second open slot 32 and rotation, the output shaft 4 pass through
Second open slot 31, and swung along second open slot 31, the both ends of second open slot 31 are respectively arranged with
Second drive shaft 33, second drive shaft 33 are rotatablely connected with second drive module 6, and first drive shaft
22 is orthogonal with second drive shaft 33, and central point overlaps, i.e. the center of circle of the first motion 2 and the second motion 3
It is to overlap.
Specifically, as shown in figure 3, the arc chord angle of first open slot 21 is 140 °, the output shaft 4 is described first
The maximum angle swung in open slot 21 is 140 °.
Specifically, as shown in figure 4, the arc chord angle of second open slot 31 is 140 °, the output shaft 4 is described second
The maximum angle swung in open slot 31 is 140 °.
Specifically, as shown in figure 5, the arc chord angle of the third open slot 32 is 330 °.
Specifically, as shown in figure 5, the third open slot 32 with the 31 infall both ends of the second open slot along width
Degree direction is respectively arranged with the quarter butt 34 of same size with the third open slot 32, limits the pendulum of first drive shaft 22
Dynamic position, the maximum angle that first drive shaft 22 is swung in the third open slot 32 are 140 °.
Specifically as shown in figure 5, first open slot 21 with second open slot 32 is circumferentially orthogonal
's.
Specifically, 5 and second drive module 6 of the first drive module is servo motor.
Specifically operation principle is：As depicted in figs. 1 and 2, the first motion 2 and the second motion nested against one another
3 and the output shaft 4 that each extends over out, it is driven respectively by two first, second drive modules 5 and 6, two 5 Hes of drive module
6 rotation axis is mutually perpendicular to arrange, i.e. the first motion 2 is identical with the center of circle of the second motion 3, first, second driving
Axis 22 and 33 is orthogonal, and by Vector modulation, the Plane Rotation of two drive modules 5 and 6 is blended into single output shaft 4
Three dimensional rotation, by the intersection of the second open slot 31 and third open slot 32, by the pendulum that vector final output is output shaft 4
Dynamic, degree of freedom can ensure to be freely rotated in 140 ° of all directions, solve that joint in traditional robot industry is too fat to move, shape so as to lift
The problem of state is distorted, the semiglobe of ball joint has really simulated the pattern in joint, flexible and easily controllable.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should all be included in the protection scope of the present invention.
Claims (7)
1. a kind of robot steering engine, including the first motion and the second motion, first motion is provided with defeated
Shaft, it is characterised in that：First drive shaft of first motion and the second drive shaft of second motion are hung down
It is straight to intersect, and the central point of first drive shaft and second drive shaft coincides together, first drive shaft and
Second drive shaft is driven respectively by the first driving drive module and the second drive module, by Vector modulation, by described the
The Plane Rotation of one driving drive module and the orthogonal directions of second drive module driving is blended into the output shaft
Three dimensional rotation.
2. robot steering engine according to claim 1, it is characterised in that：First motion includes the first sphere,
Second motion includes the second sphere, and second ball interior is provided with the spherical shape that diameter is more than first sphere
Accommodation space, first sphere are rotatably nested in the spherical accommodation space of second sphere, first driving
Axis sets the diametrically opposite both ends of the first outer surface of spheroid respectively, and second drive shaft is separately positioned on described second
The diametrically opposite both ends of outer surface of spheroid.
3. robot steering engine according to claim 2, it is characterised in that：First sphere is along first drive shaft
Axial line plane be provided with a width more than the output shaft overall diameter the first open slot, it is described opening groove bottom with it is described
The axis parallel of first drive shaft, one end of the output shaft are rotatably provided at the centre of sphere of first sphere, and edge
It is swung in first open slot, the arc chord angle of first open slot is 140 °.
4. robot steering engine according to claim 2, it is characterised in that：Second sphere is along the second drive shaft axis
Heart line plane is provided with second open slot of the width more than the overall diameter of the output, the second opening groove bottom and described the
The axis parallel of two drive shafts is provided with the of width more than second drive shaft along the second open slot vertical direction
Three open slots, the output shaft are swung across second open slot along second open slot, and first drive shaft is worn
The third open slot is crossed to swing and rotate along the third open slot.
5. robot steering engine according to claim 4, it is characterised in that：The arc chord angle of second open slot is 140 °,
The arc chord angle of the third open slot is 330 °.
6. robot steering engine according to claim 4, it is characterised in that：The third open slot and the described second opening
Slot infall both ends are respectively arranged with the quarter butt for limiting the first drive shaft swing position in the width direction.
7. robot steering engine according to claim 1, it is characterised in that：First drive module and the second drive module
For servo motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810099747.5A CN108247671A (en) | 2018-02-01 | 2018-02-01 | A kind of robot steering engine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810099747.5A CN108247671A (en) | 2018-02-01 | 2018-02-01 | A kind of robot steering engine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108247671A true CN108247671A (en) | 2018-07-06 |
Family
ID=62743498
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810099747.5A Pending CN108247671A (en) | 2018-02-01 | 2018-02-01 | A kind of robot steering engine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108247671A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CH229252A (en) * | 1940-08-15 | 1943-10-15 | Voss Friedrich | Universal joint. |
| US4628765A (en) * | 1985-02-27 | 1986-12-16 | Rensselaer Polytechnic Institute | Spherical robotic wrist joint |
| US4739241A (en) * | 1986-10-09 | 1988-04-19 | Georgia Tech Research Corporation | Spherical motor particularly adapted for robotics |
| US4878393A (en) * | 1988-05-27 | 1989-11-07 | Oprea Duta | Dextrous spherical robot wrist |
| KR20060095266A (en) * | 2005-02-28 | 2006-08-31 | 주식회사 세진아이지비 | Robot module |
| CN101670584A (en) * | 2009-09-25 | 2010-03-17 | 上海大学 | bionic mechanical eyeball |
| CN104029192A (en) * | 2014-05-23 | 2014-09-10 | 国家电网公司 | Multipoint positioning auxiliary device |
| US20150000437A1 (en) * | 2011-12-13 | 2015-01-01 | Chang Wook Jeong | Apparatus for controlling joint exercise |
| CN207841379U (en) * | 2018-02-01 | 2018-09-11 | 深圳市闪龙科技有限公司 | A kind of robot steering engine |
-
2018
- 2018-02-01 CN CN201810099747.5A patent/CN108247671A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CH229252A (en) * | 1940-08-15 | 1943-10-15 | Voss Friedrich | Universal joint. |
| US4628765A (en) * | 1985-02-27 | 1986-12-16 | Rensselaer Polytechnic Institute | Spherical robotic wrist joint |
| US4739241A (en) * | 1986-10-09 | 1988-04-19 | Georgia Tech Research Corporation | Spherical motor particularly adapted for robotics |
| US4878393A (en) * | 1988-05-27 | 1989-11-07 | Oprea Duta | Dextrous spherical robot wrist |
| KR20060095266A (en) * | 2005-02-28 | 2006-08-31 | 주식회사 세진아이지비 | Robot module |
| CN101670584A (en) * | 2009-09-25 | 2010-03-17 | 上海大学 | bionic mechanical eyeball |
| US20150000437A1 (en) * | 2011-12-13 | 2015-01-01 | Chang Wook Jeong | Apparatus for controlling joint exercise |
| CN104029192A (en) * | 2014-05-23 | 2014-09-10 | 国家电网公司 | Multipoint positioning auxiliary device |
| CN207841379U (en) * | 2018-02-01 | 2018-09-11 | 深圳市闪龙科技有限公司 | A kind of robot steering engine |
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