CN113459153A - Three-degree-of-freedom motion joint assembly - Google Patents
Three-degree-of-freedom motion joint assembly Download PDFInfo
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- CN113459153A CN113459153A CN202110761592.9A CN202110761592A CN113459153A CN 113459153 A CN113459153 A CN 113459153A CN 202110761592 A CN202110761592 A CN 202110761592A CN 113459153 A CN113459153 A CN 113459153A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 15
- 230000007704 transition Effects 0.000 claims description 12
- 239000000758 substrate Substances 0.000 claims description 6
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 230000008878 coupling Effects 0.000 abstract description 2
- 238000010168 coupling process Methods 0.000 abstract description 2
- 238000005859 coupling reaction Methods 0.000 abstract description 2
- 210000001503 joint Anatomy 0.000 description 8
- 230000007246 mechanism Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 210000000323 shoulder joint Anatomy 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
- 210000003857 wrist joint Anatomy 0.000 description 1
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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
- B25J17/02—Wrist joints
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- Engineering & Computer Science (AREA)
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Abstract
The invention discloses a three-degree-of-freedom motion joint assembly, which relates to the field of mechanical joints, and adopts the technical scheme that the three-degree-of-freedom motion joint assembly comprises a first motor, a first joint frame, a mandrel, a second motor, a third motor, a second joint frame and a tail end piece; an annular frame is rotationally matched with the periphery of the first motor, and a second motor is fixed on the annular frame; the output end of the first motor is fixed with the first joint frame, and the first joint frame is fixed with the annular frame through a connecting piece; two ends of the mandrel are respectively in rotating fit with the first joint frame, the second motor transmits power to the mandrel through the transmission chain, and the second joint frame is fixed with the mandrel; the third motor sets up in end-piece, and the output of third motor extends to end-piece's top, and the output of third motor is fixed with the second joint frame, when satisfying the each degree of freedom mutual coupling of joint, makes the volume control of joint part littleer, and the whole manufacturing is lower with the control degree of difficulty, can satisfy high load, big moment of torsion operating mode.
Description
Technical Field
The invention relates to the field of mechanical joints, in particular to a three-degree-of-freedom motion joint assembly.
Background
In the development of robots, the demand for multiple freedom degree coupled motion joints is higher and higher, for example, a snake-shaped robot comprises a plurality of two-freedom degree joints, a humanoid mechanical joint comprises a plurality of three-freedom degree and two-freedom degree joints, and the like. Meanwhile, the freedom degrees of the moving joints are required to be coupled with each other, so that the joint is prevented from being large in size due to the serial layout, and the control difficulty is increased if the freedom degree coordinate systems of the joints are not coincident. Specifically, the three-degree-of-freedom joint has higher design complexity and stronger practicability compared with a two-degree-of-freedom joint and a single-degree-of-freedom joint.
At present, in the design of a three-degree-of-freedom motion joint component, for example, patent No. CN104760054B, "orthogonal three-degree-of-freedom joint driven by pneumatic artificial muscle", a cross hooke joint is used to couple an X axis and a Y axis, and a Z-axis steering mechanism is added to realize three-degree-of-freedom orthogonal, but in order to pursue a compact structure, the use of artificial muscle wired drive control is limited in the working conditions of high load and large torque; patent No. CN112060126A "a wrist joint robot with three degrees of freedom", on the basis of a cross hooke joint and a steering mechanism, although each revolute pair is directly driven by a motor, it can be used in heavy-duty situations such as material handling, but the direct connection driving mode is very limited in the size of the joint structure, and there is still an improvement space.
Disclosure of Invention
In order to solve the technical problems, the invention provides a three-degree-of-freedom motion joint assembly, which can meet the requirement of mutual coupling of the degrees of freedom of joints, control the volume of a joint part to be smaller, lower difficulty in integral manufacture and control and meet the working conditions of high load and large torque.
The technical scheme adopted by the invention for solving the technical problems is as follows: a three-degree-of-freedom motion joint assembly comprises a first motor, a first joint frame, a mandrel, a second motor, a third motor, a second joint frame and a tail end piece;
an annular frame is rotationally matched with the periphery of the first motor, and the second motor is fixed on the annular frame;
the output end of the first motor is fixed with the first joint frame, and the first joint frame is fixed with the annular frame through a connecting piece;
two ends of the mandrel are respectively in running fit with the first joint frame, the second motor transmits power to the mandrel through a transmission chain, and the second joint frame is fixed with the mandrel;
the third motor is arranged in the end piece, the output end of the third motor extends to the upper part of the end piece, and the output end of the third motor is fixed with the second joint frame.
The first motor drives the first joint frame to rotate, so that the whole mechanical joint can rotate in the Z-axis direction, and in the process, the second motor is fixed on the annular frame, and meanwhile, the annular frame is fixed with the second joint frame, so that when the mechanical joint rotates in the Z-axis direction, the second motor and the annular frame synchronously rotate around the first motor in the Z-axis direction;
the second motor drives the mandrel to rotate, so that the whole mechanical joint rotates in the X-axis direction;
the output end of the third motor is fixed with the second joint frame to realize the rotation of the tail end piece in the Y-axis direction;
in the scheme, the first motor serves as a fixed pivot, and the second motor is matched with the periphery of the first motor in a rotating mode through the annular frame, so that the motor can be far away from a joint, the size of the joint can be designed to be smaller, and the rotary driving of the first motor in the Z-axis direction and the rotary driving of the second motor in the X-axis direction are smoothly achieved.
Preferably, an inner gear ring is fixed on the periphery of the first motor, a sun flange is rotatably arranged inside the inner gear ring, an output shaft of the first motor is fixed with the sun flange, a sun gear is fixed on the front disc center of the sun flange, a plurality of planet gears are distributed on the periphery of the sun gear, the planet gears are respectively meshed with the sun gear and the inner gear ring, and each planet gear is rotatably matched with the first joint frame.
The internal gear ring is fixed relative to the first motor, wherein the sun gear rotates, simultaneously the planetary gear respectively with the internal gear ring, transverse gear meshing, therefore when the sun gear rotates, will drive the planetary gear around the sun gear rotation, and first joint frame is connected with the planetary gear, consequently when first motor rotates, will drive first joint frame and rotate, this scheme can be so that the interval between first motor and the first joint frame increases, it is littleer to make the whole volume of joint, simultaneously because utilize the planetary gear can make the transmission to first joint frame more steady, intensity is higher.
Preferably, the first joint carrier is provided with an axle corresponding to the planet gear, and the planet gear is in rotating fit with the axle. The fixing stability between the first joint carrier and the planetary gear is improved.
Preferably, the second motor is located at the periphery of the first motor. A more flexible arrangement of the second motor is facilitated.
Preferably, the end of the mandrel is provided with a driven belt pulley, the output end of the second motor is provided with a driving belt pulley, a transition duplex belt pulley is arranged between the driven belt pulley and the driving belt pulley, the driven belt pulley and the transition duplex belt pulley are sequentially connected through belt transmission. Utilize belt and transition pair band pulley can be more nimble set up the second motor for the second motor can be farther away from first joint frame.
Preferably, the driving pulley, the driven pulley and the transition dual pulley are all toothed pulleys, and the belt is a toothed belt engaged with the toothed pulleys. The use of a toothed belt wheel and a toothed belt can increase the upper torque limit of rotation.
Preferably, the mandrel of the second motor is perpendicular to the mandrel of the first motor, the second motor is fixed on the substrate, and the upper end of the substrate is fixed with the annular frame. The stability of the second motor and the annular frame are improved.
The invention has the advantages that:
the scheme is based on that the positions of the first motor and the second electrode are smoothly kept away from the joint part through a planetary gear train and a belt transmission mode, the joint part is conveyed to each part of the joint structure through a conveying chain, the joint parts are mutually coupled when the degrees of freedom of the joint are met, the original points of a coordinate system of three-axis rotation coincide, three-axis rotation of the motion joint X, Y, Z is achieved, and therefore the kinematics model is simplified, the size of the joint part is smaller, the manufacturing and control difficulty is reduced, and the working conditions of high load and large torque can be met.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only 6 of the embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a perspective view of an embodiment of the present invention;
FIG. 2 is an exploded view of an embodiment of the present invention;
FIG. 3 is a schematic diagram of a conveyor chain according to an embodiment of the invention;
FIG. 4 is a positional relationship diagram of a planetary gear of the embodiment of the present invention;
FIG. 5 is a schematic rotational view of an embodiment of the present invention;
FIG. 6 is a schematic view of the mounting of the embodiment of the present invention on a fixed body;
the gear transmission mechanism comprises a first motor 1, an annular frame 2, an inner gear ring 3, a first joint frame 4, a mandrel 5, a second joint frame 6, a tail end part 7, a driving belt pulley 8, a driven belt pulley 9, a transition double-link belt pulley 10, a toothed belt 11, a connecting piece 12, a base plate 13, a sun gear 14, a sun flange 15, a planetary gear 16, an axle 17, a fixed body 18, a second motor 19 and a third motor 20.
Detailed Description
For the purpose of enhancing the understanding of the present invention, the present invention will be described in further detail with reference to the accompanying drawings and examples, which are provided for the purpose of illustration only and are not intended to limit the scope of the present invention.
Examples
As shown in fig. 1 and 2, a three-degree-of-freedom kinematic joint assembly includes a first motor 1, a second motor 19, a first joint frame 4, a mandrel 5, a second joint frame 6, a third motor 20, a terminal piece 7, and a fixing body 18.
The periphery of the first motor 1 is rotatably matched with an annular frame 2, and the second motor 19 is fixed on the annular frame 2.
The output end of the first motor 1 is fixed with the first joint frame 4, and the first joint frame 4 is fixed with the annular frame 2 through a connecting piece 12.
The two ends of the mandrel 5 are respectively in running fit with the first joint frames 4, the second motor 19 transmits power to the mandrel 5 through a transmission chain, and the second joint frames 6 are fixed with the mandrel 5.
The third motor 20 is disposed in the end piece 7, an output end of the third motor 20 extends upward of the end piece 7, and an output end of the third motor 20 is fixed to the second joint frame 6;
the first motor 1 and the second motor 19 are placed inside the fixed body 18.
The first motor 1 drives the first joint frame 4 to rotate, so that the rotation of the whole mechanical joint in the Z-axis direction is realized, and in the process, the second motor 19 is fixed on the annular frame 2, and meanwhile, the annular frame 2 and the second joint frame 6 are fixed, so that when the mechanical joint rotates in the Z-axis direction, the second motor 19 and the annular frame 2 synchronously rotate in the Z-axis direction around the first motor 1.
The second motor 19 drives the mandrel 5 to rotate, and the mandrel 5 and the second joint frame 6 rotate simultaneously with the mandrel 5, so that the rotation of the whole mechanical joint in the X-axis direction is realized.
The output end of the third motor 20 is fixed with the second joint frame 6, the third motor 20 rotates, and the end piece 7 rotates relative to the second joint frame 6, namely, the rotation of the end piece 7 in the Y-axis direction is realized.
As shown in fig. 5 and 6, in this embodiment, the first motor 1 is disposed on the fixed body 18 as a whole as a fixed fulcrum, i.e., when the first motor is practically used. Meanwhile, the second motor 19 is matched with the periphery of the first motor 1 in a rotating mode through the annular frame 2, so that the motor can be far away from the joint, the size of the joint can be designed to be smaller, and the rotary driving of the first motor in the Z-axis direction and the rotary driving of the second motor in the X-axis direction are smoothly achieved.
An inner gear ring 3 is fixed on the periphery of the first motor 1, a sun flange 15 is rotatably arranged inside the inner gear ring 3, an output shaft of the first motor 1 is fixed with the sun flange 15, a sun gear 14 is fixed on the front face center of the sun flange 15, a plurality of planet gears 16 are distributed on the periphery of the sun gear 14, the planet gears 16 are respectively meshed with the sun gear 14 and the inner gear ring 3, and each planet gear 16 is rotatably matched with the first joint frame 4.
Referring to fig. 4, the inner ring gear 3 is fixed relative to the first motor 1, wherein the sun gear 14 rotates, and the planet gears 16 are respectively engaged with the inner ring gear 3 and the transverse gear, so that when the sun gear 14 rotates, the planet gears 16 are driven to rotate around the sun gear 14, and the first joint carrier 4 is connected with the planet gears 16, so that when the first motor 1 rotates, the first joint carrier 4 is driven to rotate.
The first joint carrier 4 is provided with a wheel axle 17 corresponding to the planetary gear 16, and the planetary gear is in running fit with the wheel axle 17. The fixation stability between the first joint carrier 4 and the planetary gear 16 is improved.
The second motor 19 is located at the periphery of the first motor 1. A more flexible arrangement of the second motor 19 is facilitated.
Referring to fig. 3, a driven pulley 9 is disposed at an end of the mandrel 5, a driving pulley 8 is disposed at an output end of the second motor 19, a transition duplex pulley 10 is disposed between the driven pulley 9 and the driving pulley 8, the driven pulley 9 and the transition duplex pulley 10 are sequentially connected through a belt transmission. The second electric motor 19 can be arranged more flexibly by means of the belt and the transition double pulley 10, so that the second electric motor 19 can be located further away from the first joint carrier 4.
The driving belt wheel 8, the driven belt wheel 9 and the transition duplex belt wheel 10 are all toothed belt wheels, and the belt is a toothed belt 11 meshed with the toothed belt wheels. The use of the toothed pulley and the toothed belt 11 can increase the upper torque limit of rotation.
The rotating shaft of the second motor 19 is perpendicular to the rotating shaft of the first motor 1, the second motor 19 is fixed on the substrate 13, and the upper end of the substrate 13 is fixed with the annular frame 2. The stability of the fixation of the second motor 19 to the ring frame 2 is improved.
The scheme only provides a belt transmission conveying chain, and the same effect can be realized by adopting a chain transmission or gear transmission or other similar structural mechanisms, and the details are not repeated.
The scheme is based on a planetary gear train and a belt transmission mode, the positions of the first motor and the second electrode are smoothly far away from the joint part, the transmission chain transmits the signals to all parts of the joint structure, the freedom degrees of the joints are mutually coupled, the original points of a coordinate system of three-axis rotation coincide, the three-axis rotation of the motion joint X, Y, Z is realized, the kinematics model is simplified, the size of the joint part is smaller, and the manufacturing and control difficulty is reduced.
The design characteristics of the size of the driving motor, high load and large torque working condition are considered, and the driving motor can be widely used for meeting the motion requirement of the ball joint of the robot. For example, in the design of the shoulder joint of the humanoid mechanical joint, the first driving motor is arranged on a robot framework, and the end piece 7 is replaced by the mechanical joint framework, so that the three-degree-of-freedom shoulder joint can be built, and high-simulation motion simulation is realized.
The above embodiments should not limit the present invention in any way, and all technical solutions obtained by using equivalent alternatives or equivalent transformations fall within the protection scope of the present invention.
Claims (7)
1. A three-degree-of-freedom motion joint assembly is characterized by comprising a first motor (1), a second motor (19), a first joint frame (4), a mandrel (5), a second joint frame (6), a third motor (20) and a tail end piece (7);
the periphery of the first motor (1) is rotatably matched with an annular frame (2), and the second motor (19) is fixed on the annular frame (2);
the output end of the first motor (1) is fixed with the first joint frame (4), and the first joint frame (4) is fixed with the annular frame (2) through a connecting piece (12);
two ends of the mandrel (5) are respectively in running fit with the first joint frame (4), the second motor (19) transmits power to the mandrel (5) through a transmission chain, and the second joint frame (6) is fixed with the mandrel (5);
the third motor (20) is arranged in the end piece (7), the output end of the third motor (20) extends above the end piece (7), and the output end of the third motor (20) is fixed with the second joint frame (6).
2. The three-degree-of-freedom kinematic joint assembly of claim 1, characterized in that: an inner gear ring (3) is fixed on the periphery of the first motor (1), a sun flange (15) is rotatably arranged in the inner gear ring (3), an output shaft of the first motor (1) is fixed with the sun flange (15), a sun gear (14) is fixed on the front face center of the sun flange (15), a plurality of planet gears (16) are distributed on the periphery of the sun gear (14), the planet gears (16) are respectively meshed with the sun gear (14) and the inner gear ring (3), and the planet gears (16) are rotatably matched with the first joint frame (4).
3. The three-degree-of-freedom kinematic joint assembly of claim 2, characterized in that: the first joint carrier (4) is provided with an axle (17) corresponding to the planetary gear (16), and the planetary gear (16) is in running fit with the axle (17).
4. The three-degree-of-freedom kinematic joint assembly of claim 1, characterized in that: the second motor (19) is located at the periphery of the first motor (1).
5. The three-degree-of-freedom kinematic joint assembly of claim 4, characterized in that: the end of the mandrel (5) is provided with a driven belt wheel (9), the output end of the second motor (19) is provided with a driving belt wheel (8), a transition duplex belt wheel (10) is arranged between the driven belt wheel (9) and the driving belt wheel (8), the driven belt wheel (9) and the transition duplex belt wheel (10) are connected in sequence through belt transmission.
6. The three-degree-of-freedom kinematic joint assembly of claim 5, characterized in that: the driving belt wheel (8), the driven belt wheel (9) and the transition duplex belt wheel (10) are all toothed belt wheels, and the belt is a toothed belt (11) meshed with the toothed belt wheels.
7. The three-degree-of-freedom kinematic joint assembly of claim 6, characterized in that: the rotating shaft of the second motor (19) is perpendicular to the rotating shaft of the first motor (1), the second motor (19) is fixed on the substrate (13), and the upper end of the substrate (13) is fixed with the annular frame (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110761592.9A CN113459153A (en) | 2021-07-06 | 2021-07-06 | Three-degree-of-freedom motion joint assembly |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110761592.9A CN113459153A (en) | 2021-07-06 | 2021-07-06 | Three-degree-of-freedom motion joint assembly |
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| CN202110761592.9A Pending CN113459153A (en) | 2021-07-06 | 2021-07-06 | Three-degree-of-freedom motion joint assembly |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1388994A (en) * | 1972-05-10 | 1975-04-03 | Commissariat Energie Atomique | Remote manipulator |
| CN106078719A (en) * | 2016-07-28 | 2016-11-09 | 佛山市三水区诺尔贝机器人研究院有限公司 | End arms before robot |
| CN108556957A (en) * | 2018-06-07 | 2018-09-21 | 合肥工业大学 | A kind of collapsible legs portion mechanism for can be changed the unmanned ground moving system of born of the same parents |
| CN109303670A (en) * | 2018-10-17 | 2019-02-05 | 苏州帝维达生物科技有限公司 | A kind of ankle rehabilitation institution |
| CN109987168A (en) * | 2017-12-29 | 2019-07-09 | 中国核动力研究设计院 | A kind of Three Degree Of Freedom robot leg system based on toothed belt transmission |
| CN110406613A (en) * | 2019-08-28 | 2019-11-05 | 长安大学 | A kind of light-duty single leg mechanism of multiple degrees of freedom |
| CN112060126A (en) * | 2020-04-11 | 2020-12-11 | 中创智造(苏州)智能装备科技有限公司 | Three-degree-of-freedom wrist joint robot |
| CN112224302A (en) * | 2020-08-25 | 2021-01-15 | 深圳市优必选科技股份有限公司 | Three-degree-of-freedom driving mechanism and robot |
-
2021
- 2021-07-06 CN CN202110761592.9A patent/CN113459153A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1388994A (en) * | 1972-05-10 | 1975-04-03 | Commissariat Energie Atomique | Remote manipulator |
| CN106078719A (en) * | 2016-07-28 | 2016-11-09 | 佛山市三水区诺尔贝机器人研究院有限公司 | End arms before robot |
| CN109987168A (en) * | 2017-12-29 | 2019-07-09 | 中国核动力研究设计院 | A kind of Three Degree Of Freedom robot leg system based on toothed belt transmission |
| CN108556957A (en) * | 2018-06-07 | 2018-09-21 | 合肥工业大学 | A kind of collapsible legs portion mechanism for can be changed the unmanned ground moving system of born of the same parents |
| CN109303670A (en) * | 2018-10-17 | 2019-02-05 | 苏州帝维达生物科技有限公司 | A kind of ankle rehabilitation institution |
| CN110406613A (en) * | 2019-08-28 | 2019-11-05 | 长安大学 | A kind of light-duty single leg mechanism of multiple degrees of freedom |
| CN112060126A (en) * | 2020-04-11 | 2020-12-11 | 中创智造(苏州)智能装备科技有限公司 | Three-degree-of-freedom wrist joint robot |
| CN112224302A (en) * | 2020-08-25 | 2021-01-15 | 深圳市优必选科技股份有限公司 | Three-degree-of-freedom driving mechanism and robot |
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Application publication date: 20211001 |
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