CN114770591A - Multi-degree-of-freedom light mechanical joint and transmission method thereof - Google Patents
Multi-degree-of-freedom light mechanical joint and transmission method thereof Download PDFInfo
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- CN114770591A CN114770591A CN202210521814.4A CN202210521814A CN114770591A CN 114770591 A CN114770591 A CN 114770591A CN 202210521814 A CN202210521814 A CN 202210521814A CN 114770591 A CN114770591 A CN 114770591A
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- rotating
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- axis
- base
- rotating seat
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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
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
Abstract
The application discloses a multi-degree-of-freedom light mechanical joint and a transmission method thereof. The light-duty mechanical joint of multi freedom includes: the connecting mechanism comprises a base, a first rotating seat and a second rotating seat, the first rotating seat is rotatably connected with the base around an x axis, and the second rotating seat is rotatably connected with the first rotating seat around a z axis; a first drive assembly; and the second driving assembly comprises a first transmission belt, a first driving belt and a first driven belt wheel, the first driving belt wheel is rotationally connected with the base around the x axis, the first driven belt wheel is rotationally connected with the first rotating seat, and the first driving belt is connected with the second rotating seat through the first transmission belt and the second driving belt is connected with the second rotating seat so as to pull the second rotating seat to rotate around the z axis. The multi-degree-of-freedom light mechanical joint and the transmission method thereof allow the power source to be arranged on the base, so that the aim of lightening the mechanical joint at the free end is fulfilled.
Description
Technical Field
The invention belongs to the field of mechanical arms, and particularly relates to a multi-degree-of-freedom light mechanical joint and a transmission method thereof.
Background
Most of the existing mechanical shutdown mechanisms need to install motors in moving joints to realize rotation and swing of the mechanisms, such as Tesla snake-shaped robots, the invention needs to bear a plurality of moving joints, but the motor weighing of the mechanical joints can increase linearly along with the number of the motors and the distance between tail ends, the second motor from the root needs to bear considerable weight and maintain volume, the manufacturing difficulty is very high, and under the condition of large load and increased friction, the friction between a transmission line and a robot connecting rod can greatly influence the reliability of the robot, and the requirements on robot materials are also high.
Disclosure of Invention
In view of the above, there is a need for a multi-degree-of-freedom lightweight mechanical joint and a transmission method thereof for reducing the weight distribution of the free end of the mechanical joint.
Therefore, the invention firstly provides a multi-degree-of-freedom light mechanical joint, which comprises:
the connecting mechanism comprises a base, a first rotating seat and a second rotating seat, the first rotating seat is rotatably connected with the base around an x axis, and the second rotating seat is rotatably connected with the first rotating seat around a z axis;
the first driving assembly is used for driving the first rotating seat to rotate around the x axis relative to the base;
and the second driving assembly comprises a first driving belt, a first driving belt wheel and a first driven belt wheel, the first driving belt wheel is rotationally connected with the base around the x axis, the first driven belt wheel is rotationally connected with the first rotating seat, and the first driving belt wheel is connected with the second rotating seat through the first driving belt and is connected with the second rotating seat so as to draw the second rotating seat to rotate around the z axis.
Preferably, the first driving assembly comprises a first motor and a transmission shaft, the transmission shaft is rotatably connected with the base and is connected with the first rotating seat; the first motor is connected with the transmission shaft and used for driving the first rotating seat to rotate through the transmission shaft.
Preferably, the second driving assembly further comprises a second motor, and the second motor is connected with the base and the driving pulley and is used for driving the driving pulley to rotate.
Preferably, the second driving assembly further comprises a second driving belt, a second driving pulley and a second driven pulley, the second driving pulley is rotatably connected with the first rotating base around the z-axis and is connected with the first driven pulley; the second driven belt wheel is connected with the second rotating seat and is connected with the second driving belt wheel through a second transmission belt so as to draw the second rotating seat to rotate around the z axis.
Preferably, the connecting mechanism further comprises a rotating part and a synchronous pulley, the synchronous pulley is rotationally connected with the second rotating seat, and the rotating part is rotationally connected with the second rotating seat around the y axis;
the second drive assembly further comprises a third transmission belt, the second driven wheel is rotatably connected with the second rotating seat around the z axis, the third transmission belt is connected with the second driven belt wheel and the synchronous belt wheel and is connected with the rotating piece, so that the second driven belt wheel drives the third transmission belt to rotate around the y axis when the third transmission belt moves.
Preferably, the second driving assemblies are a pair, and drive the rotating member to rotate around the y axis when the rotating directions of the pair of third transmission belts are the same; when the rotating directions of the pair of third transmission belts are opposite, the second transmission belt drives the second rotating seat to rotate around the z axis through the second driven belt wheel and the third transmission belt.
Preferably, the pair of second driving assemblies are respectively connected to two sides of the first rotating base in the x-axis direction, and the pair of second driving assemblies are respectively connected to two sides of the first rotating base in the z-axis direction.
Preferably, the first driven pulley is connected to the second driving pulley through a bevel gear, and the connecting mechanism includes a connecting shaft extending in the z-axis direction, and the first rotating base is rotatably connected to the second rotating base through the connecting shaft; and the second driven pulleys of the pair of second driving assemblies are rotationally connected with the connecting shaft around the z axis.
In addition, the invention also provides a transmission method of the light mechanical joint with multiple degrees of freedom, which comprises the following steps:
when the first driving assembly pulls the first rotating seat to rotate around the x axis relative to the base, the first driven belt wheel of the second driving assembly revolves around the x axis along the circumferential direction along with the first rotating seat;
the first driving pulley of the second driving assembly drives the first driven pulley to rotate through a first transmission belt, and the first driven pulley drives at least one of the second rotating seat and the rotating part to rotate.
Preferably, the first driven pulley drives at least one of the second rotating base and the rotating member to rotate includes:
the pair of first driven belt wheels respectively drive a pair of third transmission belts of the second driving assembly to rotate, and the third transmission belts draw rotating members which are rotatably connected to the second rotating base around the y axis;
if the speeds of the pair of third transmission belts are the same and the directions are the same, the third transmission belts drive the rotating piece to rotate;
if the speed of the pair of the third transmission belts is the same and the direction of the pair of the third transmission belts is opposite, the pair of the third transmission belts is blocked by the rotating member, so that the third transmission belts pull the second rotating seat to rotate around the z-axis;
if the speeds of the pair of third transmission belts are different, the pair of third transmission belts pull the second rotating seat to rotate around the z axis and drive the rotating piece to rotate.
Compared with the prior art, the multi-degree-of-freedom light mechanical joint and the transmission method thereof have the advantages that the first rotating seat and the second rotating seat are sequentially connected in series and rotatably connected to the base, the first driving assembly pulls the first rotating seat to rotate, the first driven belt wheel can revolve along with the rotating shaft of the first rotating seat, the first driving belt wheel is not influenced to drive the first driven belt wheel to rotate through the first driving belt in the revolution process of the first rotating seat, so that in the rotation process of the first rotating seat, power can still be transmitted to the first rotating seat from the base, the second rotating seat can be driven to rotate, the power source is output from the base, and therefore the power source can be installed at the position of the base, the mass distribution of the mechanical joint is improved, and the purpose of lightening the mechanical joint at the free end is achieved.
Drawings
In order to illustrate the embodiments more clearly, the drawings that will be needed in the description of the embodiments will be briefly described below, it being apparent that the drawings in the following description are some examples of the disclosure, and that other drawings may be derived from those drawings by a person skilled in the art without inventive effort.
Fig. 1 is a structural schematic diagram of a multiple degree of freedom lightweight mechanical joint.
Fig. 2 is a schematic view of the structure of the connection mechanism.
Fig. 3 is a schematic structural diagram of the base, the first rotating base and the first driving assembly.
Fig. 4 is a schematic connection diagram of the second driving assembly located above the first rotating base.
Fig. 5 is a schematic connection diagram of the second driving assembly located below the first rotating base.
Fig. 6 is a schematic connection diagram of a second driving pulley and a second driven pulley of the second drive assembly.
Fig. 7 is a schematic structural view of the second driven pulley, the third rotating belt and the rotating member.
Fig. 8 is a schematic view of the end face of the rotating member.
Description of the main elements
| |
10 |
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11 |
| First rotating |
12 |
| Connecting |
121 |
| Second rotating |
13 |
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131 |
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132 |
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14 |
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20 |
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21 |
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22 |
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23 |
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24 |
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30 |
| Second |
31 |
| Third bevel gear | 311 |
| A |
32 |
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321 |
| First driven |
322 |
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3221 |
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33 |
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331 |
| Second driven |
332 |
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34 |
The following detailed description will further illustrate the disclosure in conjunction with the above-described figures.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, a detailed description of the present disclosure is given below in conjunction with the accompanying drawings and the detailed description. In addition, the embodiments and features of the embodiments of the present application may be combined with each other without conflict. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, and the described embodiments are merely some, but not all embodiments of the present disclosure. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present disclosure without making any creative effort belong to the protection scope of the present disclosure.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure.
In various embodiments, the term "coupled" as used in the specification and claims of the present disclosure is not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect, for convenience of description and not limitation of the present disclosure. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships are changed accordingly.
Fig. 1 is a schematic structural diagram of a multi-degree-of-freedom lightweight mechanical joint. As shown in fig. 1, the multi-degree-of-freedom lightweight mechanical joint includes a link mechanism 10, a first drive assembly 20, and a second drive assembly 30. The connecting mechanism 10 is used as a main body of the mechanical joint, provides rotation with multiple degrees of freedom for mechanical shutdown, and realizes swinging and rotating actions of the mechanical joint. The first driving assembly 20 is used for driving the mechanical joint to rotate around the x-axis, and the second driving assembly 30 is used for driving the mechanical joint to rotate around the y-axis and the z-axis, so that the rotation motion of the mechanical joint around the x-axis, the y-axis and the z-axis is realized.
The respective structures of the multi-degree-of-freedom lightweight mechanical joint are described in detail below.
Fig. 2 is a schematic view of the structure of the connection mechanism 10. As shown in fig. 2, the connecting mechanism 10 includes a base 11, a first rotating base 12, a second rotating base 13, and a rotating member 14. In practice, the base 11 may be fixed on the ground or connected to other devices by bolts, screws, welding, etc. to fix the mechanical joint. Therefore, the base 11 as a fixing mechanism can be arranged to have a larger mass distribution relative to the free end of the robot arm, so that the stability of the robot arm can be improved, and the driving resistance of the robot arm can be reduced.
For convenience of describing the connection relationship between the various components in the mechanical joint, the following description is made in conjunction with the coordinate system shown in fig. 1. Referring to fig. 1 and 2, the first rotating base 12 is connected to the base 11 rotatably around the x-axis, i.e. it swings in the yz plane relative to the base 11, and the swing amplitude may be 180 °, and those skilled in the art may also set the structure between the base 11 or the first rotating base 12 to set the swing amplitude between the first rotating base 12 and the base 11.
The second rotating base 13 is substantially in a "T" shape, and is rotatably connected to the end of the first rotating base 12 opposite to the base 11 around the z-axis, that is, the second rotating base 13 can swing around the z-axis in the xy-plane relative to the first rotating base 12, and the swing amplitude can be greater than 180 °, but similarly, a person skilled in the art can also set the structures of the first rotating base 12 and the second rotating base 13 to set the swing amplitude between the second rotating base 13 and the first rotating base 12. In this embodiment, the end of the first rotating base 12 has a connecting shaft 121 extending along the z-axis direction, the second rotating base 13 has a through hole corresponding to the connecting shaft 121, and a bearing can be further disposed in the through hole, and the bearing is sleeved on the connecting shaft 121, so that the second rotating base 13 can be rotatably connected to the first rotating base 12 through the bearing and the connecting shaft 121. Therefore, the connection shaft 121 is fixedly connected to the first rotating base 12 with respect to the first rotating base 12, that is, the connection shaft 121 cannot rotate with respect to the first rotating base 12.
In the present embodiment, the rotor 14 has a substantially disk-like structure, and is rotatably connected to an end portion of the second rotor base 13 opposite to the first rotor base 12 about the y-axis, that is, the rotor 14 is located at a free end (distal end) of the mechanical joint, and is rotatable about a central axis (that is, the y-axis) of the rotor 14 in the xz plane with respect to the second rotor base 13. The revolute pair between the rotary member 14 and the second rotary base 13 can be implemented in various ways, for example, an annular sliding rail sliding groove can be disposed on the second rotary base 13, and the rotary member 14 is disposed with a sliding block slidably connected to the sliding rail or a sliding block embedded in the sliding groove to implement the rotary connection with the second rotary base 13, but those skilled in the art can also implement the rotary connection in other ways, for example, a bearing, etc.
Fig. 3 is a schematic structural diagram of the base 11, the first rotating base 12 and the first driving assembly 20. The first driving assembly 20 is used for driving the first rotating base 12 to rotate around the x-axis relative to the base 11, i.e. driving the base 11 to swing in the yz plane. Illustratively, the first drive assembly 20 includes a first motor 21, a first bevel gear 22, a second bevel gear 23, and a drive shaft 24. The first motor 21 is fixedly connected with the base 11, and the output shaft is connected with the first bevel gear 22. The transmission shaft 24 is rotatably connected to the base 11 by means of a bearing or the like, and is rotatable about the x-axis. The first rotating base 12 extends out two connecting arms to be fixedly connected with the transmission shaft 24, so that the transmission shaft 24 can drive the first rotating base 12 to rotate when rotating. The second bevel gear 23 is coaxially connected to the transmission shaft 24 and is engaged with the first bevel gear 22, so that the first motor 21 can drive the first rotating base 12 to rotate around the x-axis through the first bevel gear 22, the second bevel gear 23 and the transmission shaft 24 in sequence.
The second driving assembly 30 is used for driving the second rotating base 13 and/or the rotating member 14 to rotate, so as to realize multi-degree-of-freedom motions of the plurality of mechanical joints. In the process of practicing the present invention, the inventor finds that, because the first rotating base 12 is a rotatable component, in the existing mechanical joint implementation process, to implement the component motion at the outer end (near the free end) side of the first rotating base 12, only a motor can be disposed on the components, and the components are driven by the motor to move (swing or rotate) relative to the first rotating base 12. However, the weight of the motor itself is greater, especially if these components are required to have greater driving power, which results in a greater mass distribution of the mechanical joint, especially at the free end, creating a "heavy head and light foot" condition, which is detrimental to the stability of the mechanical joint.
In order to facilitate the differential driving of the second rotating base 13 and the rotating member 14 and simplify the structure of the mechanical joint, in the present embodiment, the number of the second driving assemblies 30 is a pair, and the pair is symmetrically transmitted to the second rotating base 13 and the rotating member 14 through the first rotating base 12, and is used for driving the second rotating base 13 to swing relative to the first rotating base 12 and driving the rotating member 14 to rotate relative to the second rotating base 13, so as to implement the rotation of the mechanical joint with multiple degrees of freedom. Specifically, the pair of first driven pulleys 322 of the second driving assemblies 30 are connected to two sides of the first rotating base 12 in the x-axis direction, the pair of second driving assemblies 30 are connected to two sides of the first rotating base 12 in the z-axis direction in a driving manner, that is, the transmission path of one of the two second driving assemblies 30 is sequentially one side and above of the first rotating base 12, and the transmission path of the other second driving assembly 30 is sequentially the other side and below of the second rotating base 12.
Fig. 4 is a schematic connection diagram of the second driving assembly 30 located above the first rotating base 12. As shown in fig. 4, the second driving assembly 30 is driven from one side and above the first rotating base 12. Specifically, the second driving assembly 30 includes a second motor 31, a pair of third bevel gears 311, a first driving pulley 32, a first driving belt 321, a first driven pulley 322, a driving gear 3221, a second driving pulley 33, a second driving belt, a second driven pulley 332, a third driving belt 34, and a timing pulley 131. The second motor 31 is mounted on the base 11, and the output shaft is connected to one of a pair of engaged third bevel gears 311, and the other of the pair of third bevel gears 311 is coaxially connected to the first driving pulley 32. Specifically, the first driving pulley 32 is rotatably connected to the base 11 about the x-axis direction and can rotate about the x-axis direction. The first driven pulley 322 has a larger diameter, is rotatably installed at one side of the first rotating base 12, and can swing following the first rotating base 12. The first driving pulley 32 and the first driven pulley 322 are connected by a first transmission belt 321, so that the first driving pulley 32 can drive the first driven pulley 322 to rotate by the first transmission belt 321. Those skilled in the art will appreciate that the first driving pulley 32 and the first driven pulley 322 may be conventional pulleys or may be sprockets, driven by a timing belt or chain. One side of the first driven pulley 322 is provided with gear teeth, which are engaged with the driving gear 3221. The transmission gear 3221 and the second driving pulley 33 are rotatably connected to the first rotating base 12 along the z-axis direction, and the second driving pulley 33 is correspondingly provided with gear teeth, so that the first driven pulley 322 drives the second driving pulley 33 to rotate around the z-axis through the transmission gear 3221. When the second motor 31 is operated, the transmission path is shown by a dashed line v2-v2 shown in fig. 4, that is, the second motor 31 drives the first driving pulley 32 to rotate through the third bevel gear 311, the first driving pulley 32 drives the first driven pulley 322 to rotate through the first transmission belt 321, the first driven pulley 322 drives the second driving pulley 33 to rotate through the transmission gear 3221, the second driving pulley 33 drives the second driven pulley 332 to rotate through the second transmission belt, and the second driven pulley 332 drives the third transmission belt 34 to rotate.
Fig. 5 is a schematic connection diagram of the second driving assembly 30 located below the first rotating base 12. As shown in fig. 5, another set of second driving assemblies 30 is driven along the other side and below the first rotating base 12. Specifically, the second motor 31 of the second driving assembly 30 of the present group is disposed at one end of the base 11 opposite to the second motor 31 of the other group of the second driving assembly 30, the first driving pulley 32 and the first driving pulley 32 of the other group of the second driving assembly 30 are respectively disposed at two sides of the first rotating base 12, the driving gear, the second driving pulley 33 and the second driven pulley 332 are rotatably disposed at a bottom surface of the second rotating base 13, and the structures of the two groups of the second driving assemblies 30 are similar and will not be described herein again. The second motor 31 of the second drive assembly 30 of the present group is operated with the drive path along the dashed line v3-v3 shown in fig. 5.
Fig. 6 is a schematic connection diagram of the second driving pulley 33 and the second driven pulley 332 of the second driving assembly 30, and fig. 7 is a schematic configuration diagram of the second driven pulley 332, the third rotating belt, and the rotating member 14. As shown in fig. 6 and 7, the second driven pulley 332 is rotatably connected to the connecting shaft 121 by means of a bearing or the like, and a second transmission belt is connected to the second driving pulley 33 and the second driven pulley 332 so that the second driving pulley 33 can drive the second driven pulley 332 via the second transmission belt. Likewise, those skilled in the art will appreciate that the second driving pulley 33 and the second driven pulley 332 may be conventional pulleys, or may be sprockets, driven by a timing belt or chain. In this embodiment, the second driven pulley 332 has two endless belt grooves, and the upper belt groove is fitted into the second transmission belt, and the lower belt groove is fitted into the third transmission belt 34.
Fig. 8 is a schematic view of the end face of the rotor 14. As shown in fig. 7 and 8, the third belt 34 has one end connected to the second driven pulley 332 and the other end looped around the timing pulley 131 of the rotating member 14 to form a closed endless belt. Specifically, the second rotating base 13 is provided with two sets of synchronous pulleys 131, each set of synchronous pulleys 131 includes three synchronous pulleys 131 arranged in a shape like a Chinese character pin, the synchronous pulleys 131 are rotatably connected to the end surface of the second rotating base 13, and the rotating surface faces the rotating member 14. In addition, one or more tension pulleys 132 are provided at the end of the second rotating base 13 for tensioning the third belt 34.
As shown in fig. 8, one end of the third transmission belt 34 of one of the two sets of second driving assemblies 30 passes around the lower portion of the upper second driven pulley 332, and the other end passes through the tension pulley 132, then passes around the three synchronous pulleys 131, and then passes through the other tension pulley 132 and then returns to the second driven pulley 332, and the outer side of the portion of the third transmission belt 34 passing around the three synchronous pulleys 131 contacts with the rotating member 14, or is engaged with the inner wall of the rotating member 14 by the teeth, so that when the third rotating belt moves, the rotating member 14 can be driven to rotate around the z-axis. Similarly, one end of the third transmission belt 34 of the other second driving assembly 30 of the two second driving assemblies 30 passes around the lower portion of the lower second driven pulley 332, and the other end of the third transmission belt passes through the tension pulley 132 and then passes around the lower three synchronous pulleys 131, and the outer side of the third transmission belt is in contact with or clamped with the rotating element 14, so as to drive the rotating element 14 to rotate around the z-axis.
In operation, when a second motor 31 drives the third belt 34 to rotate in the direction of arrow a shown in fig. 8, a force in the direction of arrow C outside the rotating member 14 shown in fig. 8 is applied to the rotating member 14. Similarly, if another motor drives the lower third belt 34 in the direction of arrow B shown in fig. 8, a force in the direction of arrow C is also applied to the rotary member 14. At this time, the two third transmission members apply the same direction of force to the rotation member 14, so that the rotation member 14 can be driven to rotate in the direction of arrow C. Similarly, if the rotation directions of the two second motors 31 are controlled so that the two third belts 34 apply forces to the rotation member 14 in opposite directions, the rotation member 14 can be driven to rotate in the opposite direction of the arrow C.
However, when the rotation direction and the rotation speed of the two second motors 31 are controlled such that the applied forces of the two third belts 34 to the rotating element 14 are opposite, that is, the direction of the arrow a is opposite to the direction of the arrow B, and the rotating element 14 is applied with the two opposite forces and cannot rotate completely, at this time, the rotating element 14 is "jammed" by the two third belts 34 and cannot rotate or cannot rotate completely, so that the two third belts 34 cannot rotate completely through the synchronous pulley 131, that is, the third belts 34 are also in a locked state.
Referring back to fig. 6 and 7, if the forces applied to the rotating member 14 by the two third belts 34 are the same but opposite, the two third belts 34 are in a locked state, which acts as a fixed rigid connecting rod, and at this time, since the second rotating base 13 and the first rotating base 12 are connected to rotate around the z-axis, the second driven pulley 332 drives the whole second rotating base 13 (including the rotating member 14) to swing around the z-axis in the xy-plane through the third belts 34.
If the two third belts 34 have different speeds (for example, the two second motors 31 have different rotating speeds or different transmission ratios), the directions of the forces applied to the rotating member 14 by the two third belts 34 are opposite, but the forces applied to the rotating member 14 by the two third belts 34 are larger than each other, so that the rotating member 14 rotates in the direction of the larger force, and the other third belt 34 is "jammed" by the rotating member 14 and is in a locked state, and the third belt 34 can drive the second rotating base 13 to rotate around the z-axis. At this time, one of the two third belts 34 drives the rotation member 14 to rotate around the y-axis, and the other drives the second rotation base 13 to rotate around the z-axis.
It should be noted that the person skilled in the art can achieve that the turning directions of the two second driven pulleys 332 should be the same by passing the third belts 34 around the timing pulleys 131 and the tension pulleys 132 in a sequential order and in a passing direction, but in an opposite state of the forces applied to the rotating member 14 by the two third belts 34, i.e., in a locked or partially locked state of the two third belts 34. In some preferred embodiments, the transmission ratios of the two sets of second driving assemblies 30 are the same, and the transmission components are the same, so that the second rotating base 13 can be controlled to swing around the z-axis and the rotating member 14 can be controlled to rotate around the y-axis by controlling the rotation speed and the rotation direction of the two second motors 31.
The following describes a transmission method of a mechanical joint in detail based on the above-mentioned multiple-degree-of-freedom light mechanical joint. Specifically, the transmission method comprises the following steps.
During the process that the first driving assembly 20 pulls the first rotating base 12 to rotate around the x-axis relative to the base 11, as shown in fig. 3, the first motor 21 drives the first bevel gear 22 and the second bevel gear 23 to rotate the transmission shaft 24, and the first rotating base 12 is driven to rotate around the x-axis by the transmission shaft 24. During the rotation of the first rotary base 12, the first driven pulley 322 of the second driving assembly 30 revolves around the first rotary base 12 in the circumferential direction around the x-axis.
In the process that the second driving assembly 30 pulls the second rotating base 13 and/or the rotating member 14 to rotate, as shown in fig. 6, for example, in the present embodiment, the two sets of second driving assemblies 30 are identical in structure, and the rotation speed and the rotation direction of the second rotating base 13 and the rotating member 14 are controlled cooperatively according to the rotation speed and the rotation direction of the two second motors 31. Specifically, the method comprises the following steps:
1) when the two third transmission belts 34 rotate at the same speed and rotate at the same direction, the forces applied to the rotating member 14 by the two third transmission belts 34 are opposite in direction (one counterclockwise and one clockwise) and equal in magnitude, the two third transmission belts 34 are locked by the rotating member 14, and the second driven pulley 332 drives the second rotating base 13 to swing around the z-axis through the third transmission belts 34, wherein the swing direction corresponds to the second driven pulley 332.
2) When the two third belts 34 rotate at the same speed and rotate in opposite directions, the forces applied by the two third belts 34 to the rotary member 14 are in the same direction (both counterclockwise and clockwise) and have the same magnitude, and the counterclockwise direction or the clockwise direction depends on the moving direction of the two third belts 34.
3) When the two third belts 34 rotate at different speeds (the rotation directions are the same or opposite), the force applied to the rotating member 14 by the two third belts 34 is different in magnitude or direction, so that one of the two third belts 34 is "jammed" by the rotating member 14 and is in a locked state, and the second driven pulley 332 can drive the second rotating base 13 to swing around the z-axis through the locked third belt 34.
Specifically, if the two third belts 34 rotate in the same direction, although the two third belts 34 apply the same force to the rotating element 14, the third belt 34 with a higher speed is "jammed" by the rotating element 14 and is in a locked state, in which the rotating speed of the rotating element 14 corresponds to the third belt 34 with a lower speed, and the second rotating base 13 is driven by the locked third belt 34 to swing around the z-axis, and the swinging speed and direction correspond to the third belt 34 with a higher speed.
Similarly, if the rotation directions of the two third belts 34 are opposite, one of the third belts 34 with the faster speed is also "jammed" and is in the locked state, and the rotation speed of the rotating member 14 corresponds to the third belt 34 with the slower speed, and the second rotating base 13 is driven by the locked third belt 34 to swing around the z-axis, and the swing speed and direction correspond to the third belt 34 with the faster speed.
The three drive types of the second drive assembly 30 produce the following effects.
In summary, the multi-degree-of-freedom light mechanical joint and the transmission method thereof are achieved by connecting the first rotating base 12 and the second rotating base 13 to the base 11 in series and in a rotating manner, the first driving assembly 20 is used for drawing the first rotating base 12 to revolve around the x axis relative to the base 11, the second driving assembly 30 is used for connecting the first driving pulley 32 to the base 11 in a rotating manner around the x axis, and the first driven pulley 322 is connected to the first rotating base 12, during the rotation of the first rotating base 12, the first driven pulley 322 can revolve around the x axis following the first rotating base 12, and since the first driving pulley 32 and the first driven pulley 322 are connected through the first transmission belt 321, during the revolution, the first driving pulley 32 is not influenced to drive the first driven pulley 322 to rotate through the first transmission belt 321, so that the transmission from the base 11 to the first rotating base 12 can be performed during the rotation of the first rotating base 12, and then the second rotary base 13 can be driven to rotate. Therefore, the multi-degree-of-freedom light mechanical joint can achieve the effect that the power source is output from the base 11 and is output to the second rotating seat 13 through the second driving assembly 30, so that the power source can be installed at the position of the base 11, the purpose of lightening the mechanical joint at the free end is achieved, the bearing burden caused by the fact that the motor is installed at the joint and the motor and the cable are arranged is eliminated, abrasion caused by repeated dragging of the cable is reduced, and the service life of the equipment is prolonged.
On the other hand, the multi-degree-of-freedom light mechanical joint and the transmission method thereof can also control the rotating speed and the rotating direction of the second rotating base 13 and/or the rotating member 14 through the matching of the speeds and the rotating directions of the two third transmission belts 34, so that the control of the rotating speed and the rotating direction of the first rotating base 12, the second rotating base 13 and the rotating member 14 during the shutdown of the whole machine can be realized only by controlling three motors, thereby realizing the multi-axis rotation of the mechanical joint and enabling the mechanical joint to have higher flexibility.
In several embodiments provided in the present disclosure, it will be apparent to those skilled in the art that the present disclosure is not limited to the details of the above-described exemplary embodiments, and can be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the disclosure being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. The terms first, second, etc. are used to denote names, but not any particular order.
Although the present disclosure has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the present disclosure.
Claims (10)
1. A multi-degree-of-freedom light mechanical joint, comprising:
the connecting mechanism comprises a base, a first rotating seat and a second rotating seat, the first rotating seat is rotatably connected with the base around an x axis, and the second rotating seat is rotatably connected with the first rotating seat around a z axis;
the first driving component is used for driving the first rotating seat to rotate around an x axis relative to the base;
and the second driving assembly comprises a first transmission belt, a first driving belt and a first driven belt wheel, the first driving belt wheel is rotationally connected with the base around the x axis, the first driven belt wheel is rotationally connected with the first rotating seat, and the first driving belt is connected with the second rotating seat through the first transmission belt and the second driving belt is connected with the second rotating seat so as to pull the second rotating seat to rotate around the z axis.
2. The multiple degree of freedom lightweight mechanical joint of claim 1 wherein the first drive assembly comprises a first motor and a drive shaft, the drive shaft being rotationally coupled to the base and to the first pivot mount; the first motor is connected with the transmission shaft and is used for driving the first rotating seat to rotate through the transmission shaft.
3. The multiple degree of freedom lightweight mechanical joint of claim 1 wherein the second drive assembly further comprises a second motor coupled to the base and the drive pulley for driving the drive pulley in rotation.
4. The multiple degree of freedom lightweight mechanical joint of claim 3 wherein the second drive assembly further comprises a second drive belt, a second drive pulley and a second driven pulley, the second drive pulley being rotationally coupled to the first rotating mount about the z-axis and coupled to the first driven pulley; the second driven pulley is connected with the second rotating seat and is connected with the second driving pulley through a second transmission belt so as to pull the second rotating seat to rotate around the z axis.
5. The multi-degree-of-freedom light mechanical joint of claim 4, wherein the connecting mechanism further comprises a rotating member and a synchronous pulley, the synchronous pulley is rotationally connected with the second rotating base, and the rotating member is rotationally connected with the second rotating base around the y-axis;
the second driving assembly further comprises a third transmission belt, the second driven wheel is rotatably connected with the second rotating seat around the z axis, the third transmission belt is connected with the second driven pulley and the synchronous pulley and is connected with the rotating piece, so that when the second driven pulley drives the third transmission belt to move, the third transmission belt drives the rotating piece to rotate around the y axis.
6. The multi-degree-of-freedom lightweight mechanical joint according to claim 5, wherein the pair of second driving units drives the rotating member to rotate about the y-axis when the pair of third transmission belts rotate in the same direction; when the rotating directions of the pair of third transmission belts are opposite, the second transmission belt drives the second rotating seat to rotate around the z axis through the second driven pulley and the third transmission belt.
7. The multi-degree-of-freedom lightweight mechanical joint according to claim 4, wherein the pair of first driven pulleys of the second driving assembly are connected to both sides of the first rotating base in the x-axis direction, and the pair of second driving pulleys of the second driving assembly are connected to both sides of the first rotating base in the z-axis direction.
8. The multiple degree of freedom lightweight mechanical joint according to claim 7, wherein the first driven pulley is connected to the second driving pulley by a bevel gear, and wherein the connecting mechanism includes a connecting shaft extending in the z-axis direction, the first rotating base being rotatably connected to the second rotating base by the connecting shaft; and the second driven pulleys of the pair of second driving assemblies are rotationally connected with the connecting shaft around the z axis.
9. A transmission method of a multi-freedom-degree light mechanical joint is characterized by comprising the following steps:
when the first driving assembly pulls the first rotating seat to rotate around the x axis relative to the base, the first driven belt wheel of the second driving assembly revolves around the x axis along the circumferential direction along with the first rotating seat;
the first driving belt wheel of the second driving assembly drives the first driven belt wheel to rotate through a first driving belt, and the first driven belt wheel drives at least one of the second rotating seat and the rotating part to rotate.
10. The method for driving a multi-degree-of-freedom light mechanical joint according to claim 9, wherein the driving of at least one of the second rotating base and the rotating member by the first driven pulley comprises:
the pair of first driven belt wheels respectively drive a pair of third transmission belts of the second driving assembly to rotate, and the third transmission belts draw rotating members which are rotatably connected to the second rotating base around the y axis;
if the speeds and the directions of the pair of the third transmission belts are the same, the third transmission belts drive the rotating piece to rotate;
if the speeds of the pair of third transmission belts are the same and the directions are opposite, the pair of third transmission belts are blocked by the rotating member, so that the third transmission belts pull the second rotating seat to rotate around the z axis;
and if the speeds of the pair of third transmission belts are different, the pair of third transmission belts pulls the second rotating seat to rotate around the z axis and drives the rotating piece to rotate.
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| CN202210521814.4A CN114770591A (en) | 2022-05-13 | 2022-05-13 | Multi-degree-of-freedom light mechanical joint and transmission method thereof |
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| CN202210521814.4A CN114770591A (en) | 2022-05-13 | 2022-05-13 | Multi-degree-of-freedom light mechanical joint and transmission method thereof |
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| CN112589784A (en) * | 2020-12-03 | 2021-04-02 | 深圳众为兴技术股份有限公司 | Horizontal articulated robot |
| CN214055332U (en) * | 2020-11-15 | 2021-08-27 | 浙江微通智能科技有限公司 | Swing every single move freely movable joint |
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| JP2012051074A (en) * | 2010-09-01 | 2012-03-15 | Toyota Motor Corp | Joint structure and robot with the joint structure |
| CN104742116A (en) * | 2015-02-10 | 2015-07-01 | 赵言正 | Novel five-degree-of-freedom robot mechanism |
| CN106240764A (en) * | 2016-08-01 | 2016-12-21 | 江苏科技大学 | Compensation of undulation special purpose robot and compensation of undulation method |
| CN214055332U (en) * | 2020-11-15 | 2021-08-27 | 浙江微通智能科技有限公司 | Swing every single move freely movable joint |
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