CN202781186U - Double-freedom-degree robot wrist joint steering gear - Google Patents
Double-freedom-degree robot wrist joint steering gear Download PDFInfo
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- CN202781186U CN202781186U CN 201220492865 CN201220492865U CN202781186U CN 202781186 U CN202781186 U CN 202781186U CN 201220492865 CN201220492865 CN 201220492865 CN 201220492865 U CN201220492865 U CN 201220492865U CN 202781186 U CN202781186 U CN 202781186U
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- end cap
- gear
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- shaft
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Abstract
The utility model relates to a double-freedom-degree robot wrist joint steering gear. According to an existing robot wrist joint steering gear, single shaft output is adopted, and therefore only one freedom degree can be provided for a robot. The double-freedom-degree robot wrist joint steering gear comprises an end cover and a shell body, wherein the end cover is connected with the shell body through screws to form an enclosure space. Motors, motor gears, a reducing mechanism, bearings, a control circuit board, angle sensors and the like are arranged inside the enclosure space. The motor gears are meshed with an input gear of the reducing mechanism, and an output shaft of the reducing mechanism outputs power. The angle sensors are arranged on the position of the output shaft. Two motors are arranged inside the same enclosure space, a gear transmission mechanism inside the shell body outputs power towards two directions at the same time, and the control circuit board and the angle sensors arranged inside can be used for controlling output angles on the two directions respectively, and therefore the robot steering gear has the ability of providing double freedom degree.
Description
Technical field
The utility model belongs to the Robotics field, relates to a kind of double freedom wrist joint of robot steering wheel.
Background technology
Along with the development of robot, the machine person to person's is more and more closer alternately, slowly close to the mankind's daily life from traditional industrial environment.
Robot is according to bionics principle, and its motion mimics human realizes by the joint.Each joint is consistent with each joint freedom degrees of people on the basis that can realize accurately control.The free degree of each main activities joint of human body is not quite similar.Conventional machines person joint is for realizing multivariant motion, usually adopts on two groups of structures independently power set, and every component be you can well imagine for one degree of freedom, the joint complicated integral structure, and inertia is large, and dynamic response is poor, and Reconstructed is poor, and assembling is complicated, and inconvenience is safeguarded.
For addressing the above problem, it is little to have developed at present multiple inertia, and dynamic response is very fast, and structure is relatively simple drive unit also.
Chinese patent N201736231U, wrist joint of robot.This joint is a two degrees of freedom one-rotation parallel mechanism.The U-shaped top of U-shaped spare links to each other with annular element by the secondary hinge of first group of coaxial rotation; The middle part of dead man connects firmly the end at the palm connector, and the two ends of dead man link to each other with annular element by the secondary hinge of second group of coaxial rotation; The palm connector links by revolute pair hinge and several on palm, and several on palm passes through the secondary hinge of the 3rd group of coaxial rotation and links to each other with the wrist joint pedestal.The other end of robot palm and described palm connector links.Although simple in structure, the fast response time of this utility model, and yet improved to a certain extent the poor characteristics of parallel institution manufacturability in the past, because the restriction of itself structure does not have good reconstruct.
US Patent No. 007429844B2, robot servo module and joint servo.This invention has designed two kinds of servo modules that become L-type, and the different joints in robot make up to realize the different frees degree by third party's connector.This invention reconstruct is good, and assembling simply also is easy to safeguard.But because its design feature, body inertia is larger, and dynamic response is relatively poor.
Summary of the invention
The purpose of this utility model is for the deficiency of existing robot double freedom articulated driving equipment, and a kind of double freedom wrist joint of robot steering wheel that adopts the bi-motor interlaced arrangement is provided.
The technical solution adopted in the utility model is as follows:
The utility model forms by being arranged on the X-direction driving mechanism and the Y-direction driving mechanism that are right-angled intersection in the housing.
Described X-direction driving mechanism comprises X-direction electric motor end cap, X-direction motor, X-direction power transmission shaft, X-direction deceleration head, X-direction angular transducer, X-direction jewel seat, X-direction bearing and X-direction output end cap.
Be fixedly connected with motor gear on the X-direction motor output shaft, the X-direction motor is positioned by X-direction end cap screw by the X-direction electric motor end cap; An X-direction deceleration power shaft is fixedly connected with an X-direction deceleration gear, and output shaft is provided with the X-direction angular transducer.
Described X-direction motor gear and the engagement of X-direction gearing shaft one end, this X-direction gearing shaft other end and a gear engagement of slowing down; Described X-direction gearing shaft be positioned at the X-direction motor gear and a gear that slows down directly over.
Described jewel seat one end is by boss location in the housing, and the other end is positioned by output end cap screw by the output end cap; In the jewel seat, be provided with bearing; This bearing one end is by jewel seat one boss structure location, and the other end is positioned by output end cap screw by the output end cap.
The output shaft of described X-direction deceleration head passes bearing and output end cap, as the X-direction driving shaft.
Described Y-direction driving mechanism comprises Y-direction electric motor end cap, Y-direction motor, Y-direction power transmission shaft, Y-direction deceleration head, Y-direction angular transducer, Y-direction jewel seat, Y-direction bearing and Y-direction output end cap.
Described Y-direction motor gear and the engagement of Y-direction gearing shaft one end, this Y-direction gearing shaft other end and a gear engagement of slowing down; Described Y-direction gearing shaft is positioned at the Y-direction motor gear and the side of a gear that slows down.
The remainder of Y-direction driving mechanism is identical with the structure of X-direction driving mechanism.
X-direction gearing shaft and Y-direction gearing shaft are fixed in housing one place all by the cross fixture; This cross fixture is positioned by the top cover screw by top cover.
Angular transducer, the angle that turns in order to detect output, and angle signal fed back to circuit control panel, control circuit board is fixed on housing bottom by hold-down screw, in order to control motor.
The beneficial effects of the utility model: by with two electric machine built-ins among a steering wheel, realize that a steering wheel provides the output of both direction, greatly having reduced conventional machines person joint utilizes third party's connector to realize the shared space of both direction output, so that articulation structure is compacter, inertia is less, and dynamic property is more excellent.
Description of drawings
Fig. 1 is steering wheel external form schematic diagram;
Fig. 2 is steering wheel assembling explosive view;
Fig. 3 is steering wheel drive connection figure;
In the accompanying drawing: 1. top cover, 2. cross fixture, 3.Y to power transmission shaft, 4.X to power transmission shaft, 5. hold-down screw, 6. control circuit board, 7. top cover screw, 8. housing, 9.Y to the deceleration head, 10.Y to angular transducer, 11.Y to the jewel seat, 12.Y to bearing, 13.Y to the output end cap, 14.Y to output end cap screw, 15.X to the deceleration head, 16.X to angular transducer, 17.X to the jewel seat, 18.X to bearing, 19.X to the output end cap, 20.X to output end cap screw, 21.Y to the electric motor end cap screw, 22.Y to electric motor end cap, 23.Y to motor, 24.X to the electric motor end cap screw, 25.X to electric motor end cap, 26.X to motor, 27.Y to motor gear, 28.X to motor gear, 29.X to a gear that slows down, 30.Y to a gear that slows down.
The specific embodiment
The utility model is described in further detail below in conjunction with drawings and Examples.
Shown in Figure 1, be this steering wheel external form schematic diagram.Become the cross cross structure, two axis directions have respectively an output shaft in order to driving force to be provided.
As shown in Figure 2, be the assembling explosive view of steering wheel, steering wheel is by top cover 1, cross fixture 2, Y-direction power transmission shaft 3, X-direction power transmission shaft 4, hold-down screw 5, control circuit board 6, top cover screw 7, housing 8, Y-direction slows down 9, Y-direction angular transducer 10, Y-direction jewel seat 11, Y-direction bearing 12, Y-direction output end cap 13, Y-direction output end cap screw 14, X-direction slows down 15, X-direction angular transducer 16, X-direction jewel seat 17, X-direction bearing 18, X-direction output end cap 19, X-direction output end cap screw 20, Y-direction electric motor end cap screw 21, Y-direction electric motor end cap 22, Y-direction motor 23, X-direction electric motor end cap screw 24, X-direction electric motor end cap 25, X-direction motor 26 forms.
Described top cover 1 is connected by top cover screw 7 with housing 8; X-direction output end cap 19, Y-direction output end cap 13 link to each other with housing 8 by X-direction output end cap screw 20 and Y-direction output end cap screw 14 respectively; X-direction electric motor end cap 25, Y-direction electric motor end cap 22 are connected with housing 8 by X-direction electric motor end cap screw 24 and Y-direction electric motor end cap screw 21 respectively; Above-mentioned part is connected to form an enclosure space.
Be provided with in the described enclosure space: cross fixture 2, Y-direction power transmission shaft 3, X-direction power transmission shaft 4, hold-down screw 5, control circuit board 6, Y-direction slow down 9, Y-direction angular transducer 10, Y-direction jewel seat 11, Y-direction bearing 12, X-direction slow down 15, X-direction angular transducer 16, X-direction jewel seat 17, X-direction bearing 18, Y-direction motor 23, X-direction motor 26; Y-direction motor gear 27, X-direction motor gear 28, an X-direction deceleration gear 29, a Y-direction deceleration gear 30.
Described control circuit board 6 is fixed on the bottom of housing 8 by hold-down screw 5, the angle signal that feeds back in order to process X-direction angular transducer 16 and Y-direction angular transducer 10, and the rotation of control control X-direction motor 26 and Y-direction motor 23.
Described X-direction angular transducer 16 is connected with the Y-direction angular transducer respectively at X-direction is connected with Y-direction 9 the output shaft connection of an output shaft of 15 of slowing down; Wherein X-direction slow down 15 and Y-direction slow down and 9 be arranged on the housing output end position; The output shaft place is equipped with respectively X-direction bearing 18 and Y-direction bearing 12; The outer ring of described X-direction bearing 18 cooperates with the inner ring of X-direction jewel seat 17, and Y-direction bearing 12 cooperates with the inner ring of Y-direction jewel seat 11.
Described X-direction motor 26 is arranged on housing input out position with Y-direction motor 23, positions by X-direction electric motor end cap 25 and Y-direction electric motor end cap 22 respectively.
Be illustrated in figure 3 as the drive connection figure of type steering wheel, described X-direction motor gear 28 meshes with the gear of X-direction power transmission shaft 4 one sides, a gear 29 engagements of slowing down of the opposite side of X-direction power transmission shaft 4 and X-direction, power are transferred to X-direction via X-direction power transmission shaft 4 from X-direction motor 26 and slow down and 15 export from output shaft by slowing down; The gear engagement of described Y-direction motor gear 27 and Y-direction power transmission shaft 3 one sides, the opposite side of Y-direction power transmission shaft 3 an and Y-direction gear 30 engagements of slowing down, power are transferred to Y-direction via Y-direction power transmission shaft 3 from Y-direction motor 23 and slow down and 9 export from output shaft by deceleration.
Described X-direction is slowed down and 15 is slowed down with Y-direction and 9 to be planetary reduction gear.
The steering wheel working method is as follows:
The body main control chip sends control signal and is transferred to control circuit board 6, requires X, Y-direction to export respectively two angles, and control circuit board 6 is controlled motor through processing, and X-direction motor 26 rotates respectively different angles from Y-direction motor 23 within the regular hour.Behind the electric motor starting, by above-mentioned power transmission route, namely motor is by power transmission shaft, with transmission of power to output shaft.Angle with output shaft feeds back to control circuit board via angular transducer afterwards.Carry out the FEEDBACK CONTROL adjustment by control circuit board and reach corresponding precision.
Claims (1)
1. a double freedom wrist joint of robot steering wheel forms by being arranged on the X-direction driving mechanism and the Y-direction driving mechanism that are right-angled intersection in the housing, it is characterized in that:
Described X-direction driving mechanism comprises X-direction electric motor end cap, X-direction motor, X-direction power transmission shaft, X-direction deceleration head, X-direction angular transducer, X-direction jewel seat, X-direction bearing and X-direction output end cap;
Be fixedly connected with motor gear on the X-direction motor output shaft, the X-direction motor is positioned by X-direction end cap screw by the X-direction electric motor end cap; An X-direction deceleration power shaft is fixedly connected with an X-direction deceleration gear, and output shaft is provided with the X-direction angular transducer;
Described X-direction motor gear and the engagement of X-direction gearing shaft one end, this X-direction gearing shaft other end and a gear engagement of slowing down; Described X-direction gearing shaft be positioned at the X-direction motor gear and a gear that slows down directly over;
Described jewel seat one end is by boss location in the housing, and the other end is positioned by output end cap screw by the output end cap; In the jewel seat, be provided with bearing; This bearing one end is by jewel seat one boss structure location, and the other end is positioned by output end cap screw by the output end cap;
The output shaft of described X-direction deceleration head passes bearing and output end cap, as the X-direction driving shaft;
Described Y-direction driving mechanism comprises Y-direction electric motor end cap, Y-direction motor, Y-direction power transmission shaft, Y-direction deceleration head, Y-direction angular transducer, Y-direction jewel seat, Y-direction bearing and Y-direction output end cap;
Described Y-direction motor gear and the engagement of Y-direction gearing shaft one end, this Y-direction gearing shaft other end and a gear engagement of slowing down; Described Y-direction gearing shaft is positioned at the Y-direction motor gear and the side of a gear that slows down;
The remainder of Y-direction driving mechanism is identical with the structure of X-direction driving mechanism;
X-direction gearing shaft and Y-direction gearing shaft are fixed in housing one place all by the cross fixture; This cross fixture is positioned by the top cover screw by top cover;
Angular transducer, the angle that turns in order to detect output, and angle signal fed back to circuit control panel, control circuit board is fixed on housing bottom by hold-down screw, in order to control motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220492865 CN202781186U (en) | 2012-09-25 | 2012-09-25 | Double-freedom-degree robot wrist joint steering gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220492865 CN202781186U (en) | 2012-09-25 | 2012-09-25 | Double-freedom-degree robot wrist joint steering gear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202781186U true CN202781186U (en) | 2013-03-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220492865 Expired - Fee Related CN202781186U (en) | 2012-09-25 | 2012-09-25 | Double-freedom-degree robot wrist joint steering gear |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202781186U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102862166A (en) * | 2012-09-25 | 2013-01-09 | 杭州电子科技大学 | Double-degree-of-freedom robot wrist joint steering engine |
| CN104440938A (en) * | 2014-10-23 | 2015-03-25 | 重庆交通大学 | Under-actuated three-degree-of-freedom composite joint |
| CN114111464A (en) * | 2021-11-12 | 2022-03-01 | 沈阳航天新光集团有限公司 | Normal phase double-shaft swinging device |
-
2012
- 2012-09-25 CN CN 201220492865 patent/CN202781186U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102862166A (en) * | 2012-09-25 | 2013-01-09 | 杭州电子科技大学 | Double-degree-of-freedom robot wrist joint steering engine |
| CN104440938A (en) * | 2014-10-23 | 2015-03-25 | 重庆交通大学 | Under-actuated three-degree-of-freedom composite joint |
| CN104440938B (en) * | 2014-10-23 | 2016-02-24 | 重庆交通大学 | Drive lacking Three Degree Of Freedom composite joint |
| CN114111464A (en) * | 2021-11-12 | 2022-03-01 | 沈阳航天新光集团有限公司 | Normal phase double-shaft swinging device |
| CN114111464B (en) * | 2021-11-12 | 2023-11-07 | 沈阳航天新光集团有限公司 | Positive intersection double-shaft swinging device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130313 Termination date: 20150925 |
|
| EXPY | Termination of patent right or utility model |