CN203077299U - Hinge joint mechanism with angular displacement sensor - Google Patents
Hinge joint mechanism with angular displacement sensor Download PDFInfo
- Publication number
- CN203077299U CN203077299U CN 201320047407 CN201320047407U CN203077299U CN 203077299 U CN203077299 U CN 203077299U CN 201320047407 CN201320047407 CN 201320047407 CN 201320047407 U CN201320047407 U CN 201320047407U CN 203077299 U CN203077299 U CN 203077299U
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- CN
- China
- Prior art keywords
- pinledge
- sensor
- fixed
- angular displacement
- hinge joint
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Abstract
The utility model relates to a hinge joint mechanism with an angular displacement sensor. According to the hinge joint mechanism with the angular displacement sensor, a driving wheel is fixed on a first section of step on a stepped nail, a second section of step of the stepped nail penetrates through a main rod, a third section of step of the stepped nail is positioned on a secondary rod through the secondary rod, a threaded hole is formed in the lower end portion of the stepped nail, the stepped nail and constructional elements installed on the stepped nail are positioned on the main rod and on the secondary rod in the axial direction through a positioning mechanism to form a movable hinge, a sensor fixing frame is fixed on the main rod, a sensor is installed on the sensor fixing frame, the sensor and the stepped nail are coaxial, a rotary shaft of the sensor is inserted into the upper end portion of the stepped nail and is fixed on the stepped nail through a stopper screw, two step holes are formed in the lateral end of the sensor fixing frame, a line pipe is fixed in the large pore of a first step hole, a rope is installed in the line pipe, and then a complete drive system return circuit is formed by the rope, the driving wheel and a drive system. The hinge joint mechanism with the angular displacement sensor can effectively integrate the sensor with a joint and the drive system.
Description
Technical field
The utility model relates to the joint actuation techniques among the robot field, particularly relates to a kind of hinge joint mechanism that has angular displacement sensor.
Background technology
Joint designs is widely used in the robot field, often all designed sensor in joint designs, so the design of joint of robot must include the design of the mounting means of sensor.In exoskeleton robot, on the joint, need to discern the rotational angle in joint, therefore angular displacement sensor need be installed.Existing exoskeleton-type robot needs people and machine co-operation mostly, therefore they adopt the effective kind of drive that motion is transmitted, thereby avoid direct dynamical system to be directly installed in the executing agency, go out to be furnished with angular displacement sensor in the joint simultaneously heaviness.How with the fixed form of sensor and the terseness and the dexterity that the joint is taken all factors into consideration, integrated design will have influence on design of specific kind of drive transfer motion power.
The utility model content
Technical problem to be solved in the utility model provides a kind of hinge joint mechanism that has angular displacement sensor, can be with sensor and joint, transmission system effective integration together.
The technical scheme that its technical problem that solves the utility model adopts is: a kind of hinge joint mechanism that has angular displacement sensor is provided, include main bar, secondary bar and pinledge, first section step on the described pinledge is fixed with drive, second section step of pinledge passes the main bar, the 3rd section step is positioned on the secondary bar by secondary bar, the pinledge bottom is provided with screwed hole, makes pinledge and the members shaft that is installed on the pinledge forms hinges to being positioned on main bar and the secondary bar by detent mechanism; Be fixed with fixing rack for sensor on the described main bar, on the described fixing rack for sensor sensor be installed, described sensor is coaxial with pinledge, and the rotating shaft of described sensor is inserted the pinledge upper end and is fixed on the pinledge by holding screw; Described fixing rack for sensor side is provided with two shoulder holes, spool is fixed in the macropore of first shoulder hole, rope is installed in the spool, the aperture of described rope by first shoulder hole passes and is coated on the drive, a bit being fixed on the drive on the rope, and pass to be connected with transmission system by second shoulder hole and form complete transmission system loop.
The upper end of described pinledge is provided with unthreaded hole, and described unthreaded hole side is provided with screwed hole, and the holding screw in the screwed hole is fixed on the sensor rotating shaft in the unthreaded hole.
Described pinledge is provided with the multistage step, by the square cylinder of edge, termination and first section step drive is fixed on first section step respectively by upper end to lower end, the face of cylinder by second section step is hingedly mounted on the main bar, and the square cylinder by the 3rd section step is fixed together pinledge and secondary bar.
Described sensor rotates together in company with pinledge when pinledge rotates, and output signal.
Described rope is steel wire rope, chain or is with synchronously.
Described drive is runner, sprocket wheel or synchronizing wheel.
Beneficial effect
Owing to adopted above-mentioned technical scheme, the utility model compared with prior art, have following advantage and good effect: the utility model is simple for structure, reliable, can accurately measure the angle of joint swing by the sensor that is equipped with, do to transform slightly just applicable to the multiple kind of drive, can be widely used in the robot field and other need realize the field that revolute pair drives.
Description of drawings
Fig. 1 is the hinge joint structural scheme of mechanism that has angular displacement sensor;
Fig. 2 is the structural representation of pinledge.
The specific embodiment
Below in conjunction with specific embodiment, further set forth the utility model.Should be understood that these embodiment only to be used to the utility model is described and be not used in the restriction scope of the present utility model.Should be understood that in addition those skilled in the art can make various changes or modifications the utility model after the content of having read the utility model instruction, these equivalent form of values fall within the application's appended claims institute restricted portion equally.
Embodiment of the present utility model relates to a kind of hinge joint mechanism that has angular displacement sensor, include main bar 2, secondary bar 1 and pinledge 4, first section step on the described pinledge 4 is fixed with drive 3, second section step of pinledge 4 passes the cylindrical hole of main bar 2, the 3rd section step is positioned on the secondary bar 1 by square opening on the secondary bar 1, pinledge 4 bottoms are provided with screwed hole, make pinledge 4 and the members shaft that is installed on the pinledge 4 forms hinges to being positioned on main bar 2 and the secondary bar 1 by termination nail 8 and pad 7; Be fixed with fixing rack for sensor 5 on the described main bar 2, on the described fixing rack for sensor 5 sensor 6 be installed, described sensor 6 is coaxial with pinledge 4, and the rotating shaft of described sensor 6 is inserted pinledge 4 upper ends and is fixed on the pinledge 4 by holding screw 14; Described fixing rack for sensor 5 sides are provided with two shoulder holes, spool 11 is fixed in the macropore of first shoulder hole, rope 12 is installed in the spool 11, the aperture of described rope 12 by first shoulder hole passes and is coated on the drive 3, a bit being fixed on the drive 3 on the rope 12, and pass to be connected by second shoulder hole and form complete transmission system loop with transmission system, can realize the driving in joint by rotating drive 3, (secondary bar is with respect to the rotation of main bar) sensor 6 produced angular displacement signal when rotated in the joint simultaneously, fed back to control system.
Wherein, the upper end of described pinledge 4 is provided with the unthreaded hole that is used to insert the sensor rotating shaft, and described unthreaded hole side is provided with screwed hole 45, and the holding screw in the screwed hole 45 is fixed on the sensor rotating shaft in the unthreaded hole.As shown in Figure 2, described pinledge 4 is provided with the multistage step, by the square cylinder of 41 edges, termination and first section step 42 drive is fixed on first section step 42 respectively by upper end to lower end, the face of cylinder by second section step 43 is hingedly mounted on the main bar, and the square cylinder by the 3rd section step 44 is fixed together pinledge and secondary bar.Described sensor rotates together in company with pinledge when pinledge rotates, and output signal.Described rope is steel wire rope, chain or is with synchronously.Described drive is runner, sprocket wheel or synchronizing wheel.Shown in Figure 1 is, and what to have that rope adopts in the hinge joint mechanism of angular displacement sensor is steel wire rope, and what drive adopted is runner.
Concrete mounting means is to be fixed with fixing rack for sensor on the main bar, sensor is installed on the fixing rack for sensor, sensor is fixed on the unthreaded hole of pinledge upper end with coaxial installation of pinledge and sensor rotating shaft by holding screw, rotating shaft and pinledge together rotate when pinledge rotates, rotate output signal with respect to sensor.The upper end of pinledge is provided with unthreaded hole, and the unthreaded hole side is provided with screwed hole, and the rotating shaft that is installed in the angular displacement sensor on the fixing rack for sensor makes a good job of the insertion unthreaded hole, by the holding screw in the screwed hole of side the sensor rotating shaft is fixed in the unthreaded hole.The pinledge bottom is provided with screwed hole, realizes the axial location of pinledge by termination nail and pad.Pinledge is provided with the multistage step, by the square cylinder of edge, termination and first section step rotating disk is fixed on first section step respectively by upper end to lower end, the face of cylinder by second section step is hingedly mounted on the main bar, and the square cylinder by the 3rd section step is fixed on pinledge on the secondary bar.
Described square cylinder step of while is replaceable to be that other adopt key ways of connecting or other orientable cross sectional shapes, and the kind of drive of described runner collocation steel wire rope is replaceable to be sprocket wheel collocation chain, the synchronous band of synchronizing wheel collocation and the design of other kinds of drive.
Claims (6)
1. hinge joint mechanism that has angular displacement sensor, include main bar (2), secondary bar (1) and pinledge (4), it is characterized in that, first section step (42) on the described pinledge (4) is fixed with drive (3), second section step (43) of pinledge (4) passes main bar (2), the 3rd section step (44) is positioned on the secondary bar (1) by secondary bar (1), pinledge (4) bottom is provided with screwed hole, makes pinledge (4) and the members shaft that is installed on the pinledge (4) go up to form hinges to being positioned at main bar (2) and secondary bar (1) by detent mechanism; Be fixed with fixing rack for sensor (5) on the described main bar (2), sensor (6) is installed on the described fixing rack for sensor (5), described sensor (6) is coaxial with pinledge (4), and the rotating shaft of described sensor (6) is inserted pinledge (4) upper end and is fixed on the pinledge (4) by holding screw (14); Described fixing rack for sensor (5) side is provided with two shoulder holes, spool (11) is fixed in the macropore of first shoulder hole, rope (12) is installed in the spool (11), the aperture of described rope (12) by first shoulder hole passes and is coated on the drive (3), a bit being fixed on the drive (3) on the rope (12), and pass to be connected with transmission system by second shoulder hole and form complete transmission system loop.
2. the hinge joint mechanism that has angular displacement sensor according to claim 1, it is characterized in that, the upper end of described pinledge (4) is provided with unthreaded hole, and described unthreaded hole side is provided with screwed hole, and the holding screw (14) in the screwed hole is fixed on the rotating shaft of sensor (6) in the unthreaded hole.
3. the hinge joint mechanism that has angular displacement sensor according to claim 1, it is characterized in that, described pinledge (4) is provided with the multistage step, by the square cylinder of edge, termination and first section step (42) drive (3) is fixed on first section step (42) respectively by upper end to lower end, the face of cylinder by second section step (43) is hingedly mounted on the main bar (2), and the square cylinder by the 3rd section step (44) is fixed together pinledge (4) and secondary bar (1).
4. the hinge joint mechanism that has angular displacement sensor according to claim 1 is characterized in that, described sensor (6) rotates together in company with pinledge (4) when pinledge (4) rotates, and output signal.
5. the hinge joint mechanism that has angular displacement sensor according to claim 1 is characterized in that, described rope (12) is steel wire rope, chain or is with synchronously.
6. the hinge joint mechanism that has angular displacement sensor according to claim 1 is characterized in that described drive (3) is runner, sprocket wheel or synchronizing wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320047407 CN203077299U (en) | 2013-01-29 | 2013-01-29 | Hinge joint mechanism with angular displacement sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320047407 CN203077299U (en) | 2013-01-29 | 2013-01-29 | Hinge joint mechanism with angular displacement sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203077299U true CN203077299U (en) | 2013-07-24 |
Family
ID=48823171
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320047407 Withdrawn - After Issue CN203077299U (en) | 2013-01-29 | 2013-01-29 | Hinge joint mechanism with angular displacement sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203077299U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103085081A (en) * | 2013-01-29 | 2013-05-08 | 东华大学 | Hinge joint mechanism with angular displacement sensor |
-
2013
- 2013-01-29 CN CN 201320047407 patent/CN203077299U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103085081A (en) * | 2013-01-29 | 2013-05-08 | 东华大学 | Hinge joint mechanism with angular displacement sensor |
| CN103085081B (en) * | 2013-01-29 | 2015-01-07 | 东华大学 | Hinge joint mechanism with angular displacement sensor |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130724 Effective date of abandoning: 20150107 |
|
| RGAV | Abandon patent right to avoid regrant |