CN205126413U - Two degree of freedom posture adjustment devices - Google Patents
Two degree of freedom posture adjustment devices Download PDFInfo
- Publication number
- CN205126413U CN205126413U CN201520906967.6U CN201520906967U CN205126413U CN 205126413 U CN205126413 U CN 205126413U CN 201520906967 U CN201520906967 U CN 201520906967U CN 205126413 U CN205126413 U CN 205126413U
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- China
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- gear
- pitching
- otic placode
- driven gear
- rotary module
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Abstract
The utility model discloses a two degree of freedom posture adjustment devices, including mechanism's bottom plate, box bottom plate, motor box, revolve rotary die piece driven gear, revolve rotary die piece driving gear, revolve rotary die piece driven gear axle, box roof, gear otic placode, interior supporting ear plate, outer supporting ear plate, every single move board, every single move board axle, transition gear axle, spacer pin, limiting plate, every single move module driving gear, transition gear, every single move module driven gear, rotatory driven gear 0, every single move driven gear 0, every single move driven gear 0 fixed plate. The device middle part is the box structure, holds step motor, and the lower part of box is for revolving the rotary die piece. Upper portion is the every single move module to be equipped with spacing pin and spacing groove, restriction every single move angle. The device is absolute construction, and with location arm decoupling zero, control is simple. The box structure is adopted at the middle part, compact structure, and the quality is light.
Description
Technical field
This utility model relates to medical instruments field, is specifically related to a kind of two-freedom device for adjusting posture, and this application of installation, in hospital machines robot end, adjusts the attitude of actuator.
Background technology
In minimal invasive operation; often can carry out pose adjustment to change inserting needle direction to particle gun and cell taking gun; generally can the pose adjustment of robot be considered in the design of robotic arm; the phenomenon that device for adjusting posture and localization machine mechanical arm can be made like this to produce mechanism be coupled; increase kinematics analysis complexity, increase design difficulty and control difficulty.In addition, if increase pose adjustment function for the mechanical arm without pose adjustment function, very inconvenient, also uneconomical.Therefore, be necessary according to actual needs to design a kind of device for complete independently pose adjustment function, this device need meet that lightweight, structure is simple, good stability, the requirement such as simple to operate.
Utility model content
The purpose of this utility model is for problems such as said mechanism couplings, based on modularization idea, designs a kind of two-freedom device for adjusting posture, and this application of installation, in the hospital machines such as particle gun and cell taking gun robot end, adjusts the attitude of actuator.
This utility model for solving the problems of the technologies described above taked technical scheme is:
This utility model is a kind of two-freedom device for adjusting posture, for adjusting the attitude of actuator, comprise organization soleplate, box bottom, motor case body, rotary module driven gear, rotary module driving gear, rotary module passive tooth wheel shaft, roof box, gear otic placode, inner support otic placode, outer support otic placode, pitching plate, pitching plate axle, transition gear axle, spacer pin, limiting plate, pitching module driving gear, transition gear, pitching module driven gear, rotating stepper motor, pitching motor, pitching motor fixing head, it is characterized in that: described organization soleplate is provided with four installing holes, and adopt four bolts to be connected with mechanical arm, organization soleplate and rotary module driven gear are connected by two screws, organization soleplate is connected with rotary module passive tooth wheel shaft threaded one end, rotary module passive tooth wheel shaft is through rotary module driven gear, be matched in clearance with rotary module driven gear, described rotary module passive tooth wheel shaft forms pin with box bottom and is connected, box bottom rotates around rotary module passive tooth wheel shaft, described box bottom is connected by four screws and rotating stepper motor, the output shaft of rotating stepper motor is shaft with key way, and be connected with rotary module driving gear by key, rotary module driving gear and rotary module driven gear are that gear pair is connected, described motor case body connect box base plate and roof box, described roof box is respectively by two screws and gear otic placode, inner support otic placode, outer support otic placode connects, described pitching plate axle and gear otic placode, inner support otic placode, the unthreaded hole of outer support otic placode is matched in clearance, described pitching plate axle is provided with keyway arrangements at axial position placed in the middle, key is adopted to be connected with pitching plate and pitching module driven gear, described pitching plate side is provided with two installing holes, and be connected with limiting plate with screw, limiting plate has arcuate groove, slide in described spacer pin one end in arcuate groove, the other end is connected with the pin hole interference on outer support otic placode, described gear otic placode is connected with one end interference of transition gear axle, the gear shaft other end and transition gear form revolute, described roof box is connected with pitching motor fixing head by four screws, pitching motor fixing head is fixed with pitching motor, the output shaft of pitching motor is shaft with key way, and be connected with pitching module driving gear by key, described pitching module driving gear and transition gear are that gear pair is connected, described transition gear and pitching module driven gear are that gear pair is connected.
This utility model has following technique effect and advantage:
1, this utility model, middle part adopts body structure, and box house holds two motors, and make compact overall structure, quality is light.
2, this use novel in, the design of spacer pin and limiting plate, can play position-limiting action to pitching plate, effectively prevent pitching plate exceed working range damage actuator.
3, this utility model, is designed to an independently device by a kind of two-freedom device for adjusting posture, is not coupled with localization machine mechanical arm, and forward and inverse kinematics solution is simple, and it is convenient to control.
Accompanying drawing explanation
Fig. 1 this utility model overall structure schematic diagram.
Fig. 2 this utility model spacer pin partial schematic diagram.
1. organization soleplates in figure, 2. box bottom, 3. motor case body, 4. rotary module driven gear, 5. rotary module driving gear, 6. rotary module passive tooth wheel shaft, 7. roof box, 8. gear otic placode, 9. inner support otic placode, 10. outer support otic placode, 11. pitching plates, 12. pitching plate axles, 13. transition gear axles, 14. spacer pins, 15. limiting plates, 16. pitching module driving gears, 17. transition gears, 18. pitching module driven gears, 19. rotating stepper motors, 20. pitching motors, 21. pitching motor fixing heads.
Detailed description of the invention
Embodiment 1, see accompanying drawing 1, accompanying drawing 2.
This utility model is a kind of two-freedom device for adjusting posture, be applied to hospital machines robot end, the attitude of adjustment actuator, comprise organization soleplate 1, box bottom 2, motor case body 3, rotary module driven gear 4, rotary module driving gear 5, rotary module passive tooth wheel shaft 6, roof box 7, gear otic placode 8, inner support otic placode 9, outer support otic placode 10, pitching plate 11, pitching plate axle 12, transition gear axle 13, spacer pin 14, limiting plate 15, pitching module driving gear 16, transition gear 17, pitching module driven gear 18, rotating stepper motor 19, pitching motor 20, pitching motor fixing head 21, it is characterized in that: described organization soleplate 1 is provided with four installing holes, and adopt four bolts to be connected with mechanical arm, organization soleplate 1 and rotary module driven gear 4 are connected by two screws, organization soleplate 1 is connected with rotary module passive tooth wheel shaft 6 threaded one end, rotary module passive tooth wheel shaft 6 is through rotary module driven gear 4, be matched in clearance with rotary module driven gear 4, described rotary module passive tooth wheel shaft 6 forms pin with box bottom 2 and is connected, box bottom 2 rotates around rotary module passive tooth wheel shaft 6, described box bottom 2 is connected by four screws and rotating stepper motor 19, the output shaft of rotating stepper motor 19 is shaft with key way, and be connected with rotary module driving gear 5 by key, rotary module driving gear 5 with rotary module driven gear 4 for gear pair is connected, described motor case body 3 connect box base plate 2 and roof box 7, described roof box 7 is by screw and gear otic placode 8, inner support otic placode 9, outer support otic placode 10 connects, described pitching plate axle 12 and gear otic placode 8, inner support otic placode 9, the unthreaded hole of outer support otic placode 10 is matched in clearance, described pitching plate axle 12 is provided with keyway arrangements at axial position placed in the middle, key is adopted to be connected with pitching plate 11 and pitching module driven gear 18, described pitching plate 11 side is provided with two installing holes, and be connected with limiting plate 15 with screw, limiting plate 15 has arcuate groove, slide in described spacer pin 14 one end in arcuate groove, the other end is connected with the pin hole interference on outer support otic placode 10, described gear otic placode 8 is connected with transition gear axle 13 one end interference, transition gear axle 13 other end and transition gear 17 form revolute, described roof box 7 is connected with pitching motor fixing head 21 by four screws, pitching motor fixing head 21 secures pitching motor 21, the output shaft of pitching motor 20 is shaft with key way, and be connected with pitching module driving gear 16 by key, described pitching module driving gear 16 with transition gear 17 for gear pair is connected, described transition gear 17 with pitching module driven gear 18 for gear pair is connected.
A kind of two-freedom device for adjusting posture is divided into two modules, comprises rotary module and pitching module.In rotary module, rotating stepper motor 19 axle rotates and drives rotary module driving gear 5 to rotate, and because rotary module driven gear 4 and organization soleplate 1 are connected, rotating stepper motor 19 and box bottom 2 are connected, so box bottom 2 rotates, realize the spinfunction of one degree of freedom.In pitching module; pitching motor 20 axle drives pitching module driving gear 16 to rotate; pitching plate 11 is driven to rotate by transition gear 17, pitching module driven gear 18; thus realize the pitching function of one degree of freedom; the use of spacer pin 14 and limiting plate 15 effectively can limit the maximum angle of pitch of pitching plate, plays a protective role.Rotate with pitching with the use of, pose adjustment function can be realized.
The exemplary illustration of present embodiment just to this patent, does not limit its protection domain, and those skilled in the art can also change, as long as no the spirit exceeding this patent, in the protection domain of this patent its local.
Claims (1)
1. a two-freedom device for adjusting posture, for the attitude of reconditioner mechanical arm end effector mechanism, comprise organization soleplate (1), box bottom (2), motor case body (3), rotary module driven gear (4), rotary module driving gear (5), rotary module passive tooth wheel shaft (6), roof box (7), gear otic placode (8), inner support otic placode (9), outer support otic placode (10), pitching plate (11), pitching plate axle (12), transition gear axle (13), spacer pin (14), limiting plate (15), pitching module driving gear (16), transition gear (17), pitching module driven gear (18), rotating stepper motor (19), pitching motor (20), pitching motor fixing head (21), it is characterized in that: described organization soleplate (1) is provided with four installing holes, and adopt four bolts to be connected with mechanical arm, organization soleplate (1) and rotary module driven gear (4) are connected by two screws, organization soleplate (1) is connected with rotary module passive tooth wheel shaft (6) threaded one end, rotary module passive tooth wheel shaft (6) is through rotary module driven gear (4), be matched in clearance with rotary module driven gear (4), described rotary module passive tooth wheel shaft (6) forms pin with box bottom (2) and is connected, box bottom rotates around rotary module passive tooth wheel shaft (6), described box bottom (2) is connected by four screws and rotating stepper motor (19), the output shaft of rotating stepper motor (19) is shaft with key way, and be connected with rotary module driving gear (5) by key, rotary module driving gear (5) with rotary module driven gear (4) for gear pair is connected, described motor case body (3) connect box base plate (2) and roof box (7), described roof box (7) is respectively by two screws and gear otic placode (8), inner support otic placode (9), outer support otic placode (10) connects, described pitching plate axle (12) and gear otic placode (8), inner support otic placode (9), the unthreaded hole of outer support otic placode (10) is matched in clearance, described pitching plate axle (12) is provided with keyway arrangements at axial position placed in the middle, key is adopted to be connected with pitching plate (11) and pitching module driven gear (18), described pitching plate (11) side is provided with two installing holes, and be connected with limiting plate (15) with screw, (15) have arcuate groove to limiting plate, slide in described spacer pin (14) one end in arcuate groove, the other end is connected with the pin hole interference on outer support otic placode (10), described gear otic placode (8) is connected with transition gear axle (13) one end interference, transition gear axle (13) other end and transition gear (17) form revolute, described roof box (7) is connected with pitching motor fixing head (21) by four screws, pitching motor fixing head (21) is fixed with pitching motor (20), the output shaft of pitching motor (20) is shaft with key way, and be connected with pitching module driving gear (16) by key, described pitching module driving gear (16) with transition gear (17) for gear pair is connected, described transition gear (17) with pitching module driven gear (18) for gear pair is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520906967.6U CN205126413U (en) | 2015-11-16 | 2015-11-16 | Two degree of freedom posture adjustment devices |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520906967.6U CN205126413U (en) | 2015-11-16 | 2015-11-16 | Two degree of freedom posture adjustment devices |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205126413U true CN205126413U (en) | 2016-04-06 |
Family
ID=55612241
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520906967.6U Expired - Fee Related CN205126413U (en) | 2015-11-16 | 2015-11-16 | Two degree of freedom posture adjustment devices |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205126413U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108894163A (en) * | 2018-08-02 | 2018-11-27 | 佛山市奥科奇清洁设备科技有限公司 | It sweeps the floor automobile-used front side brush mechanism |
| CN111904596A (en) * | 2020-06-09 | 2020-11-10 | 武汉联影智融医疗科技有限公司 | Navigation adjustment mechanism and surgical robot system with same |
-
2015
- 2015-11-16 CN CN201520906967.6U patent/CN205126413U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108894163A (en) * | 2018-08-02 | 2018-11-27 | 佛山市奥科奇清洁设备科技有限公司 | It sweeps the floor automobile-used front side brush mechanism |
| CN111904596A (en) * | 2020-06-09 | 2020-11-10 | 武汉联影智融医疗科技有限公司 | Navigation adjustment mechanism and surgical robot system with same |
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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: 20160406 Termination date: 20161116 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |