CN211220700U - Snake-shaped arm three-freedom-degree wrist joint - Google Patents
Snake-shaped arm three-freedom-degree wrist joint Download PDFInfo
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- CN211220700U CN211220700U CN201922125232.0U CN201922125232U CN211220700U CN 211220700 U CN211220700 U CN 211220700U CN 201922125232 U CN201922125232 U CN 201922125232U CN 211220700 U CN211220700 U CN 211220700U
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Abstract
The utility model relates to a snake-shaped arm three-degree-of-freedom wrist joint, which comprises a bracket, a rotary motor, a differential mechanism, a bracket is arranged at the tail end of an output shaft of the rotary motor, the differential mechanism comprises differential motors which are arranged at the two sides of the rotary mechanism in a bilateral symmetry manner, a bevel gear A is fixedly arranged at the tail end of the output shaft of the differential motor, a pitch shaft is transversely arranged above the bevel gear A, a bevel gear B and a bevel gear C which are meshed with the bevel gear A are fixedly arranged on the pitch shaft, the outer end of the pitch shaft is rotationally connected with the bracket, a deflection shaft is arranged between the pitch shafts at the two sides, the two ends of the deflection shaft are respectively rotationally connected with the pitch shaft, an installation shaft is arranged on the deflection shaft, a bevel gear D which is meshed with the bevel gears C at the two sides for transmission is sleeved on the installation shaft, the joint can, the weight can be effectively reduced, the volume is reduced, the rotation is directly driven by the motor, and the control is simple.
Description
Technical Field
The utility model relates to a snakelike arm three degree of freedom wrist joints.
Background
A snake robot is a robot that can mimic the motion of a snake. The serpentine robot of rigid construction can be modular, either through a single degree of freedom module or a tandem of multiple degrees of freedom modules of the same or similar construction. Common snake-shaped robot joint connection forms include parallel connection, orthogonal connection, universal joint connection and P-R connection. The motion joints of the four connection types of the snake-shaped robot are generally in single degree of freedom or two degrees of freedom, and the dexterity of the formed snake-shaped robot is limited. The existing multi-degree-of-freedom joint is often large in size and difficult to widely apply.
SUMMERY OF THE UTILITY MODEL
The utility model provides a snakelike arm three degree of freedom wrist joints.
The utility model adopts the technical proposal that the wrist joint with three degrees of freedom of the snake-shaped arm comprises a bracket, a rotary motor driving the bracket to rotate and a differential mechanism arranged on the bracket, wherein the middle part of the lower side surface of the bracket is fixedly arranged at the tail end of an output shaft of the rotary motor;
the differential mechanism comprises differential motors which are arranged on two sides of the swing mechanism in a bilateral symmetry mode, bevel gears A are fixedly mounted at the tail ends of output shafts of the differential motors, a pitch shaft is transversely arranged above the bevel gears A, bevel gears B and bevel gears C which are in meshing transmission with the bevel gears A are fixedly mounted on the pitch shaft from the outside to the inside in sequence, the outer ends of the pitch shafts are in rotating connection with the support through bearing seats, deflection shafts which are coaxial with the pitch shafts are arranged between the pitch shafts on the two sides, two ends of each deflection shaft are in rotating connection with the pitch shafts on the two sides through bearings A respectively, mounting shafts extend outwards from the middle parts of the deflection shafts in the radial direction, bevel gears D which are in meshing transmission with the bevel gears C on the two sides are sleeved.
Further, the support includes support A, support B, and support A includes the bottom plate, and the bottom plate left and right sides is equipped with the curb plate, and the every single move axle is installed on the curb plate, and the differential motor is installed at the bottom plate downside, and rotary motor installs on support B, and support B is connected fixedly with last joint spare, and rotary motor's output shaft is connected fixedly with the bottom plate.
Furthermore, an output shaft of the rotating motor is fixedly provided with a flange plate, and the flange plate is fixedly connected with the bottom plate through screws.
Furthermore, the bevel gear A is sleeved on an output shaft of the differential motor, a threaded hole for installing a set screw is formed in one side face of the bevel gear A, the bevel gear is locked on the output shaft of the differential motor through the set screw, the inner end of the bevel gear B abuts against the inner end of the bevel gear C, the outer end of the bevel gear B abuts against a shaft shoulder on the pitch shaft, the outer end of the bevel gear C abuts against a sleeve, the sleeve is sleeved on the pitch shaft, two ends of the deflection shaft are respectively sleeved on the inner ends of the pitch shafts on two sides, a bearing A is arranged between the deflection shaft and the pitch shaft, the bearing A abuts against the sleeve, and the inner side of the end part.
Further, the installation axle outer end lock solid has the retaining ring, and the main aspects trompil inboard of bevel gear D offers the shaft shoulder that is used for location bearing B, and bearing B supports and leans on the retaining ring, and bevel gear D's axle head equipartition has a plurality of screw holes that are used for installing end effector.
Furthermore, the rotary motor and the differential motor are direct current motors
Compared with the prior art, the utility model discloses following beneficial effect has: simple structure, reasonable in design, the degree of freedom is many, the motion is dexterous, compact structure, can realize the motion of three kinds of different grade types of deflection, every single move, gyration, every single move, the deflection is driven by two motors together, and output torque is great with the ratio of joint dead weight, and same drive power just can provide with littleer motor, can effectively lighten weight, reduce the volume, and the gyration degree of freedom is by motor direct drive, and control is simpler.
Drawings
The following describes the present invention with reference to the accompanying drawings.
FIG. 1 is a schematic view showing the overall configuration of a wrist joint;
FIG. 2 is a front view of a wrist joint;
FIG. 3 is a right side view of the wrist joint;
FIG. 4 is a top view of a wrist joint;
fig. 5 is a sectional view of the transmission member of the differential mechanism.
In the figure: 1-scaffold a; 2-a differential motor; 6-bevel gear A; 8-side plate; 9-bearing seats; 11-a gasket; 15-pitch axis; 16-bevel gear B; 17-bevel gear C; 18-a sleeve; 19-deflection axis; 20-bevel gear D; 22-a retaining ring; 24-a rotary electric machine; 26-scaffold B; 27-flange plate.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the following detailed description.
As shown in fig. 1-5, a serpentine arm three-degree-of-freedom wrist joint comprises a support, a rotary motor for driving the support to rotate, and a differential mechanism arranged on the support, wherein the middle part of the lower side surface of the support is fixedly arranged at the tail end of an output shaft of the rotary motor;
the differential mechanism comprises differential motors which are arranged on two sides of the swing mechanism in a bilateral symmetry mode, bevel gears A are fixedly installed at the tail ends of output shafts of the differential motors, pitch shafts are transversely arranged above the bevel gears A, bevel gears B and bevel gears C which are in meshed transmission with the bevel gears A are fixedly installed on the pitch shafts from the outside to the inside in sequence, the bevel gears B abut against the large ends of the bevel gears C, the outer ends of the pitch shafts are rotatably connected with the support through bearing seats, deflection shafts which are coaxial with the pitch shafts are arranged between the pitch shafts on the two sides, two ends of each deflection shaft are rotatably connected with the pitch shafts on the two sides through bearings A respectively, installation shafts extend outwards from the middle parts of the deflection shafts in the radial direction, bevel gears D which are in meshed transmission with the bevel gears C on the two sides.
In this embodiment, support A, support B, support A include the bottom plate, and the bottom plate left and right sides is equipped with the curb plate, and the every single move axle is installed on the curb plate, and differential motor installs at the bottom plate downside, and rotary motor installs on support B, and support B is connected fixedly with last joint spare, and rotary motor's output shaft is connected fixedly with the bottom plate.
In this embodiment, the pitch axis passes through bearing C and installs on the curb plate, has sleeve spare along horizontal fixed mounting on the curb plate, and the bottom plate is provided with the gasket in the sleeve spare, and bearing C installs in the sleeve spare, and bearing C's axial positioning is realized to the gasket.
In the present embodiment, each bearing is a micro bearing.
In this embodiment, an output shaft of the converter motor is fixedly provided with a flange, and the flange is fixedly connected with the bottom plate through screws.
In this embodiment, the bevel gear a is sleeved on an output shaft of the differential motor, a side surface of one shaft of the bevel gear a is provided with a threaded hole for mounting a set screw, the bevel gear is locked on the output shaft of the differential motor through the set screw, an inner end of the bevel gear B abuts against an inner end of the bevel gear C, an outer end of the bevel gear B abuts against a shaft shoulder on the pitch shaft, an outer end of the bevel gear C abuts against a sleeve, the sleeve is sleeved on the pitch shaft, two ends of the yaw shaft are respectively sleeved on inner ends of the pitch shafts on two sides, a bearing a is arranged between the yaw shaft and the pitch shaft, the bearing a abuts against the sleeve, and a shaft shoulder.
In this embodiment, installation axle outer end lock solid has the retaining ring, and the main aspects trompil inboard of bevel gear D is offered and is used for fixing a position bearing B's shaft shoulder, and bearing B supports and leans on the retaining ring, and bevel gear D's axle head equipartition has a plurality of screw holes that are used for installing end effector.
In this embodiment, the rotary motor and the differential motor are both direct current motors
The snake-shaped arm three-degree-of-freedom wrist joint has the following motion modes:
pitching motion: the two rotary motors rotate at the same speed and in the same direction to enable the two bevel gears C to move at the same speed and in the same direction, and the bevel gears D rotate around the axis of the pitch shaft to realize the pitch action of the joint;
deflection motion: the two rotary motors rotate reversely at the same speed to enable the two bevel gears C to move reversely at the same speed, and the bevel gears D rotate around the axis of the deflection shaft to realize the deflection action of the joint;
rotating movement: the rotary motor drives the bracket to rotate, so that the rotary action of the joint is realized;
compound movement: the two rotary motors rotate in a differential mode to enable the two bevel gears C to do differential motion, the bevel gears D rotate around the axes of the pitch shaft and the yaw shaft at the same time, and the joint performs compound motion of pitch and yaw.
The above-mentioned preferred embodiments, further detailed description of the objects, technical solutions and advantages of the present invention, it should be understood that the above-mentioned are only preferred embodiments of the present invention, and should not be construed as limiting the present invention, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included within the scope of the present invention.
Claims (6)
1. A three-degree-of-freedom wrist joint with a snake-shaped arm is characterized in that: the differential mechanism is arranged on the bracket, and the middle part of the lower side surface of the bracket is fixedly arranged at the tail end of an output shaft of the rotary motor;
the differential mechanism comprises differential motors which are arranged on two sides of the swing mechanism in a bilateral symmetry mode, bevel gears A are fixedly mounted at the tail ends of output shafts of the differential motors, a pitch shaft is transversely arranged above the bevel gears A, bevel gears B and bevel gears C which are in meshing transmission with the bevel gears A are fixedly mounted on the pitch shaft from the outside to the inside in sequence, the outer ends of the pitch shafts are in rotating connection with the support through bearing seats, deflection shafts which are coaxial with the pitch shafts are arranged between the pitch shafts on the two sides, two ends of each deflection shaft are in rotating connection with the pitch shafts on the two sides through bearings A respectively, mounting shafts extend outwards from the middle parts of the deflection shafts in the radial direction, bevel gears D which are in meshing transmission with the bevel gears C on the two sides are sleeved.
2. The serpentine arm three-degree-of-freedom wrist joint according to claim 1, wherein: the support includes support A, support B, and support A includes the bottom plate, and the bottom plate left and right sides is equipped with the curb plate, and the every single move axle is installed on the curb plate, and differential motor installs at the bottom plate downside, and rotary motor installs on support B, and support B is connected fixedly with last joint spare, and rotary motor's output shaft is connected fixedly with the bottom plate.
3. The serpentine arm three-degree-of-freedom wrist joint according to claim 2, wherein: and the output shaft of the rotating motor is fixedly provided with a flange plate, and the flange plate is fixedly connected with the bottom plate through screws.
4. The serpentine arm three-degree-of-freedom wrist joint according to claim 1, wherein: the bevel gear A is sleeved on an output shaft of the differential motor, a threaded hole used for installing a set screw is formed in one side face of the bevel gear A, the bevel gear is locked on the output shaft of the differential motor through the set screw, the inner end of the bevel gear B abuts against the inner end of the bevel gear C, the outer end of the bevel gear B abuts against a shaft shoulder on the pitch shaft, the outer end of the bevel gear C abuts against a sleeve, the sleeve is sleeved on the pitch shaft, two ends of a deflection shaft are respectively sleeved at the inner ends of the pitch shafts on two sides, a bearing A is arranged between the deflection shaft and the pitch shaft, the bearing A abuts against the sleeve, and a shaft shoulder used.
5. The serpentine arm three-degree-of-freedom wrist joint according to claim 1, wherein: the installation axle outer end lock solid has the retaining ring, and the main aspects trompil inboard of bevel gear D is offered and is used for fixing a position bearing B's shaft shoulder, and bearing B supports and leans on the retaining ring, and bevel gear D's axle head equipartition has a plurality of screw holes that are used for installing end effector.
6. The serpentine arm three-degree-of-freedom wrist joint according to claim 1, wherein: the rotary motor and the differential motor are both direct current motors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922125232.0U CN211220700U (en) | 2019-12-02 | 2019-12-02 | Snake-shaped arm three-freedom-degree wrist joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922125232.0U CN211220700U (en) | 2019-12-02 | 2019-12-02 | Snake-shaped arm three-freedom-degree wrist joint |
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| Publication Number | Publication Date |
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| CN211220700U true CN211220700U (en) | 2020-08-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201922125232.0U Active CN211220700U (en) | 2019-12-02 | 2019-12-02 | Snake-shaped arm three-freedom-degree wrist joint |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110774277A (en) * | 2019-12-02 | 2020-02-11 | 福州大学 | Snake-shaped arm three-degree-of-freedom wrist joint and movement method |
| CN111941407A (en) * | 2020-09-17 | 2020-11-17 | 福州大学 | Three-degree-of-freedom snake-shaped robot module and snake-shaped robot applying same |
-
2019
- 2019-12-02 CN CN201922125232.0U patent/CN211220700U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110774277A (en) * | 2019-12-02 | 2020-02-11 | 福州大学 | Snake-shaped arm three-degree-of-freedom wrist joint and movement method |
| CN111941407A (en) * | 2020-09-17 | 2020-11-17 | 福州大学 | Three-degree-of-freedom snake-shaped robot module and snake-shaped robot applying same |
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