CN211220700U - Snake-shaped arm three-freedom-degree wrist joint - Google Patents

Snake-shaped arm three-freedom-degree wrist joint Download PDF

Info

Publication number
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
Authority
CN
China
Prior art keywords
shaft
bevel gear
pitch
shafts
differential
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201922125232.0U
Other languages
Chinese (zh)
Inventor
东辉
刘犇
孙浩
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fuzhou University
Original Assignee
Fuzhou University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fuzhou University filed Critical Fuzhou University
Priority to CN201922125232.0U priority Critical patent/CN211220700U/en
Application granted granted Critical
Publication of CN211220700U publication Critical patent/CN211220700U/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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

Snake-shaped arm three-freedom-degree wrist joint
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.
CN201922125232.0U 2019-12-02 2019-12-02 Snake-shaped arm three-freedom-degree wrist joint Active CN211220700U (en)

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

Publications (1)

Publication Number Publication Date
CN211220700U true CN211220700U (en) 2020-08-11

Family

ID=71927617

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201922125232.0U Active CN211220700U (en) 2019-12-02 2019-12-02 Snake-shaped arm three-freedom-degree wrist joint

Country Status (1)

Country Link
CN (1) CN211220700U (en)

Cited By (1)

* Cited by examiner, † Cited by third party
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

Cited By (1)

* Cited by examiner, † Cited by third party
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

Similar Documents

Publication Publication Date Title
CN110774277A (en) Snake-shaped arm three-degree-of-freedom wrist joint and movement method
CN107932551B (en) Seven-degree-of-freedom cooperative mechanical arm
CN106182071B (en) The flexible differential driving joint module of two degrees of freedom rotation
JPS6039518B2 (en) Industrial robot wrist mechanism
CN103101057A (en) Robot arm component
US20140148293A1 (en) Composite drive device and robot
CN102773856A (en) Space five-FOD (Degree of Freedom) mechanism for independently controlling rotational motion and translational motion
CN111941407A (en) Three-degree-of-freedom snake-shaped robot module and snake-shaped robot applying same
CN106863347B (en) Modularized two-degree-of-freedom robot joint
CN101637912A (en) Joint of hyper-redundant robot
CN211220700U (en) Snake-shaped arm three-freedom-degree wrist joint
CN102848375A (en) Spatial six-degree-of-freedom mechanism capable of separately controlling rotation motion and translation motion
CN106142066A (en) A kind of modular end of lightweight directly drives planar multiple-articulation robot system
CN110861120B (en) Driving joint based on double-stator frameless torque motor and application thereof
CN112066155B (en) Differential supporting wheel type pipeline robot
CN209812366U (en) Biaxial joint device
CN201552579U (en) Hyper-redundant robot joint
CN212421294U (en) Three-degree-of-freedom snake-shaped robot module
CN112873265B (en) Humanoid robot and joint thereof
CN110561493B (en) Anthropomorphic mechanical arm
CN209755207U (en) Manipulator and robot
CN113894838A (en) Flat harmonic speed reduction modularization driving joint
CN102229145A (en) Secondary oscillating joint structure of underwater electric manipulator
CN215548791U (en) Compact light-weight type two-degree-of-freedom robot mounting platform with self-locking function
CN219802079U (en) Joint motor in application robot

Legal Events

Date Code Title Description
GR01 Patent grant
GR01 Patent grant