CN212666102U - Three-dimensional mechanical joint and mechanical arm connected by framework - Google Patents
Three-dimensional mechanical joint and mechanical arm connected by framework Download PDFInfo
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- CN212666102U CN212666102U CN202021771042.2U CN202021771042U CN212666102U CN 212666102 U CN212666102 U CN 212666102U CN 202021771042 U CN202021771042 U CN 202021771042U CN 212666102 U CN212666102 U CN 212666102U
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- 230000005540 biological transmission Effects 0.000 description 7
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- 238000013461 design Methods 0.000 description 5
- 210000003462 vein Anatomy 0.000 description 4
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Abstract
The utility model relates to a three-dimensional mechanical joint and mechanical arm connected by a framework, wherein the three-dimensional mechanical joint comprises a first rotatable structure and a second rotatable structure, the first rotatable structure comprises a first joint shell and a first joint framework, and the first joint framework is rotationally connected with the first joint shell; the second rotatable structure comprises a second joint shell and a second joint framework, and the second joint framework is obliquely connected with the first joint framework; the first joint shell comprises a first cylindrical part and a first framework connecting part, and the first cylindrical part is obliquely connected with the first framework connecting part; the second joint shell comprises a second cylindrical portion and a second framework connecting portion, the second cylindrical portion is connected with the second framework connecting portion in an inclined mode, and the first cylindrical portion is connected with the second cylindrical portion in a rotating mode. Compared with the prior art, the utility model has the advantages of can carry out three-dimensional space and rotate, realize that rotation control able to programme, control are accurate, stable in structure is reliable, can auto-lock and compact structure.
Description
Technical Field
The utility model belongs to the technical field of the arm and specifically relates to a three-dimensional mechanical joint and arm that skeleton is connected is related to.
Background
With the gradual precision, agility and intelligent development of industrial machinery represented by robots, a large number of rotation transmission schemes realized by mechanical arms emerge at present. However, there are more and more requirements on these rotational transmission schemes, and nowadays, it is very important to realize a rotational transmission scheme that is flexible, compact, accurate, actively controllable, programmable in motion, capable of three-dimensionally rotating, and self-locking, but a design scheme that can simultaneously realize the above requirements is not easy to realize.
Chinese patent CN201822040737.2 discloses a mechanical joint, which comprises: a base; the ball head rod comprises a ball head and a supporting rod which are connected, and the ball head is rotatably arranged on the base; the Mecanum wheel is contacted with the ball head; and the driving device is relatively and fixedly arranged with the base, and is in driving connection with the Mecanum wheel so as to enable the Mecanum wheel to drive the ball head to rotate around the spherical center of the ball head. The robot comprises the mechanical joint. Due to design limitation, the joint cannot really realize spatial three-dimensional rotation, and meanwhile, the joint cannot be self-locked when external torque is applied to a mechanical arm, so that a transmission structure is easily damaged.
Chinese patent cn201920687886.x discloses a design for achieving a three-dimensional rotation purpose by controlling a spherical hinge, comprising: the end part of the swing arm is provided with a socket body with a concave surface, a shell body rotationally connected with the concave surface and a swing arm rotationally connected with the shell body; the swing arm is provided with a second boss which is inserted in the second groove in a sliding manner, and the swing arm further comprises an actuator which is used for controlling the first boss to slide along the first groove so as to drive the shell to rotate along the concave surface and controlling the second boss to slide along the second groove so as to drive the swing arm to swing along the shell. However, the scheme has the advantages that the structure is not compact due to the aid of the layer-by-layer spherical design, the spherical design is not easy to control, and the accuracy is poor.
There is the demand to mechanical rotation transmission scheme structure exquisiteness and can strict auto-lock in some fields, for example adopt the robot to carry out full-automatic venipuncture in-process, because vein itself orientation is arbitrary, and the arm must control the accurate, the nimble predetermined puncture orbit of realizing of pjncture needle: vein alignment-angle selection-puncture-after-puncture needle tip is slightly lifted upwards. The complex motion is difficult to realize accurately, and even if the complex motion is realized, the structure is difficult to compact.
Simultaneously, for the safety of guaranteeing by the puncture patient, this scene requires the strict auto-lock of arm: the structure should have the ability to remain stationary when an external force attempts to rotate the robotic arm.
SUMMERY OF THE UTILITY MODEL
The purpose of the utility model is to provide a three-dimensional mechanical joint and mechanical arm that can strictly auto-lock and control accurate skeleton connection in order to overcome the defects that above-mentioned prior art exists.
The purpose of the utility model can be realized through the following technical scheme:
a three-dimensional mechanical joint connected by a framework comprises a first rotatable structure and a second rotatable structure, wherein the first rotatable structure comprises a first joint shell and a first joint framework, and the first joint framework is positioned in the first joint shell and is rotationally connected with the first joint shell; the second rotatable structure comprises a second joint shell and a second joint framework, the second joint framework is positioned in the second joint shell, and the second joint framework is obliquely connected with the first joint framework;
the first joint shell comprises a first cylindrical part and a first framework connecting part, and the first cylindrical part is obliquely connected with the first framework connecting part;
the second joint shell comprises a second cylindrical portion and a second framework connecting portion, the second cylindrical portion is connected with the second framework connecting portion in an inclined mode, and the first cylindrical portion is connected with the second cylindrical portion in a rotating mode.
Further, the second cylindrical portion is rotatably connected to the first cylindrical portion by a rolling bearing or a sliding bearing.
Further, the first cylindrical portion is formed with a groove for accommodating the second cylindrical portion, and the second cylindrical portion is located in the groove and is rotatably connected with the first cylindrical portion.
Further, first joint shell is connected with first motor, first joint skeleton is connected with the second motor.
Further, first joint shell is connected with first motor specifically does, first joint shell has connected gradually driven gear, driving gear and first motor, the driven gear cover is established the first joint shell outside, and with first joint shell fixed connection, the driving gear receives first motor drive, the driving gear with driven gear cooperatees, is used for driving driven gear rotates.
Further, first motor passes through the key-type connection the driving gear, driven gear passes through the key-type connection first joint shell, the second motor passes through the key-type connection first joint skeleton.
Further, the second joint framework is obliquely connected with the first joint framework through a hinge.
Further, the three-dimensional mechanical joint is used for connecting the controlled member to perform three-dimensional rotation; the second joint housing is connected to the controlled member.
Further, the controlled member is a syringe.
Further, the controlled member is attached to a side of the second joint housing.
The utility model also provides a mechanical arm, including a plurality of series connection in proper order, as above a three-dimensional mechanical joint of skeleton joint.
Compared with the prior art, the utility model has the advantages of it is following:
(1) the three-dimensional space rotation can be realized: the utility model drives the first framework connecting part to rotate, so that the whole three-dimensional mechanical joint rotates around the rotating central shaft of the first framework connecting part, and the inclination angles of the first cylindrical part and the first framework connecting part determine the rotating range of the second joint shell at the moment; the first joint framework is driven to rotate, so that the second joint framework and the second joint shell rotate on the first cylindrical part along with the first joint framework, and the inclination angle of the connecting part of the second cylindrical part and the second framework determines the rotation range of the second joint shell at the moment; in the two rotations, the second joint shell is respectively positioned in two mutually inclined rotation planes, and the included angle of the two rotation planes is determined by the inclination angle of the second joint framework and the first joint framework, so that the three-dimensional space rotation capable of being actively controlled is realized;
(2) the structure is stable and reliable: the three-dimensional mechanical joint can arrange the driving motor with larger weight below, can not bring burden to the driven part driven by the three-dimensional mechanical joint, and is more stable and reliable;
(3) and (3) realizing programmable rotation control: the utility model can realize the rotation of the mechanical hinge along any track in the rotation range by programming the rotation of the two motors;
(4) and (3) precise control: the traditional three-dimensional rotating joint, such as a spherical hinge structure, is difficult to realize accurate control, and the utility model can easily ensure accurate rotation angle through gear transmission;
(5) self-locking of the structure: the rotation of the three-dimensional mechanical joint of the utility model is controlled by the motor only, and the mechanical arm directly connected with the joint is applied with external force to make the mechanism self-lock, thereby protecting the mechanical arm, the motor and the mechanical arm operation object;
(6) the structure is compact: the three-dimensional space rotation is realized by using a simpler mechanism and fewer parts.
Drawings
FIG. 1 is a schematic diagram of the present invention;
FIG. 2 is a schematic view of the rotation state of the present invention;
fig. 3 is a schematic structural view of a three-dimensional mechanical joint according to embodiment 1 of the present invention;
fig. 4 is a detailed schematic view of the structure of a three-dimensional mechanical joint in embodiment 1 of the present invention;
fig. 5 is a partial schematic view of a three-dimensional mechanical joint according to embodiment 1 of the present invention;
FIG. 6 is an internal view of FIG. 5;
fig. 7 is a first schematic view of the rotation process of the present invention;
FIG. 8 is a second schematic view of the rotation process of the present invention;
fig. 9 is a third schematic view of the rotation process of the present invention;
fig. 10 is a schematic structural view of the robot arm of the present invention;
in the figure, 001, a chamfered surface column structure a, 002, a chamfered surface column structure B, 1, a first rotatable structure, 11, a first motor, 12, a first joint housing, 121, a first cylindrical part, 122, a first framework connecting part, 13, a first joint framework, 14, a driving gear, 15, a driven gear, 16, a gear box, 2, a second rotatable structure, 21, a second motor, 22, a second joint housing, 221, a second cylindrical part, 222, a second framework connecting part, 23, a second joint framework, 3, a hinge, 4 and a three-dimensional mechanical joint.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. The embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
Example 1
The present embodiment provides a three-dimensional mechanical joint connected by a framework, which is described in the following aspects of overview, specific structure, control method and combined application.
Summary of the invention
As shown in fig. 1 and fig. 2, the core transmission component of the three-dimensional mechanical joint of the present embodiment can be summarized as 001: a chamfered surface pillar structure A; 002: and (4) chamfering the surface column structure B. Assuming that the 001 centerline is fixed, the 002 centerline is rotatable about center O. By rotation control, 001 and 002 are rotated along the self axial direction, and the rotation of 002 around the center O is realized by the matched inclined plane between the two, and the effect is shown in figure 2.
Suppose that 001 and 002 are rotated about themselves by respective angles phi1And phi2The inclination angles of the self-inclined planes are respectively theta1And theta2Establishing a space coordinate system A by taking O as an origin and taking a 001 axis as a z-axis, establishing a space coordinate system B by taking O as the origin and taking a 001 oblique tangent plane normal as the z-axis, establishing a space by taking O as the origin and taking a 002 axis as the z-axisAn inter-coordinate system C.
Thus, the transformation between the coordinate systems can be expressed as:
when the vector P represents the 002 central axis direction, then:
in the formula (I), the compound is shown in the specification,cp is the coordinate of the controlled part P in the spatial coordinate system C,
for the transformation from the spatial coordinate system B to the spatial coordinate system a,
for the transformation from the spatial coordinate system C to the spatial coordinate system B,
is the angle of rotation of the first rotatable structure,
is the angle of rotation of the second rotatable structure, θ1Is the tilt angle of space coordinate system A and space coordinate system B, theta2Is the inclination angle of the space coordinate system B and the space coordinate system C.
The three-dimensional space rotation can be realized through the transformation steps.
Second, concrete structure
The following describes a specific structure of the three-dimensional mechanical joint connected by the skeleton according to the embodiment.
As shown in fig. 3, the skeletal three-dimensional mechanical joint provided by this embodiment includes a first rotatable structure 1 and a second rotatable structure 2, where the first rotatable structure 1 includes a first joint housing 12 and a first joint skeleton 13, and the first joint skeleton 13 is located inside the first joint housing 12 and is rotatably connected to the first joint housing 12; the second rotatable structure 2 comprises a second joint shell 22 and a second joint framework 23, the second joint framework 23 is positioned inside the second joint shell 22, and the second joint framework 23 is obliquely connected with the first joint framework 13;
the first joint housing 12 includes a first cylindrical portion 121 and a first skeleton connecting portion 122, the first cylindrical portion 121 being connected to the first skeleton connecting portion 122 obliquely;
the second joint housing 22 includes a second cylindrical portion 221 and a second frame connecting portion 222, the second cylindrical portion 221 is connected to the second frame connecting portion 222 in an inclined manner, and the first cylindrical portion 121 is rotatably connected to the second cylindrical portion 221.
The construction and operation of the various components are described in detail below.
1. Connection of cylindrical parts
The second cylindrical portion 221 is rotatably connected to the first cylindrical portion 121 via a rolling bearing or a sliding bearing.
The first cylindrical portion 121 is formed with a recess for receiving the second cylindrical portion 221, and the second cylindrical portion 221 is located in the recess and rotatably coupled to the first cylindrical portion 121.
2. Driving three-dimensional mechanical joints
The first joint housing 12 is connected with a first motor 11, and the first joint skeleton 13 is connected with a second motor 21.
As shown in fig. 4, the first joint housing 12 is connected with the first motor 11, specifically, the first joint housing 12 is connected with the driven gear 15, the driving gear 14 and the first motor 11 in sequence, the driven gear 15 is sleeved on the outer side of the first joint housing 12 and is fixedly connected with the first joint housing 12, the driving gear 14 is driven by the first motor 11, and the driving gear 14 is matched with the driven gear 15 and is used for driving the driven gear 15 to rotate.
The first motor 11 is connected with the driving gear 14 through a key, the driven gear 15 is connected with the first joint shell 12 through a key, and the second motor 21 is connected with the first joint framework 13 through a key.
The second joint frame 23 is connected to the first joint frame 13 obliquely via the hinge 3.
Equivalently, the first joint shell 12 and the first joint framework 13 jointly form a large arm part, the large arm part and the small arm part only rotate relatively in the axial direction, the second joint shell 22 and the second joint framework 23 form a small arm part, only rotate relatively in the axial direction, the driving gear 14 is meshed with the driven gear 15, the driven gear 15 is in key connection with the first joint shell 12 to prevent the relative rotation in the axial direction, the second motor 21 is in key connection with the first joint framework 13 to drive the first joint framework 13 to rotate, the first motor 11 is in key connection with the driving gear 14 to drive the driving gear 14 to rotate, the driving gear 14 and the driven gear 15 are arranged in a box body of the gear box 16, and the gear box body is used for structural fixation and protection. All the keys can be replaced by welding or integrated connection.
3. Principle of operation
When the three-dimensional mechanical joint is used, the first framework connecting part 122 is driven to rotate, so that the whole three-dimensional mechanical joint rotates around the rotating central shaft of the first framework connecting part 122;
although the first cylindrical portion 121 is rotatably connected to the second cylindrical portion 221, the first cylindrical portion 121 does not rotate about its own rotational center axis, so the second cylindrical portion 221 does not rotate relative to the first cylindrical portion 121 in the process;
the first joint frame 13 is rotated, so that the second joint frame 23 and the second joint housing 22 rotate on the first cylindrical portion 121.
Specifically, as shown in fig. 7 to 9, when only the first motor 11 rotates, S111: the first motor 11 drives the driving gear 14 to rotate; s112: the driving gear 14 drives the driven gear 15 to rotate; s113: the driven gear 15 rotates the first joint housing 12.
When only the second motor 21 is rotated, S121: the second motor 21 drives the first joint framework 13 to rotate; s122: the first joint framework 13 drives the second joint framework 23 to rotate through the hinge 3; s123: since the first joint housing 12 and the second joint housing 22 are fitted with inclined surfaces, the axial rotation can be converted into rotation of the forearm portion about the center point of the hinge 3.
When the first motor 11 and the second motor 21 are controlled to rotate simultaneously according to a preset program, the three-dimensional mechanical joint can rotate in a space range according to a preset track.
4. Method for using three-dimensional mechanical joint
The three-dimensional mechanical joint is used for connecting the controlled piece to perform three-dimensional rotation; the second joint housing 22 is connected to the controlled member. The controlled member is a syringe. In this embodiment a syringe is attached to the side of the second joint housing 22.
In the embodiment, the three-dimensional mechanical joint is used in the full-automatic venipuncture process, and the injector is fixed on the outer side of the second joint shell 22, so that the injector is controlled to perform venipuncture, and the puncture needle can be controlled to accurately and flexibly realize a predetermined puncture track: the needle head is slightly lifted upwards after vein alignment, vein insertion angle selection, insertion and insertion, and the structure can be guaranteed to be self-locked under the condition that large torque of a motor is not needed.
Third, control method
The control method of the three-dimensional mechanical joint connected with the framework comprises the following steps:
establishing a space coordinate system A by taking the axis of the first framework connecting part 122 as a Z axis and the rotation center of the second cylindrical part 221 as an origin;
establishing a space coordinate system B by taking the normal of the inclined plane of the first cylindrical part 121 as the Z axis and the rotation center of the second cylindrical part 221 as the origin;
establishing a space coordinate system C by taking the axis of the second framework connecting part 222 as a Z axis and the rotation center of the second cylindrical part 221 as an origin;
and acquiring the coordinates of the controlled part in the space coordinate system C, and calculating to obtain the coordinates of the controlled part in the space coordinate system A through coordinate system transformation, thereby formulating a control scheme of the three-dimensional mechanical joint.
The computational expression of the coordinate system transformation is:
in the formula (I), the compound is shown in the specification,cp is the coordinate of the controlled part P in the spatial coordinate system C,
for the transformation from the spatial coordinate system B to the spatial coordinate system a,
for the transformation from the spatial coordinate system C to the spatial coordinate system B,
is the angle of rotation of the first rotatable structure,
is the angle of rotation of the second rotatable structure, θ1Is the inclination angle, theta, of the first cylindrical portion 121 and the first skeleton-connecting portion 1222Is the inclination angle of the second cylindrical portion 221 and the second skeleton-connecting portion 222.
Four, combined application
As shown in fig. 10, the present embodiment further provides a robot arm, which includes a plurality of three-dimensional mechanical joints 4 connected in series in sequence and connected by a framework as described above, and is a multi-joint robot arm or a flexible robot arm capable of being precisely programmed and controlled;
when the motors of all the mechanical joints are programmed and controlled according to the corresponding modes, the mechanical arm can realize the control of the preset rotation angle and the preset shape of the mechanical arm.
The foregoing has described in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions that can be obtained by a person skilled in the art through logic analysis, reasoning or limited experiments based on the prior art according to the concepts of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. A three-dimensional mechanical joint connected by a framework, comprising a first rotatable structure (1) and a second rotatable structure (2), characterized in that the first rotatable structure (1) comprises a first joint housing (12) and a first joint framework (13), and the first joint framework (13) is positioned inside the first joint housing (12) and is rotationally connected with the first joint housing (12); the second rotatable structure (2) comprises a second joint shell (22) and a second joint framework (23), the second joint framework (23) is located inside the second joint shell (22), and the second joint framework (23) is obliquely connected with the first joint framework (13);
the first joint housing (12) comprises a first cylindrical part (121) and a first framework connecting part (122), and the first cylindrical part (121) is obliquely connected with the first framework connecting part (122);
the second joint housing (22) comprises a second cylindrical portion (221) and a second framework connecting portion (222), the second cylindrical portion (221) is connected with the second framework connecting portion (222) in an inclined mode, and the first cylindrical portion (121) is connected with the second cylindrical portion (221) in a rotating mode.
2. A three-dimensional mechanical skeletal joint according to claim 1, characterized in that the second cylindrical portion (221) is rotationally coupled to the first cylindrical portion (121) by means of a rolling bearing or a plain bearing.
3. A mechanically articulated, three-dimensional joint according to claim 1, wherein said first cylindrical portion (121) is formed with a recess for housing said second cylindrical portion (221), said second cylindrical portion (221) being located in said recess and being rotatably coupled to said first cylindrical portion (121).
4. A mechanically skeletal joint according to claim 1, characterized in that a first electric motor (11) is connected to the first joint housing (12) and a second electric motor (21) is connected to the first joint skeleton (13).
5. The three-dimensional mechanical joint connected with a framework according to claim 4, wherein the first joint housing (12) is connected with a first motor (11), specifically, the first joint housing (12) is sequentially connected with a driven gear (15), a driving gear (14) and the first motor (11), the driven gear (15) is sleeved on the outer side of the first joint housing (12) and is fixedly connected with the first joint housing (12), the driving gear (14) is driven by the first motor (11), and the driving gear (14) is matched with the driven gear (15) and is used for driving the driven gear (15) to rotate.
6. The mechanically skeletal joint according to claim 5, characterized in that the first electric motor (11) is keyed to the driving gear (14), the driven gear (15) is keyed to the first joint housing (12), and the second electric motor (21) is keyed to the first joint skeleton (13).
7. A frame-connected three-dimensional mechanical joint according to claim 1, characterized in that the second joint frame (23) is connected obliquely to the first joint frame (13) by means of a hinge (3).
8. The mechanically articulated three-dimensional joint according to claim 1, wherein said three-dimensional joint is adapted to be connected to a controlled member for three-dimensional rotation; the second joint housing (22) is connected to the controlled member.
9. The mechanically articulated, three-dimensional joint according to claim 8, characterized in that the controlled element is a syringe (5).
10. A robot arm, characterized in that it comprises a plurality of three-dimensional mechanical joints (4) connected in series in a skeleton according to claim 1.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021771042.2U CN212666102U (en) | 2020-08-24 | 2020-08-24 | Three-dimensional mechanical joint and mechanical arm connected by framework |
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| CN202021771042.2U CN212666102U (en) | 2020-08-24 | 2020-08-24 | Three-dimensional mechanical joint and mechanical arm connected by framework |
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| CN212666102U true CN212666102U (en) | 2021-03-09 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111993460A (en) * | 2020-08-24 | 2020-11-27 | 同济大学 | Three-dimensional mechanical joint connected by framework, mechanical arm and control method |
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2020
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111993460A (en) * | 2020-08-24 | 2020-11-27 | 同济大学 | Three-dimensional mechanical joint connected by framework, mechanical arm and control method |
| CN111993460B (en) * | 2020-08-24 | 2024-06-28 | 同济大学 | Skeleton-connected three-dimensional mechanical joint, mechanical arm and control method |
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Granted publication date: 20210309 |