CN212859463U - Three-degree-of-freedom series servo mechanism - Google Patents

Abstract

The utility model relates to the technical field of servo mechanisms, and a three-degree-of-freedom series servo mechanism is disclosed, including first degree-of-freedom mechanism, second degree-of-freedom mechanism and third degree-of-freedom mechanism, first degree-of-freedom mechanism includes first U type fixed plate, the inside lower surface of first U type fixed plate is fixed with first motor, be fixed with second bevel gear on the output shaft of first motor, second bevel gear's below is equipped with first bevel gear, first bevel gear with second bevel gear meshing is connected, and first bevel gear's bottom center department is fixed with first bevel gear axle, the lateral wall of first bevel gear axle is close to first bevel gear department is fixed with first axle sleeve; the utility model discloses compare in current servo mechanism, have characteristics such as simple structure, control are easy, the installation is simple, convenient to use to stronger commonality and practicality have.

Description

Three-degree-of-freedom series servo mechanism

Technical Field

The utility model relates to a servo technical field specifically is a three degree of freedom series connection servomechanism.

Background

The servo mechanism is a servo system in which the controlled variable is the mechanical position or the derivative of the mechanical position with respect to time, and the servo mechanism is a system for achieving the position, speed or acceleration control of a mechanical system through a closed-loop control method, and has the function of mainly providing the power of a controlled body, which may be presented in a pneumatic, hydraulic or electric driving manner.

The existing servo mechanism is complex in structure and difficult to control, the existing servo mechanism is inconvenient to use, an operator of the existing servo mechanism is inconvenient to install, and meanwhile, the universality and the practicability are poor.

SUMMERY OF THE UTILITY MODEL

Technical problem to be solved

The utility model provides a not enough to prior art, the utility model provides a three degree of freedom series connection servomechanism has solved that current servomechanism structure is comparatively complicated, is difficult to control, installs with the inconvenient operating personnel of current servomechanism, commonality and the relatively poor problem of practicality simultaneously.

(II) technical scheme

In order to achieve the above object, the utility model provides a following technical scheme: a three-degree-of-freedom series servo mechanism comprises a first degree-of-freedom mechanism, a second degree-of-freedom mechanism and a third degree-of-freedom mechanism, wherein the first degree-of-freedom mechanism comprises a first U-shaped fixing plate, a first motor is fixed on the lower surface inside the first U-shaped fixing plate, a second bevel gear is fixed on an output shaft of the first motor, a first bevel gear is arranged below the second bevel gear, the first bevel gear is in meshed connection with the second bevel gear, a first bevel gear shaft is fixed at the center of the bottom of the first bevel gear, a first shaft sleeve is fixed on the outer side wall of the first bevel gear shaft, close to the first bevel gear, a first bearing is fixed inside a through hole in the top of the first U-shaped fixing plate through a first bearing end cover and a second bearing end cover, a first rotating disc is fixed at the bottom end of the first bevel gear shaft, and the first bearing end cover, the second degree-of-freedom mechanism comprises a second U-shaped fixing plate, the top of the first U-shaped fixing plate is positioned inside the second U-shaped fixing plate, a second motor is fixed on the lower surface of the inside of the first U-shaped fixing plate, which is close to the first bevel gear, a third bevel gear is fixed on an output shaft of the second motor, a fourth bevel gear is arranged on one side of the third bevel gear, the fourth bevel gear is meshed with the third bevel gear, a second bevel gear shaft is fixed at the center of one side of the fourth bevel gear, a second sleeve is fixed on the outer side wall of the second bevel gear shaft, which is close to the fourth bevel gear, a second bearing is fixed inside a through hole at the top of one side of the first U-shaped fixing plate through a third bearing end cover and a fourth bearing end cover, and one end of the second bevel gear shaft, which is far away from the fourth bevel gear, penetrates through the second bearing and one side of the second U-shaped fixing plate, one end of the second bevel gear shaft, which is far away from the fourth bevel gear, is fixedly connected with one side of the second U-shaped fixing plate through the first locking nut and the second locking nut, a third bearing is fixed inside a through hole at the top of the other side of the first U-shaped fixing plate through a fifth bearing end cover, a connecting shaft is arranged inside the third bearing in a penetrating manner, the right end of the connecting shaft penetrates through the other side of the second U-shaped fixing plate, the right end of the connecting shaft is fixedly connected with the other side of the second U-shaped fixing plate through the third locking nut and the fourth locking nut, the third degree-of-freedom mechanism comprises the second U-shaped fixing plate, a third motor is fixed on the upper surface inside the second U-shaped fixing plate, a fifth bevel gear is fixed on an output shaft of the third motor, and a sixth bevel gear is arranged above the fifth bevel gear, the sixth bevel gear is in meshed connection with the fifth bevel gear, a third bevel gear shaft is fixed at the center of the top of the sixth bevel gear, a third shaft sleeve is fixed at the position, close to the sixth bevel gear, of the outer side wall of the third bevel gear shaft, a fourth bearing is fixed inside a through hole in the top of the second U-shaped fixing plate through a sixth bearing end cover and a seventh bearing end cover, and a second rotating disc is fixed at the top end of the third bevel gear shaft, penetrates through the fourth bearing and is fixed on the fourth bearing.

Preferably, the mechanism comprises a first detection mechanism, the first detection mechanism comprises a first encoder and a first encoder fixing frame, the first encoder is fixedly connected with the first encoder fixing frame, the bottom of the first encoder fixing frame is fixedly connected with the lower surface of the inner portion of the first U-shaped fixing plate, and the detection end of the first encoder is fixedly connected with the top of the first bevel gear.

Preferably, the mechanism includes second detection mechanism, second detection mechanism includes second encoder and second encoder mount, the second encoder with second encoder mount fixed connection, one side of second encoder mount with internal surface one side fixed connection of first U type fixed plate, the sense terminal of second encoder with the left end fixed connection of connecting axle.

Preferably, the mechanism further comprises a third detection mechanism, the third detection mechanism comprises a third encoder and a third encoder fixing frame, the third encoder is fixedly connected with the third encoder fixing frame, the top of the third encoder fixing frame is fixedly connected with the upper surface of the inner portion of the second U-shaped fixing plate, and the detection end of the third encoder is fixedly connected with the bottom of the sixth bevel gear.

(III) advantageous effects

The utility model provides a three degree of freedom series servo mechanism possesses following beneficial effect:

the utility model discloses compare in current servo mechanism, have characteristics such as simple structure, control are easy, the installation is simple, convenient to use to stronger commonality and practicality have.

Drawings

Fig. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural diagram of a first degree of freedom mechanism of the present invention;

FIG. 3 is a schematic structural diagram of a second degree of freedom mechanism according to the present invention;

fig. 4 is a schematic structural diagram of a third degree-of-freedom mechanism in the present invention.

In the figure: 1. a first rotating disk; 2. a first bevel gear shaft; 3. a first bearing end cap; 4. a first U-shaped fixing plate; 5. a fifth bearing end cap; 7. a third lock nut; 8. a fourth lock nut; 9. a connecting shaft; 10. a second U-shaped fixing plate; 11. a second rotating disk; 12. a third bevel gear shaft; 13. a sixth bearing end cap; 14. a first lock nut; 15. a second lock nut; 16. a second bevel gear shaft; 17. a third bearing end cap; 18. a fourth bearing end cap; 19. a second shaft sleeve; 20. a second bearing end cap; 21. a first bushing; 22. a first encoder fixing frame; 23. a first bevel gear; 24. a first encoder; 25. a second bevel gear; 26. a first motor; 27. a second encoder; 28. a second encoder fixing frame; 29. a third encoder fixing frame; 30. a sixth bevel gear; 31. a seventh bearing end cap; 32. a third bearing; 33. a third encoder; 34. a fifth bevel gear; 35. a third motor; 36. a fourth bevel gear; 37. a third bevel gear; 38. a second motor; 39. a first bearing; 40. a second bearing; 41. a third bearing; 42. and a fourth bearing.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

As shown in fig. 1-4, the utility model provides a technical solution: a three-freedom-degree series servo mechanism comprises a first freedom-degree mechanism, a second freedom-degree mechanism and a third freedom-degree mechanism, wherein the first freedom-degree mechanism comprises a first U-shaped fixing plate 4, a first motor 26 is fixed on the lower surface of the inside of the first U-shaped fixing plate 4, a second bevel gear 25 is fixed on an output shaft of the first motor 26, a first bevel gear 23 is arranged below the second bevel gear 25, the first bevel gear 23 is in meshed connection with the second bevel gear 25, a first bevel gear shaft 2 is fixed at the center of the bottom of the first bevel gear 23, a first shaft sleeve 21 is fixed on the outer side wall of the first bevel gear shaft 2 close to the first bevel gear 23, a first bearing 39 is fixed inside a through hole at the top of the first U-shaped fixing plate 4 through a first bearing end cover 3 and a second bearing end cover 20, a first bearing 39 penetrates through the bottom end of the first bevel gear shaft 2, and a first, the second degree of freedom mechanism comprises a second U-shaped fixing plate 10, the top of the first U-shaped fixing plate 4 is positioned inside the second U-shaped fixing plate 10, a second motor 38 is fixed on the lower surface of the inside of the first U-shaped fixing plate 4 near the first bevel gear 23, a third bevel gear 37 is fixed on the output shaft of the second motor 38, a fourth bevel gear 36 is arranged on one side of the third bevel gear 37, the fourth bevel gear 36 is meshed with the third bevel gear 37, a second bevel gear shaft 16 is fixed on the center of one side of the fourth bevel gear 36, a second bushing 19 is fixed on the outer side wall of the second bevel gear shaft 16 near the fourth bevel gear 36, a second bearing 40 is fixed inside a through hole on the top of one side of the first U-shaped fixing plate 4 through a third bearing end cover 17 and a fourth bearing end cover 18, one end of the second bevel gear shaft 16 far away from the fourth bevel gear 36 penetrates through the second bearing 40 and one side of the second U-, one end of the second bevel gear shaft 16, which is far away from the fourth bevel gear 36, is fixedly connected with one side of the second U-shaped fixing plate 10 through a first locking nut 14 and a second locking nut 15, a third bearing 41 is fixed inside a through hole at the top of the other side of the first U-shaped fixing plate 4 through a fifth bearing end cover 5, a connecting shaft 9 is arranged inside the third bearing 41 in a penetrating manner, the right end of the connecting shaft 9 penetrates through the other side of the second U-shaped fixing plate 10, the right end of the connecting shaft 9 is fixedly connected with the other side of the second U-shaped fixing plate 10 through a third locking nut 7 and a fourth locking nut 8, the third degree-of-freedom mechanism comprises the second U-shaped fixing plate 10, a third motor 35 is fixed on the upper surface inside of the second U-shaped fixing plate 10, a fifth bevel gear 34 is fixed on an output shaft of the third motor 35, a sixth bevel gear 30 is arranged above the fifth bevel gear 34, and the, a third bevel gear shaft 12 is fixed at the center of the top of the sixth bevel gear 30, a third shaft sleeve 32 is fixed at the outer side wall of the third bevel gear shaft 12 near the sixth bevel gear 30, a fourth bearing 42 is fixed inside the through hole at the top of the second U-shaped fixing plate 10 through a sixth bearing end cover 13 and a seventh bearing end cover 31, the top end of the third bevel gear shaft 12 penetrates through the fourth bearing 42 and is fixed with a second rotating disk 11, when in use, the first motor 26 can drive the second bevel gear 25 to rotate, so as to drive the first bevel gear 23 to rotate, the first bevel gear shaft 2 can be driven to rotate through the rotation of the first bevel gear 23, so as to drive the first rotating disk 1 to rotate, so that the rotating disk 1 can rotate around the first U-shaped fixing plate 4 with freedom to complete the movement of the first mechanism, and the second motor 38 can drive the third bevel gear 37 to rotate, thereby can drive the rotation of fourth bevel gear 36, through the rotation of fourth bevel gear 36, can drive the rotation of second bevel gear axle 16, thereby can realize that second U type fixed plate 10 is rotary motion around first U type fixed plate 4, accomplish the motion of second degree of freedom mechanism, and can drive the rotation of fifth bevel gear 34 through third motor 35, thereby can drive the rotation of sixth bevel gear 30, through the rotation of sixth bevel gear 30, can drive the rotation of third bevel gear axle 12, thereby can drive the rotation of second rotary disk 11, and then realize that second rotary disk 11 is rotary motion around second U type fixed plate 10, accomplish the motion of third degree of freedom mechanism.

Further, the mechanism includes a first detection mechanism, the first detection mechanism includes a first encoder 24 and a first encoder fixing frame 22, the first encoder 24 is fixedly connected with the first encoder fixing frame 22, the bottom of the first encoder fixing frame 22 is fixedly connected with the inner lower surface of the first U-shaped fixing plate 4, the detection end of the first encoder 24 is fixedly connected with the top of the first bevel gear 23, when the first bevel gear 23 rotates, the detection end of the first encoder 24 can be driven to rotate together, and therefore servo feedback of the rotating angle of the first bevel gear 23 is achieved.

Further, the mechanism includes second detection mechanism, second detection mechanism includes second encoder 27 and second encoder mount 28, second encoder 27 and second encoder mount 28 fixed connection, one side of second encoder mount 28 and the internal surface one side fixed connection of first U type fixed plate 4, the sense terminal of second encoder 27 and the left end fixed connection of connecting axle 9, when second U type fixed plate 10 pivoted, can drive the sense terminal of second encoder 27 and rotate together, thereby realize the servo feedback to fourth bevel gear 36 turned angle.

Further, the mechanism further comprises a third detection mechanism, the third detection mechanism comprises a third encoder 33 and a third encoder fixing frame 29, the third encoder 33 is fixedly connected with the third encoder fixing frame 29, the top of the third encoder fixing frame 29 is fixedly connected with the upper surface of the inner portion of the second U-shaped fixing plate 10, the detection end of the third encoder 33 is fixedly connected with the bottom of the sixth bevel gear 30, when the sixth bevel gear 30 rotates, the detection end of the third encoder 33 can be driven to rotate together, and therefore servo feedback of the rotating angle of the sixth bevel gear 30 is achieved.

To sum up, the utility model discloses a work flow: when the device is used, the first motor 26 can drive the second bevel gear 25 to rotate, so as to drive the first bevel gear 23 to rotate, the first bevel gear shaft 2 can be driven to rotate by the rotation of the first bevel gear 23, so as to drive the first rotating disk 1 to rotate, so as to realize that the rotating disk 1 rotates around the first U-shaped fixing plate 4, so as to complete the motion of the first degree-of-freedom mechanism, when the first bevel gear 23 rotates, the detecting end of the first encoder 24 can be driven to rotate together, so as to realize the servo feedback of the rotating angle of the first bevel gear 23, meanwhile, the second motor 38 can drive the third bevel gear 37 to rotate, so as to drive the fourth bevel gear 36 to rotate, and the second bevel gear shaft 16 can be driven to rotate by the rotation of the fourth bevel gear 36, so as to realize that the second U-shaped fixing plate 10 rotates around the first U-shaped fixing plate 4, the motion of the second degree-of-freedom mechanism is completed, when the second U-shaped fixing plate 10 rotates, the detection end of the second encoder 27 can be driven to rotate together, so as to realize the servo feedback of the rotation angle of the fourth bevel gear 36, and the rotation of the fifth bevel gear 34 can be driven by the third motor 35, so as to drive the rotation of the sixth bevel gear 30, and by the rotation of the sixth bevel gear 30, the rotation of the third bevel gear shaft 12 can be driven, so as to drive the rotation of the second rotating disk 11, so as to realize the rotation motion of the second rotating disk 11 around the second U-shaped fixing plate 10, so as to complete the motion of the third degree-of-freedom mechanism, when the sixth bevel gear 30 rotates, the detection end of the third encoder 33 can be driven to rotate together, so as to realize the servo feedback of the rotation angle of the sixth bevel gear 30.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (4)

1. A three-freedom-degree series servo mechanism comprises a first-freedom-degree mechanism, a second-freedom-degree mechanism and a third-freedom-degree mechanism, and is characterized in that: the first degree-of-freedom mechanism comprises a first U-shaped fixing plate (4), a first motor (26) is fixed on the lower surface inside the first U-shaped fixing plate (4), a second bevel gear (25) is fixed on an output shaft of the first motor (26), a first bevel gear (23) is arranged below the second bevel gear (25), the first bevel gear (23) is in meshed connection with the second bevel gear (25), a first bevel gear shaft (2) is fixed at the center of the bottom of the first bevel gear (23), a first shaft sleeve (21) is fixed at the position, close to the first bevel gear (23), of the outer side wall of the first bevel gear shaft (2), a first bearing (39) is fixed inside a through hole in the top of the first U-shaped fixing plate (4) through a first bearing end cover (3) and a second bearing end cover (20), and the bottom end of the first bevel gear shaft (2) penetrates through the first bearing (39), the first rotating disc (1) is fixed, the second degree-of-freedom mechanism comprises a second U-shaped fixing plate (10), the top of the first U-shaped fixing plate (4) is located inside the second U-shaped fixing plate (10), a second motor (38) is fixed to the position, close to the first bevel gear (23), of the lower surface of the inside of the first U-shaped fixing plate (4), a third bevel gear (37) is fixed to an output shaft of the second motor (38), a fourth bevel gear (36) is arranged on one side of the third bevel gear (37), the fourth bevel gear (36) is in meshed connection with the third bevel gear (37), a second bevel gear shaft (16) is fixed to the center of one side of the fourth bevel gear (36), a second shaft sleeve (19) is fixed to the position, close to the fourth bevel gear (36), of the through hole in the top of one side of the first U-shaped fixing plate (4), and a third bearing end cover (17) is arranged in the inside of the through hole in the top of one side of the And a second bearing (40) is fixed on a fourth bearing end cover (18), one end, far away from the fourth bevel gear (36), of the second bevel gear shaft (16) penetrates through one sides of the second bearing (40) and the second U-shaped fixing plate (10), one end, far away from the fourth bevel gear (36), of the second bevel gear shaft (16) is fixedly connected with one side of the second U-shaped fixing plate (10) through a first locking nut (14) and a second locking nut (15), a third bearing (41) is fixed inside a through hole in the top of the other side of the first U-shaped fixing plate (4) through a fifth bearing end cover (5), a connecting shaft (9) penetrates through the inside of the third bearing (41), the right end of the connecting shaft (9) penetrates through the other side of the second U-shaped fixing plate (10), and the right end of the connecting shaft (9) penetrates through a third locking nut (7) and a fourth locking nut (8) and the right end of the second U-shaped fixing plate (10) The other side of the third-degree-of-freedom mechanism is fixedly connected with the second U-shaped fixing plate (10), a third motor (35) is fixed on the upper surface of the inside of the second U-shaped fixing plate (10), a fifth bevel gear (34) is fixed on an output shaft of the third motor (35), a sixth bevel gear (30) is arranged above the fifth bevel gear (34), the sixth bevel gear (30) is meshed with the fifth bevel gear (34), a third bevel gear shaft (12) is fixed at the center of the top of the sixth bevel gear (30), a third shaft sleeve (32) is fixed at the position, close to the sixth bevel gear (30), of the outer side wall of the third bevel gear shaft (12), a fourth bearing (42) is fixed inside a through hole at the top of the second U-shaped fixing plate (10) through a sixth bearing end cover (13) and a seventh bearing end cover (31), the top end of the third bevel gear shaft (12) penetrates through the fourth bearing (42) and is fixed with a second rotating disc (11).

2. The three-degree-of-freedom series servo mechanism of claim 1, wherein: the mechanism comprises a first detection mechanism, the first detection mechanism comprises a first encoder (24) and a first encoder fixing frame (22), the first encoder (24) is fixedly connected with the first encoder fixing frame (22), the bottom of the first encoder fixing frame (22) is fixedly connected with the lower surface of the inner portion of the first U-shaped fixing plate (4), and the detection end of the first encoder (24) is fixedly connected with the top of the first bevel gear (23).

3. The three-degree-of-freedom series servo mechanism of claim 2, wherein: the mechanism comprises a second detection mechanism, the second detection mechanism comprises a second encoder (27) and a second encoder fixing frame (28), the second encoder (27) is fixedly connected with the second encoder fixing frame (28), one side of the second encoder fixing frame (28) is fixedly connected with one side of the inner surface of the first U-shaped fixing plate (4), and the detection end of the second encoder (27) is fixedly connected with the left end of the connecting shaft (9).

4. A three-degree-of-freedom series servo mechanism according to claim 3, wherein: the mechanism further comprises a third detection mechanism, the third detection mechanism comprises a third encoder (33) and a third encoder fixing frame (29), the third encoder (33) is fixedly connected with the third encoder fixing frame (29), the top of the third encoder fixing frame (29) is fixedly connected with the upper surface of the inner portion of the second U-shaped fixing plate (10), and the detection end of the third encoder (33) is fixedly connected with the bottom of the sixth bevel gear (30).

Images