CN214293192U

CN214293192U - Universal control mechanical joint

Info

Publication number: CN214293192U
Application number: CN202120218291.7U
Authority: CN
Inventors: 祖大飞; 王子翔; 陈浩
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-01-26
Filing date: 2021-01-26
Publication date: 2021-09-28
Anticipated expiration: 2031-01-26

Abstract

The utility model discloses a universal control mechanical joint. Including cross rail, gimbal ring, main body shell, universal joint, permanent magnet, electromagnet, universal ball joint, metal rod, motor, gear, ball joint installation slot and ball joint connection shaft, the gimbal ring is placed on the top of the main body shell In the middle position, the normally flat ring consists of an outer ring, a first connecting shaft, an inner ring, a disc, a second connecting shaft and a cross-shaped groove, the inner ring is placed inside the outer ring, and can be connected through the first connecting shaft and the outer ring. Rotationally connected, the disc is placed in the inner ring, and is rotatably connected to the inner ring through the second connection shaft, the first connection shaft and the second connection shaft are vertically spaced, and the disc is provided with a cross-shaped groove, a cross. One end of the profile rail is placed in the main body shell through the cross-shaped groove, the two sides of the cross-shaped rail are respectively provided with teeth, and the two motors are arranged on the disc and are respectively located on both sides of the cross-shaped rail. The utility model can realize the adjustment of multiple degrees of freedom, and has the advantages of small size, light weight and wide adaptability.

Description

Universal control mechanical joint

Technical Field

The utility model relates to a mechanical joint technical field specifically is universal control mechanical joint.

Background

The power of the existing mechanical joint is only a steering engine or hydraulic pressure, but only one degree of freedom is needed, and the combination of multiple degrees of freedom is needed to realize multiple degrees of freedom, so that the occupied space and the weight are enlarged, and the mechanical joint is difficult to realize more than 3 degrees of freedom and has no support.

SUMMERY OF THE UTILITY MODEL

The technique that exists is not enough to the aforesaid, the utility model aims at providing an universal control mechanical joint, its through changing the direction messenger of magnetism power carry out the beat of different angles, exert the force in order to realize deflecting through the motor simultaneously, and then can realize the regulation of a plurality of degrees of freedom.

In order to solve the technical problem, the utility model adopts the following technical scheme:

the universal control mechanical joint is characterized by comprising a cross-shaped rail, a normally flat ring, a main body shell, a universal joint, a permanent magnet, an electromagnet, a universal ball head, a metal rod, a motor, a gear, a ball head mounting groove and a ball head connecting rotating shaft, wherein the normally flat ring is arranged in the middle position of the top of the main body shell and consists of an outer ring, a first connecting rotating shaft, an inner ring, a disc, a second connecting rotating shaft and a cross-shaped groove, the inner ring is arranged in the outer ring and is rotatably connected with the outer ring through the first connecting rotating shaft, the disc is arranged in the inner ring and is rotatably connected with the inner ring through the second connecting rotating shaft, the first connecting rotating shaft and the second connecting rotating shaft are perpendicular in space, the cross-shaped groove is formed in the disc, one end of the cross-shaped rail penetrates through the cross-shaped groove to be arranged in the main body shell, two side surfaces of the cross-shaped rail are respectively provided with teeth, the two motors are arranged on the disc and are respectively positioned on two sides of the cross-shaped rail, a gear is arranged on a rotating shaft of the motor and is meshed with teeth on the side surface of the cross-shaped rail; the universal ball head is arranged on the metal rod and positioned in the ball head mounting groove, and the universal ball head is rotatably connected with the main body shell through a ball head connecting rotating shaft; the bottom of the main body shell is of a conical structure, two electromagnets are symmetrically arranged on the bottom surface of the inner side of the main body shell, and the permanent magnet is arranged on the metal rod and corresponds to the electromagnets.

Preferably, the motor, the gear and the cross-shaped rail are combined to form a pushing structure, the pushing structure is changed to be composed of an electromagnetic push rod and a coil, and the coil is sleeved outside the electromagnetic push rod.

The beneficial effects of the utility model reside in that: the adjustment of a plurality of degrees of freedom can be realized, and small, light in weight, accommodation is wide.

As used herein, "left", "right", "front" and "rear" refer to "left", "right", "front" and "rear" of FIG. 1.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural view of a universal control mechanical joint provided by the present invention;

FIG. 2 is a schematic structural view of a gimbal ring of the universal control mechanical joint provided by the present invention;

FIG. 3 is a schematic structural view of the ball joint of the universal control mechanical joint provided by the present invention;

fig. 4 is a schematic structural view of the universal control mechanical joint metal rod provided by the present invention when it deflects leftward;

fig. 5 is a schematic structural view of the universal control mechanical joint metal rod deflected rightward according to the present invention.

Description of reference numerals:

the universal joint comprises a cross-shaped rail 1, a gimbal ring 2, a main body shell 3, a universal joint 4, a permanent magnet 5, an electromagnet 6, a universal ball head 7, a metal rod 8, a motor 9, a gear 10, an outer ring 11, a first connecting rotating shaft 12, an inner ring 13, a disc 14, a second connecting rotating shaft 15, a cross-shaped groove 16, a ball head mounting groove 17 and a ball head connecting rotating shaft 18.

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. 1-5, the universal control mechanical joint comprises a cross-shaped rail 1, a gimbal ring 2, a main body housing 3, a universal joint 4, a permanent magnet 5, an electromagnet 6, a universal ball 7, a metal rod 8, a motor 9, a gear 10, a ball mounting groove 17 and a ball connecting rotating shaft 18, wherein the gimbal ring 2 is arranged at the middle position of the top of the main body housing 3, the gimbal ring 2 is composed of an outer ring 11, a first connecting rotating shaft 12, an inner ring 13, a disk 14, a second connecting rotating shaft 15 and a cross-shaped groove 16, the inner ring 13 is arranged in the outer ring 11 and is rotatably connected with the outer ring 11 through the first connecting rotating shaft 12, the disk 14 is arranged in the inner ring 13 and is rotatably connected with the inner ring 13 through the second connecting rotating shaft 15, the first connecting rotating shaft 12 and the second connecting rotating shaft 15 are perpendicular in space, the disk 14 is provided with the cross-shaped groove 16, one end of the cross-shaped rail 1 passes through the cross-shaped groove 16 and is arranged in the main body housing 3, two side surfaces of the cross-shaped rail 1 are respectively provided with teeth, two motors 9 are arranged on the disc 14 and are respectively positioned on two sides of the cross-shaped rail 1, and a rotating shaft of each motor 9 is provided with a gear 10 which is meshed with the teeth on the side surfaces of the cross-shaped rail 1; a ball head mounting groove 17 is formed in the middle of the bottom surface of the main body shell 3, one end of the metal rod 8 is connected with one end of the cross-shaped rail 1 through the universal joint 4, the other end of the metal rod 8 penetrates out of the main body shell 3 through the ball head mounting groove 17, the universal ball head 7 is arranged on the metal rod 8 and is positioned in the ball head mounting groove 17, and the universal ball head 7 is rotatably connected with the main body shell 3 through a ball head connecting rotating shaft 18; the bottom of the main body shell 3 is of a conical structure, two electromagnets 6 are symmetrically arranged on the bottom surface of the inner side of the main body shell 3, and the permanent magnet 5 is arranged on the metal rod 8 and corresponds to the electromagnets 6.

Further, the motor 9, the gear 10 and the cross-shaped rail 1 form a pushing structure, the pushing structure is changed to be composed of an electromagnetic push rod and a coil, and the coil is sleeved outside the electromagnetic push rod; when the electromagnetic push rod is used, the electromagnetic push rod is pushed and pulled through a magnetic field generated by the coil, so that the angle of the metal rod 8 is adjusted.

When the electromagnetic vibration absorber is used, the two electromagnets 6 on the bottom surface of the main body shell 3 are electrified, the electromagnets 6 are electrified to generate a magnetic field, the left and right electromagnets 6 are homopolar, and the permanent magnet 5 in the middle is subjected to attraction force to generate deflection by changing the current direction;

the electromagnet 6 and the permanent magnet 5 on the left side attract each other, and when the electromagnet 6 and the permanent magnet 5 on the right side repel each other, the permanent magnet 5 drives the metal rod 8 to swing leftwards; the electromagnet 6 on the right side and the permanent magnet 5 are attracted, and when the electromagnet 6 on the left side and the permanent magnet 5 are repelled, the permanent magnet 5 drives the metal rod 8 to swing rightwards; when the metal rod 8 deflects, a motor 9 applies force to push the metal rod 8 to deflect, so that adjustment of multiple degrees of freedom is realized;

when the metal rod 8 deflects leftwards or rightwards, the motor 9 drives the gear 10 to rotate, the gear 10 is meshed with the cross-shaped rail 1, so that the cross-shaped rail 1 slides downwards, and further thrust is applied to the metal rod 8;

when the metal rod 8 is recovered to be vertical, the motor 9 is rotated reversely to drive the cross-shaped rail 1 to slide upwards, and then pulling force is applied to the metal rod 8 to recover the metal rod to be vertical;

the design of the gimbal ring 2 can deflect adaptively along with the metal rod 8 when the cross-shaped rail 1 slides downwards to push the metal rod 8 to deflect; the inner ring 13 can deflect in the left-right direction through the first connecting rotating shaft 12, and the disc 14 can deflect in the front-back direction through the second connecting rotating shaft 15; the cross-shaped rail 1 can only slide but can not rotate under the limit of the cross-shaped groove 16;

when the metal rod 8 deflects, the ball head is adaptively deflected through the ball head connecting rotating shaft 18.

The range of available devices is the articulation link of bionics mechanics. (mechanical finger, wrist, ankle, spine, theoretically can completely realize the movement of human body, can be made into artificial limb, also can be used for medical treatment, and can be made into miniature gastroscope capable of realizing s-shaped movement)

The utility model discloses a design can realize the regulation of a plurality of degrees of freedom, and small, light in weight, accommodation is wide.

It will be apparent to those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims and their equivalents, the present invention is also intended to include such modifications and variations.

Claims

1. The universal control mechanical joint is characterized by comprising a cross-shaped rail, a normally flat ring, a main body shell, a universal joint, a permanent magnet, an electromagnet, a universal ball head, a metal rod, a motor, a gear, a ball head mounting groove and a ball head connecting rotating shaft, wherein the normally flat ring is arranged in the middle position of the top of the main body shell and consists of an outer ring, a first connecting rotating shaft, an inner ring, a disc, a second connecting rotating shaft and a cross-shaped groove, the inner ring is arranged in the outer ring and is rotatably connected with the outer ring through the first connecting rotating shaft, the disc is arranged in the inner ring and is rotatably connected with the inner ring through the second connecting rotating shaft, the first connecting rotating shaft and the second connecting rotating shaft are perpendicular in space, the cross-shaped groove is formed in the disc, one end of the cross-shaped rail penetrates through the cross-shaped groove to be arranged in the main body shell, two side surfaces of the cross-shaped rail are respectively provided with teeth, the two motors are arranged on the disc and are respectively positioned on two sides of the cross-shaped rail, a gear is arranged on a rotating shaft of the motor and is meshed with teeth on the side surface of the cross-shaped rail; the universal ball head is arranged on the metal rod and positioned in the ball head mounting groove, and the universal ball head is rotatably connected with the main body shell through a ball head connecting rotating shaft; the bottom of the main body shell is of a conical structure, two electromagnets are symmetrically arranged on the bottom surface of the inner side of the main body shell, and the permanent magnet is arranged on the metal rod and corresponds to the electromagnets.

2. The universal control mechanical joint of claim 1, wherein the motor, the gear and the cross-shaped rail are combined into a pushing structure, the pushing structure is changed to be composed of an electromagnetic push rod and a coil, and the coil is sleeved outside the electromagnetic push rod.