CN106272536B - A kind of two-freedom series connection servo joint structure - Google Patents

Abstract

The present invention relates to the technical field of multi-degree-of-freedom joints, in particular to a two-degree-of-freedom serial servo joint structure, which includes a top plate, an inclined plate, a first degree of freedom mechanism and a second degree of freedom mechanism, and the top plate is provided with the The through hole of the inclined plate; the first degree of freedom mechanism includes an electric push rod, a symmetrically arranged linkage plate arranged at the bottom of the inclined plate, a symmetrically arranged top plate connecting plate arranged at the bottom of the said top plate, and a first bearing Connecting piece; the second degree of freedom mechanism includes a primary gear, a secondary gear, a motor fixedly connected to the inclined plate, and a second bearing connecting piece. The two-degree-of-freedom joint series servo joint structure provided by the invention has the advantages of simple structure, low manufacturing cost, convenient installation, use and control, strong versatility and practicability, long service life, and easy popularization and use.

Description

A two-degree-of-freedom series servo joint structure

technical field

The invention relates to the technical field of multi-degree-of-freedom joints, in particular to a two-degree-of-freedom series servo joint structure.

Background technique

With the development of robot technology, the types of robots are increasing, and the requirements for the flexibility, compactness, intelligence and controllability of robot joints are getting higher and higher. A two-degree-of-freedom joint refers to a joint with two degrees of freedom perpendicular to each other. Prototypes of such joints are ubiquitous in humans and animals, such as neck joints, wrist joints, ankle joints, and finger joints of humans and other walking animals. , waist joints, leg joints of crabs and other reptiles, etc. Therefore, for various bionic robots, making joints with two degrees of freedom is one of the problems to be solved.

However, the two-degree-of-freedom joint structure of the robot in the prior art has inherent defects, such as large structure, high manufacturing cost, low structural integration, low strength, inaccurate positioning, difficult control, and low load capacity. Both limit the development of bionic robots, and are not convenient for the popularization and use of two-degree-of-freedom joint structures.

Contents of the invention

(1) Technical problems to be solved

The invention provides a two-degree-of-freedom joint series servo joint structure, which is used to solve the deficiencies in the prior art. The structure is simple, the production cost is low, the installation, use and control are convenient, the versatility and practicability are strong, and the service life is long. , which is convenient for promotion and use.

(2) Technical solutions

In order to solve the above technical problems, the present invention provides a two-degree-of-freedom series servo joint structure, including a top plate, an inclined plate, a first degree of freedom mechanism and a second degree of freedom mechanism, the top plate is provided with a through hole, and the content of the through hole is set the inclined plate;

The first degree of freedom mechanism includes an electric mandrel, a symmetrically arranged linkage plate arranged at the bottom of the inclined plate, a symmetrically arranged top plate connecting plate arranged at the bottom of the said top plate, and a first bearing connector. The telescopic rod and the base of the ejector rod are respectively hinged with the inclined plate and the top plate to drive the inclined plate to rotate relative to the top plate, and the top plate connecting plate and the linkage plate are respectively provided with first A through hole and a second through hole, the first bearing connecting piece sequentially passes through the first through hole and the second through hole to rotatably connect the top plate connecting plate and the linkage plate;

The second degree of freedom mechanism includes a first-stage gear, a second-stage gear, and a motor fixedly connected to the inclined plate and a second bearing connector, and the output end of the motor and the second bearing connector are both controlled by the inclined plate. The bottom of the plate passes through the inclined plate, the exit end of the motor is connected to the first-stage gear, the first-stage gear is meshed with the second-stage gear, and the inner ring of the second-stage gear is connected to the second The exit end of the bearing connection.

Wherein, the first bearing connector includes a first bearing and a first shaft sleeve, one end of the first shaft sleeve is provided with a flange, and the flange is fixed on the linkage plate, and the first shaft The other end of the sleeve is covered with the first bearing, and the outer ring of the first bearing is connected to the top plate connecting plate.

Wherein, the two-degree-of-freedom series servo joint structure also includes a first detection mechanism, and the first detection mechanism includes a first steering wheel, an in-line fixed plate, and a first potentiometer, and the body of the first potentiometer is set On the first steering wheel, the first steering wheel is arranged at the other end of the first bushing, and the detection end of the first potentiometer is fixedly connected to the in-line fixed plate, and the in-line The type fixing plate is arranged on the top plate connecting plate.

Wherein, the second bearing connector includes a second bearing and a second bushing, one end of the second bushing is provided with a flange, and the flange is fixed on the inclined plate, and the second bushing The second bearing is set outside the other end of the second bearing, and the outer ring of the second bearing is connected to the secondary gear.

Wherein, the two-degree-of-freedom series servo joint structure further includes a second detection mechanism, the second detection mechanism includes a second steering wheel, a connecting piece, and a second potentiometer, and the body of the second potentiometer is set on the On the second steering wheel, the second steering wheel is fixedly connected to the other end of the second bushing, the detection end of the second potentiometer is fixedly connected to one end of the connecting piece, and the other end of the connecting piece is set on the secondary gear.

Wherein, the second detection mechanism further includes a fixing buckle, and the detection end of the second potentiometer is fixed to one end of the connecting piece through the fixing buckle.

Wherein, the first degree of freedom mechanism also includes a jack connecting plate arranged at the bottom of the inclined plate and a jack fixing plate arranged at the bottom of the top plate, and the jack telescopic rod and the base of the electric jack are respectively connected to The ejector rod connecting plate and the ejector rod fixing plate are hinged.

Wherein, the ejector rod and the base of the electric ejector rod are respectively hinged to the ejector rod connecting plate and the ejector rod fixing plate through a hinge.

Wherein, the motor is a geared motor.

(3) Beneficial effects

Compared with the prior art, the two-degree-of-freedom serial servo joint structure provided by the present invention has the following advantages:

1. The two-degree-of-freedom series servo joint structure provided by the present invention has simple structure, low manufacturing cost, convenient installation, use and control, strong versatility and practicability, long service life, and is easy to popularize and use;

2. The combination of the electric ejector rod and the motor is adopted to realize the movement of the two degrees of freedom of the joint structure with two degrees of freedom;

3. By setting the first potentiometer and the second potentiometer, the rotation angle of the first degree of freedom mechanism and the second degree of freedom mechanism can be accurately measured, and the control is convenient;

4. In addition to being used for the joint drive of the robot, it can also be used for the drive of the two-degree-of-freedom platform, which has strong versatility. The application in these fields determines the significance and value of in-depth research and analysis on it, and has a good social and economic benefits.

Description of drawings

Fig. 1 is a structural schematic diagram of a two-degree-of-freedom series servo joint structure provided by the present invention;

Fig. 2 is the axonometric view of the two-degree-of-freedom series servo joint structure provided by the present invention;

Fig. 3 is the structural representation of the second degree of freedom mechanism provided by the present invention;

Fig. 4 is a schematic diagram of the structure of the first bearing connector connecting the linkage plate and the top plate connecting plate provided by the present invention;

In the figure, 1: top plate; 2: inclined plate; 3: electric ejector rod; 4: ejector rod fixing plate; 5: second steering wheel; 6: ejector rod connecting plate; 7. linkage plate; 8. first bearing ;9, top plate connecting plate; 10, one-shaped fixed plate; 11, first potentiometer; 12, motor; 13, first-level gear; 14, second-level gear; 15, second potentiometer; Rod; 17, the first steering wheel; 18, the second shaft sleeve; 19, the second bearing; 20, the first shaft sleeve; 21, the fixed buckle; 22, the connecting piece.

Detailed ways

In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the associated drawings. Preferred embodiments of the invention are shown in the accompanying drawings. The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process conversion made by using the description of the present invention and the contents of the accompanying drawings, or directly or indirectly used in other related technical fields , are all included in the scope of patent protection of the present invention in the same way.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field of the invention. The terminology used herein in the description of the present invention is only for the purpose of describing specific embodiments, and is not intended to limit the present invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

The invention provides a two-degree-of-freedom joint series servo joint structure, which is used to solve the deficiencies in the prior art. The structure is simple, the production cost is low, the installation, use and control are convenient, the versatility and practicability are strong, and the service life is long. , which is convenient for promotion and use.

As shown in Figures 1-4, the embodiment of the present invention provides a two-degree-of-freedom serial servo joint structure, including a top plate 1, an inclined plate 2, a first-degree-of-freedom mechanism, and a second-degree-of-freedom mechanism. The top plate 1 is provided with a through hole. , a tilting plate 2 is housed in the through hole; the first degree of freedom mechanism includes an electric push rod 3, a symmetrically arranged linkage plate 7 arranged at the bottom of the inclined plate 2, a symmetrically arranged top plate connecting plate 9 arranged at the bottom of the top plate 1 and The first bearing connector, the push rod telescopic rod 16 and the base of the electric push rod 3 are respectively hinged with the inclined plate 2 and the top plate 1 to drive the inclined plate 2 to rotate relative to the top plate 1, and the top plate connecting plate 9 and the linkage plate 7 are respectively provided There are a first through hole and a second through hole, and the first bearing connector passes through the first through hole and the second through hole in turn to connect the top plate connecting plate 9 and the linkage plate 7; the second degree of freedom mechanism includes a first-stage gear 13 , the secondary gear 14 and the motor 12 and the second bearing connector fixedly connected to the inclined plate 2, the output end of the motor 12 and the second bearing connector all pass through the inclined plate 2 by the bottom of the inclined plate 2, the motor 12 The passing end is connected with a primary gear 13, the primary gear 13 meshes with a secondary gear 14, and the inner ring of the secondary gear 14 is connected with the passing end of the second bearing connector. In the two-degree-of-freedom series servo joint structure provided by the present invention, the telescopic rod 16 and its base are respectively hinged on the inclined plate 2 and the top plate 1 through the electric mandrel 3, and the electric mandrel 3 drives the movement of the inclined plate 2 on the top plate 1. The inside of the through hole tilts and rotates up and down relative to the top plate 1, thereby realizing the movement of the first degree of freedom; the motor 12 drives the primary gear 13 to rotate, and the primary gear 13 drives the secondary gear 14 to rotate, thereby realizing the second degree of freedom exercise.

The two-degree-of-freedom joint structure provided by the present invention adopts the electric push rod and the motor to drive and the connection of the bearing connector to realize the movement of the two-degree-of-freedom of the overall structure. The structure is simple and compact, the production cost is low, the installation and operation are convenient, and it is universal. Strong performance and practicability, long service life, easy to popularize and use.

In this embodiment, the first bearing connector includes a first bearing 8 and a first shaft sleeve 20, one end of the first shaft sleeve 20 is provided with a flange, and the flange is fixed on the linkage plate 7, and the first shaft sleeve 20 The other end is covered with a first bearing 8 , and the outer ring of the first bearing 8 is connected to the top plate connecting plate 9 . The first shaft sleeve 20 is fixed on the linkage plate 7 through the flange, and the first shaft sleeve 20 and the top plate connection plate 9 are connected through the first bearing 8 to realize the relative rotation between the linkage plate 7 and the top plate connection plate 9, that is, to realize tilting Relative rotation of plate 2 with respect to top plate 1.

The two-degree-of-freedom series servo joint structure provided by the present invention also includes a first detection mechanism connected to one of the linkage plates 7, and the first detection mechanism includes a first steering wheel 17, an in-line fixed plate 10 and a first potentiometer 11. The body of the first potentiometer 11 is set on the inner side of the first steering wheel 17, and the first steering wheel 17 is set on the other end of one of the first bushings 20, and the detection end of the first potentiometer 11 is connected from the first The inner side of a steering wheel passes through, and the detection end passing through is fixedly connected on the in-line fixed plate 10, and the in-line fixed plate 10 is arranged on the top plate connecting plate 9. The two-degree-of-freedom series servo joint structure can detect the rotation angle of the first degree-of-freedom movement through the first potentiometer 11. Specifically, by setting the body part of the first potentiometer 11 under the drive of the electric push rod 3, it can On the rotating first steering wheel 17, the detection end of the first potentiometer 11 is fixedly connected on the in-line fixed plate 10 fixed on the top plate connecting plate 9, so that the first steering wheel 17 is detected by the first potentiometer 11. Based on the rotation angle of the top plate connecting plate 9 , the angle at which the inclined plate 2 rotates relative to the top plate 1 is detected.

In this embodiment, the second bearing connector includes a second bearing 19 and a second shaft sleeve 18, one end of the second shaft sleeve 18 is provided with a flange, and the flange is fixed on the inclined plate 2, and the other end of the second shaft sleeve 18 A second bearing 19 is arranged outside one end, and the outer ring of the second bearing 19 is connected to the secondary gear 14 . The second axle sleeve 18 is fixed on the inclined plate 2 by the flange, and connects the second axle sleeve 18 and the secondary gear 14 by the second bearing 19 to realize the relative rotation of the second axle sleeve 18 and the secondary gear 14, that is, Driven by the primary gear 13 , the rotary motion of the secondary gear 14 relative to the inclined plate 2 is realized.

In this embodiment, the two-degree-of-freedom series servo joint structure also includes a second detection mechanism, the second detection mechanism includes a second steering wheel 5, a connecting piece 22 and a second potentiometer 15, the body of the second potentiometer 15 is arranged at the second The inner side of the second steering wheel 5, the second steering wheel 5 is fixedly connected to the other end of the second axle sleeve 18, and the detection end of the second potentiometer 15 passes through from the inner side of the second steering wheel 5, and the detection end that passes through is fixedly connected to the inner side of the second steering wheel 5. One end of the connecting piece 22 and the other end of the connecting piece 22 are arranged on the secondary gear 14 . The two-degree-of-freedom series servo joint structure can detect the rotation angle of the second degree-of-freedom movement through the second potentiometer 15, specifically, by arranging the body part of the second potentiometer 15 on a fixed connection with the second bushing 18 On the second steering wheel 5, the detection end of the second potentiometer 15 is fixed on one end of the connecting piece 22, so that the second potentiometer 15 detects the rotation angle of the connecting piece 22 relative to the second steering wheel 5, that is, detects the secondary gear 14 Angle of rotation relative to the inclined plate 2.

In this embodiment, in order to fix the detection end of the second potentiometer 15 on one end of the connection piece 22, the second detection mechanism also includes a fixing buckle 21, and the detection end of the second potentiometer 15 is fixed on the connection piece through the fixing buckle 21. 22 at one end.

In this embodiment, in order to realize the articulation of the electric push rod 3 with the top plate 1 and the inclined plate 2 respectively, the first degree of freedom mechanism also includes a push rod connecting plate 6 arranged at the bottom of the inclined plate and a push rod fixed at the bottom of the top plate 1 Plate 4, the ejector telescopic rod 16 of the electric ejector 3 is hinged with the ejector connecting plate 6, and the base of the electric ejector 3 is hinged with the ejector fixed plate 4. Moreover, the telescopic rod 16 and the base of the electric push rod 3 are respectively hinged with the push rod connecting plate 6 and the push rod fixing plate 4 through a hinge.

In the two-degree-of-freedom series servo joint structure provided by the present invention, the motor 12 is used as the power source for driving the movement of the second-degree-of-freedom mechanism, and in order to simplify the structural design and save space, a geared motor is used to realize the power drive of the second degree-of-freedom.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of the present invention. within the scope of protection.

Claims (7)

1. The servo joint structure 1. a kind of two-freedom is connected, which is characterized in that including top plate, hang plate, the first freedom degree mechanism And Two-Degree-of-Freedom mechanism, the top plate are equipped with through-hole, the accommodating hang plate in the through-hole；

   First freedom degree mechanism includes electronic mandril, the symmetrically arranged interlock plate that the hang plate bottom is arranged in, sets The symmetrically arranged top plate connecting plate and first bearing connector in the top plate bottom are set, the mandril of the electronic mandril is stretched Contracting bar and pedestal are hinged with the hang plate and the top plate respectively, to drive the relatively described top panel turns of the hang plate, The top plate connecting plate and the interlock plate are respectively equipped with first through hole and the second through-hole, and the first bearing connector is successively worn It crosses the first through hole and second through-hole is rotatablely connected the top plate connecting plate and the interlock plate；

   The Two-Degree-of-Freedom mechanism includes one-stage gear, secondary gear and the motor and second for being fixedly connected with the hang plate Bearing connection, the output end of the motor and the second bearing connector are pierced by by the bottom of the hang plate described to incline The traversing through end of inclined plate, the motor connects the one-stage gear, and the one-stage gear is engaged with the secondary gear, the second level The inner ring of gear connects the traversing through end of the second bearing connector；

   The first bearing connector includes first bearing and the first axle sleeve, and one end of first axle sleeve is equipped with flange, described Flange is fixed on the interlock plate, is arranged the first bearing outside the other end of first axle sleeve, the first bearing Outer ring connects the top plate connecting plate；

   The second bearing connector includes second bearing and the second axle sleeve, and one end of second axle sleeve is equipped with flange, described Flange is fixed on the hang plate, is arranged the second bearing outside the other end of second axle sleeve, the second bearing Outer ring connects the secondary gear.
2. The servo joint structure 2. two-freedom according to claim 1 is connected, which is characterized in that the two-freedom series connection Servo joint structure further includes the first testing agency, first testing agency include the first steering wheel, "-" type fixed plate with And first potentiometer, the ontology of first potentiometer are arranged on first steering wheel, the first steering wheel setting exists The other end of first axle sleeve, the test side of first potentiometer are fixedly connected with the "-" type fixed plate, a word Type fixed plate is arranged on the top plate connecting plate.
3. The servo joint structure 3. two-freedom according to claim 1 is connected, which is characterized in that the two-freedom series connection Servo joint structure further includes the second testing agency, and second testing agency includes the second steering wheel, connection sheet and second The ontology of potentiometer, second potentiometer is arranged on second steering wheel, and second steering wheel is fixedly connected described The test side of the other end of second axle sleeve, second potentiometer is fixedly connected with one end of the connection sheet, the connection sheet The other end is arranged on the secondary gear.
4. The servo joint structure 4. two-freedom according to claim 3 is connected, which is characterized in that second testing agency It further include fixing buckle, the test side of second potentiometer is fixed on one end of the connection sheet by the fixing buckle.
5. 5. two-freedom described in any one of -4 is connected servo joint structure according to claim 1, which is characterized in that described the Single-degree-of-freedom mechanism further includes the mandril connecting plate that the hang plate bottom is arranged in and the mandril that the top plate bottom is arranged in Fixed plate, the mandril telescopic rod and pedestal of the electronic mandril are cut with scissors with the mandril connecting plate and the mandril fixed plate respectively It connects.
6. The servo joint structure 6. two-freedom according to claim 5 is connected, which is characterized in that the top of the electronic mandril It is hinged with the mandril connecting plate and the mandril fixed plate respectively that bar and pedestal pass through hinge.
7. 7. the series connection of two-freedom described in any one of -4 servo joint structure according to claim 1, which is characterized in that the electricity Machine is decelerating motor.