CN103085081B - Hinge joint mechanism with angular displacement sensor - Google Patents
Hinge joint mechanism with angular displacement sensor Download PDFInfo
- Publication number
- CN103085081B CN103085081B CN201310032933.4A CN201310032933A CN103085081B CN 103085081 B CN103085081 B CN 103085081B CN 201310032933 A CN201310032933 A CN 201310032933A CN 103085081 B CN103085081 B CN 103085081B
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- pinledge
- sensor
- fixed
- angular displacement
- hinge joint
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Abstract
The invention relates to a hinge joint mechanism with an angular displacement sensor. A driving wheel is fixed on a first section step on a stepped screw. A second section step on the stepped screw penetrates through a primary rod. A third section step is positioned on a secondary rod through the secondary rod. A threaded hole is formed in the lower end portion of the stepped screw. The stepped screw and members which are installed on the stepped screw are axially positioned on the primary rod and the secondary rod through a positioning mechanism to form a movable hinge. A sensor fixing frame is fixed on the primary rod. A sensor is installed on the sensor fixing frame and coaxial with the stepped screw. A rotating shaft of the sensor is inserted into the upper end portion of the stepped screw and fixed on the stepped screw thorough a fastening screw. Two stepped holes are formed in side ends of the sensor fixing frame. A line pipe is fixed inside a large hole of a first stepped hole. A rope is arranged inside the line pipe. The rope, the driving wheel and a transmission system form a complete transmission system loop. The hinge joint mechanism with the angular displacement sensor can effectively integrate the sensor, a joint and the transmission system.
Description
Technical field
The present invention relates to the joint drive technology in robot field, particularly relate to a kind of hinge joint mechanism with angular displacement sensor.
Background technology
Joint designs is widely used in robot field, in joint designs, be often all designed with sensor, and therefore the design of joint of robot must include the design of the mounting means of sensor.In exoskeleton robot, on joint, need the rotational angle identifying joint, therefore need angular displacement sensor is installed.Existing exoskeleton-type robot needs people and machine cooperation mostly, therefore they adopt the effective kind of drive motion to be transmitted, thus avoid directly the dynamical system of heaviness being directly installed in executing agency, go out to need to be furnished with angular displacement sensor in joint simultaneously.How the joint of the fixed form of sensor and specific kind of drive transfer motion power is considered, Integrated design will have influence on terseness and the dexterity of design.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of hinge joint mechanism with angular displacement sensor, can by sensor together with joint, transmission system effective integration.
The technical solution adopted for the present invention to solve the technical problems is: provide a kind of hinge joint mechanism with angular displacement sensor, include main bar, secondary bar and pinledge, first paragraph step on described pinledge is fixed with drive, the second segment step of pinledge is through main bar, 3rd section of step is positioned on secondary bar by secondary bar, pinledge bottom is provided with screwed hole, makes pinledge and the component be arranged on pinledge is axially positioned on main bar and secondary bar and forms hinges by detent mechanism; Described main bar is fixed with fixing rack for sensor, described fixing rack for sensor is provided with sensor, described sensor is coaxial with pinledge, and the rotating shaft of described sensor is inserted pinledge upper end and is fixed on pinledge by holding screw; Described fixing rack for sensor side is provided with two shoulder holes, spool is fixed in the macropore of the first shoulder hole, in spool, rope is installed, described rope is passed by the aperture of the first shoulder hole and is coated on drive, being a bit fixed on drive on rope, and pass to be connected with transmission system by the second shoulder hole and form complete transmission system loop.
The upper end of described pinledge is provided with unthreaded hole, and described unthreaded hole side is provided with screwed hole, and sensor rotating shaft is fixed in unthreaded hole by the holding screw in screwed hole.
Described pinledge is provided with multistage step, respectively by the square cylinder of edge, termination and first paragraph step, drive is fixed on first paragraph step by upper end to lower end, be hingedly mounted on main bar by the face of cylinder of second segment step, by the square cylinder of the 3rd section of step, pinledge and secondary bar be fixed together.
Described sensor rotates in company with pinledge together when pinledge rotates, and outputs signal.
Described rope is steel wire rope, chain or Timing Belt.
Described drive is runner, sprocket wheel or synchronizing wheel.
Beneficial effect
Owing to have employed above-mentioned technical scheme, the present invention compared with prior art, there is following advantage and good effect: the present invention is simple for structure, reliable, the angle of joint swing can be accurately measured by the sensor be provided with, slightly transform and be just applicable to the multiple kind of drive, robot field can be widely used in and other need to realize the field that revolute pair drives.
Accompanying drawing explanation
Fig. 1 is the hinge joint structural scheme of mechanism with angular displacement sensor;
Fig. 2 is the structural representation of pinledge.
Detailed description of the invention
Below in conjunction with specific embodiment, set forth the present invention further.Should be understood that these embodiments are only not used in for illustration of the present invention to limit the scope of the invention.In addition should be understood that those skilled in the art can make various changes or modifications the present invention, and these equivalent form of values fall within the application's appended claims limited range equally after the content of having read the present invention's instruction.
Embodiments of the present invention relate to a kind of hinge joint mechanism with angular displacement sensor, include main bar 2, secondary bar 1 and pinledge 4, first paragraph step on described pinledge 4 is fixed with drive 3, the second segment step of pinledge 4 passes the cylindrical hole of main bar 2,3rd section of step is positioned on secondary bar 1 by square opening on secondary bar 1, pinledge 4 bottom is provided with screwed hole, by termination nail 8 and pad 7, pinledge 4 and the component be arranged on pinledge 4 is axially positioned on main bar 2 and secondary bar 1 and forms hinges; Described main bar 2 is fixed with fixing rack for sensor 5, described fixing rack for sensor 5 is provided with sensor 6, described sensor 6 is coaxial with pinledge 4, and the rotating shaft of described sensor 6 is inserted pinledge 4 upper end and is fixed on pinledge 4 by holding screw 14; Described fixing rack for sensor 5 side is provided with two shoulder holes, spool 11 is fixed in the macropore of the first shoulder hole, rope 12 is installed in spool 11, described rope 12 is passed by the aperture of the first shoulder hole and is coated on drive 3, rope 12 is a bit fixed on drive 3, and pass to be connected with transmission system by the second shoulder hole and form complete transmission system loop, the driving in joint can be realized by rotating drive 3, during articulation, (secondary bar rotates relative to main bar) sensor 6 produces angular displacement signal simultaneously, feeds back to control system.
Wherein, the upper end of described pinledge 4 is provided with the unthreaded hole for inserting sensor rotating shaft, and described unthreaded hole side is provided with screwed hole 45, and sensor rotating shaft is fixed in unthreaded hole by the holding screw in screwed hole 45.As shown in Figure 2, described pinledge 4 is provided with multistage step, respectively by the square cylinder of edge, termination 41 and first paragraph step 42, drive is fixed on first paragraph step 42 by upper end to lower end, be hingedly mounted on main bar by the face of cylinder of second segment step 43, by the square cylinder of the 3rd section of step 44, pinledge and secondary bar be fixed together.Described sensor rotates in company with pinledge together when pinledge rotates, and outputs signal.Described rope is steel wire rope, chain or Timing Belt.Described drive is runner, sprocket wheel or synchronizing wheel.Shown in Fig. 1 what be that in hinge joint mechanism with angular displacement sensor rope adopts is steel wire rope, what drive adopted is runner.
Concrete mounting means is that main bar is fixed with fixing rack for sensor, fixing rack for sensor is provided with sensor, sensor and pinledge are coaxially installed and sensor rotating shaft is fixed on the unthreaded hole of pinledge upper end by holding screw, when pinledge rotates, rotating shaft and pinledge together rotate, produce relative to sensor and rotate, output signal.The upper end of pinledge is provided with unthreaded hole, and unthreaded hole side is provided with screwed hole, and the rotating shaft being arranged on the angular displacement sensor on fixing rack for sensor makes a good job of insertion unthreaded hole, sensor rotating shaft is fixed in unthreaded hole by the holding screw in the screwed hole of side.Pinledge bottom is provided with screwed hole, is realized the axial location of pinledge by termination nail and pad.Pinledge is provided with multistage step, respectively by the square cylinder of edge, termination and first paragraph step, rotating disk is fixed on first paragraph step by upper end to lower end, be hingedly mounted on main bar by the face of cylinder of second segment step, by the square cylinder of the 3rd section of step, pinledge be fixed on secondary bar.
Square cylinder step simultaneously can be replaced other mode adopting key to connect or other orientable cross sectional shapes, and the kind of drive of described runner collocation steel wire rope can be replaced sprocket wheel collocation chain, synchronizing wheel collocation Timing Belt and the design of other kinds of drive.
Claims (5)
1. the hinge joint mechanism with angular displacement sensor, include main bar (2), secondary bar (1) and pinledge (4), it is characterized in that, described pinledge (4) is provided with multistage step, respectively by the square cylinder of edge, termination and first paragraph step (42), drive (3) is fixed on first paragraph step (42) by upper end to lower end, be hingedly mounted on main bar (2) by the face of cylinder of second segment step (43), by the square cylinder of the 3rd section of step (44), pinledge (4) and secondary bar (1) are fixed together, pinledge (4) bottom is provided with screwed hole, the first paragraph step (42) on pinledge (4) and pinledge (4) is made by detent mechanism, second segment step (43) and the 3rd section of step (44) are axially positioned on main bar (2) and secondary bar (1) and form hinges, described main bar (2) is fixed with fixing rack for sensor (5), described fixing rack for sensor (5) is provided with sensor (6), described sensor (6) is coaxial with pinledge (4), and the rotating shaft of described sensor (6) is inserted pinledge (4) upper end and is fixed on pinledge (4) by holding screw (14), described fixing rack for sensor (5) side is provided with two shoulder holes, spool (11) is fixed in the macropore of the first shoulder hole, rope (12) is installed in spool (11), described rope (12) is passed by the aperture of the first shoulder hole and is coated on drive (3), being a bit fixed on drive (3) on rope (12), and pass to be connected with transmission system by the second shoulder hole and form complete transmission system loop.
2. the hinge joint mechanism with angular displacement sensor according to claim 1, it is characterized in that, the upper end of described pinledge (4) is provided with unthreaded hole, described unthreaded hole side is provided with screwed hole, and the rotating shaft of sensor (6) is fixed in unthreaded hole by the holding screw (14) in screwed hole.
3. the hinge joint mechanism with angular displacement sensor according to claim 1, is characterized in that, described sensor (6) rotates in company with pinledge (4) together when pinledge (4) rotates, and outputs signal.
4. the hinge joint mechanism with angular displacement sensor according to claim 1, is characterized in that, described rope (12) is steel wire rope, chain or Timing Belt.
5. the hinge joint mechanism with angular displacement sensor according to claim 1, is characterized in that, described drive (3) is runner, sprocket wheel or synchronizing wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310032933.4A CN103085081B (en) | 2013-01-29 | 2013-01-29 | Hinge joint mechanism with angular displacement sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310032933.4A CN103085081B (en) | 2013-01-29 | 2013-01-29 | Hinge joint mechanism with angular displacement sensor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103085081A CN103085081A (en) | 2013-05-08 |
| CN103085081B true CN103085081B (en) | 2015-01-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310032933.4A Expired - Fee Related CN103085081B (en) | 2013-01-29 | 2013-01-29 | Hinge joint mechanism with angular displacement sensor |
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| Country | Link |
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| CN (1) | CN103085081B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105710895B (en) * | 2016-04-29 | 2017-10-20 | 华南理工大学 | A kind of structure for driving mechanical arm cradle head of restricting |
| CN108927795A (en) * | 2017-05-22 | 2018-12-04 | 沈阳新松机器人自动化股份有限公司 | A kind of flexible driving mechanism arm and control system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN200973711Y (en) * | 2006-11-06 | 2007-11-14 | 上海理工大学 | Joint parameter on-line detecting device |
| CN201126814Y (en) * | 2007-12-25 | 2008-10-01 | 中国电子科技集团公司第四十五研究所 | Manipulator turning device for semiconductor private facilities |
| CN102814821A (en) * | 2012-09-14 | 2012-12-12 | 中国科学院合肥物质科学研究院 | Mechanical arm high-angle controllable rotary joint device driven by two steel wire ropes |
| CN203077299U (en) * | 2013-01-29 | 2013-07-24 | 东华大学 | Hinge joint mechanism with angular displacement sensor |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09272091A (en) * | 1996-04-09 | 1997-10-21 | Olympus Optical Co Ltd | Robot hand automatic changer |
-
2013
- 2013-01-29 CN CN201310032933.4A patent/CN103085081B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN200973711Y (en) * | 2006-11-06 | 2007-11-14 | 上海理工大学 | Joint parameter on-line detecting device |
| CN201126814Y (en) * | 2007-12-25 | 2008-10-01 | 中国电子科技集团公司第四十五研究所 | Manipulator turning device for semiconductor private facilities |
| CN102814821A (en) * | 2012-09-14 | 2012-12-12 | 中国科学院合肥物质科学研究院 | Mechanical arm high-angle controllable rotary joint device driven by two steel wire ropes |
| CN203077299U (en) * | 2013-01-29 | 2013-07-24 | 东华大学 | Hinge joint mechanism with angular displacement sensor |
Non-Patent Citations (1)
| Title |
|---|
| JP特开平9-272091A 1997.10.21 * |
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| CN103085081A (en) | 2013-05-08 |
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Granted publication date: 20150107 Termination date: 20180129 |
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| CF01 | Termination of patent right due to non-payment of annual fee |