CN103846927B - Open type space two-dimensional eccentric rotational joint - Google Patents
Open type space two-dimensional eccentric rotational joint Download PDFInfo
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- CN103846927B CN103846927B CN201410100672.XA CN201410100672A CN103846927B CN 103846927 B CN103846927 B CN 103846927B CN 201410100672 A CN201410100672 A CN 201410100672A CN 103846927 B CN103846927 B CN 103846927B
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Abstract
The invention relates to an open type space two-dimensional eccentric rotational joint, which comprises a rotational base body formed by two circular rings, wherein two roll ball outer grooves are arranged on two sides of an outer wall face of each circular ring; a rope outer groove is arranged in the middle of the two roll ball outer grooves; a sealed circular ring formed by fixedly connecting a joint support and a rotational outer tile are respectively sleeved outside each circular ring; two roll ball inner grooves are arranged on two sides of an inner wall face of the sealed circular ring; a rope inner groove is arranged in the middle of the two roll ball inner grooves; the two roll ball inner grooves and the two roll ball outer grooves form two roll ball slideways; roll ball groups are embedded in the roll ball slideways; the rope inner groove and the rope outer groove form a rope slideway; a movement rope is embedded in the rope slideway of each circular ring; the ends of two movement ropes in each group of movement rope are fixed in the middle of the rotational base body; the other ends are arranged oppositely and wound on the rope slideways, and are connected to an external power source after being wound.
Description
Technical field
The present invention relates to the cradle head in a kind of robotics, particularly about a kind of can robot and all kinds of have use in the mechanical system of rotary joint open space two dimension eccentric rotary joint.
Background technology
Along with the increase of robot task kind and the lifting of functional requirement, increasing robot needs to adopt the assistance of spatial movement mechanism to complete the task of regulation, some spatial movement mechanism has become the core and Main Means that robot executes the task, and the use of a large amount of spatial movement mechanism improves flexibility that robot executes the task, independence and ageing.
Space development mechanism is a kind of spatial movement mechanism the most common, its operation principle is under the driving of power source, complete the functions such as expansion to structural member, gathering and rotation, and is coordinated the predetermined function realizing a whole set of space development mechanism by the motion between multiple structural member.Typical space development mechanism all have employed in simulation of human body the mentality of designing that " arm " simulates, mostly main structure is to be made up of two or many bar structures, between bar structure, the movable joint that adopts connects more, the relative motion between bar structure is realized by power source actuation movement joint, the system motion realizing a whole set of space development mechanism is coordinated by the motion between bar structure group, and then complete the execution of the overall compulsory exercise of space development mechanism, realize specific function.Therefore, movable joint determines the kinetic characteristic of space development mechanism, is the key of whole system.
Spatial movement joint in design emphasis needs the problem considered how to improve reliability, how to reduce resources occupation rate and how to improve the efficiency of tasks carrying.According to the effect of the current all kinds of movable joints used in robot, the following shortcoming of ubiquity: 1, system complex: the function of movable joint is many to be realized by servomotor, servomotor is installed between two structures, servomotor and required mounting structure complexity, simultaneously, servomotor needs the Circuits System such as power supply, control and signals collecting, which further increases the complexity of system.2, environment for use is limited: due to the existence of motor, will inevitably produce vibration, noise and electromagnetic field in electric machine rotation process, and some to be installed on development mechanism and cannot to adapt to the equipment of vibration, noise and electromagnetic environment sensitivity; On the other hand, the installation environment (installation accuracy, mechanical environment and thermal environment etc.) that motor generally all can provide robot claims, and requires very high in some cases, needs to design strict guarantee.These features all will make the environment for use of movable joint be restricted.3, reliability is low: system is complicated, environment for use requires strictly all will cause the reduction of system reliability, particularly to the dependence of environment for use, improves the influence degree of outside environmental elements to system reliability, reduces the reliability of system.4, resources occupation rate is high: the complexity of system must bring the increase of weight, volume and electrical power consumed, and these resources are all very valuable for any robot; On the other hand, can only overcoming by increasing configuration the high sensitive of environment for use, as increased the means such as system redundancy, structural strengthening, further increasing the occupancy of system resource.
Summary of the invention
For the problems referred to above, the object of this invention is to provide a kind of open space two dimension eccentric rotary joint, this joint is moved by frenulum of restricting, and structure is simple, and environmental suitability is strong, reliability is high, resources occupation rate is low.
For achieving the above object, the present invention takes following technical scheme: a kind of open space two dimension eccentric rotary joint, it is characterized in that: it comprises a rotation matrix be made up of two annulus, two joint seatings, two rotations outer watt, four outer watt snap rings, two groups of ball set and two groups of action rope systems, wherein often organizes described action rope system and is made up of two action ropes; In the outside wall surface of each annulus of described rotation matrix, be positioned at outside wall surface both sides and be provided with twice ball outer channel, the middle position being positioned at described twice ball outer channel is provided with one rope system outer channel; Also be arranged with by a described joint seating and an outer watt closed circle be fixedly connected to form of described rotation respectively in the outside of each annulus of described rotation matrix, on this closed circle internal face, be positioned at internal face both sides and be provided with the twice ball internal channel that arrange corresponding to described twice ball outer channel, the middle position being positioned at described twice ball internal channel be provided with together with the corresponding rope system internal channel arranged of described rope system outer channel; Described twice ball internal channel forms twice ball slideway with described twice ball outer channel respectively, and described two groups of ball set are embedded respectively in described twice ball slideway; Described rope system internal channel and described rope system outer channel form rope system slideway, often organizing described action rope system is embedded in the rope system slideway of an annulus on described rotation matrix respectively, and two the action rope one end often organized in described action rope system are all fixed on described rotation matrix middle position, the other end is in being oppositely arranged and being wrapped on described rope system slideway, and after winding, this end is connected to outside power source.
Also be respectively arranged with two fixed pulleys in each described joint seating, the every bar action rope often organized in described action rope system is that slideway penetrates after in described joint seating through rope, then connects described external power supply respectively by described fixed pulley.
Described rotation matrix rotates Neva by an integrated rotating shaft and two and forms, described rotating shaft is made up of the first rotating shaft of two semicircle shapes and the second rotating shaft and a contiguous block, first, second two rotating shafts described connect into orthohormbic structure by described contiguous block, a described rotation Neva is fixedly connected with respectively at described rotating shaft each semicircular opening place, each described rotation Neva and described rotating shaft form an annulus, are formed by two sheathed rotation matrixes formed of annulus.
Described contiguous block inside offers the through hole corresponding with described rope system slideway, and the every bar action rope one end often organized in described action rope system is fixed on described contiguous block through fixture through after this through hole.
An outer watt snap ring is arranged with respectively by described joint seating and the outer watt closed circle outside wall surface both sides be fixedly connected to form of described rotation each.
The action rope often organized in described action rope system all adopts Kevla cord.
The present invention is owing to taking above technical scheme, it has the following advantages: 1, the present invention rotates matrix owing to adopting, rotate matrix by one and realize double-axle rotation function, realize rotating matrix by ball set to mate with the rotation of joint seating, do not need bearing arrangement, reduce volume and weight, saved installing space, structure is simple; By fixed pulley group drive actions rope system, thus drive rotation matrix, do not need built-in motor to drive, further reduce volume and weight, save installing space.2, the present invention realizes double-axle rotation function owing to adopting one to rotate matrix, eliminates the rotation transmission error because the factors such as processing, assembling cause, therefore substantially increases the matching precision between double-axle rotation.3, the load that the rotation matrix that the present invention adopts bears in rotation process is by center, and rotation matrix is coordinated by ball set with between joint seating, and uniform force, rotation smoothly, therefore substantially increase system bearing ability.4, overall structure of the present invention is lightweight, volume is little, inner without power demands parts, therefore make the two-dimentional eccentric rotary joint of open space of the present invention have obvious advantage in weight, volume and electrical power consumed demand side, reduce system resource occupancy.5, the present invention due at open space two dimension eccentric rotary intra articular without electrical property product, without the high accuracy matching requirements of similar bearing fit, because this reducing the requirement of system to environment for use, improve environmental suitability.6, the present invention can realize along certain direction due to the single joint seating adopted single axle rotation, and adopts two identical joint seatings of version to achieve double-axle rotation along certain both direction, therefore improves versatility and the maintenanceability in joint; Further, the joint seating external interface structure that the present invention adopts is simple, can improve applicability of the present invention like this.7, the present invention because structure is simple, strong, the product versatility of environmental suitability and maintenanceability high, and then improve reliability of the present invention.In sum, the present invention can be widely used on the movable joint mechanism unit of all kinds of robot.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention;
Fig. 2 is the side view of Fig. 1;
Fig. 3 is the A-A sectional view of Fig. 2;
Fig. 4 is the C place enlarged diagram of Fig. 3;
Fig. 5 is the B-B sectional view of Fig. 2;
Fig. 6 is joint seating structural representation of the present invention;
Fig. 7 is the sectional view of Fig. 6;
Fig. 8 is rotation base body structure schematic diagram of the present invention;
Fig. 9 is the front view of Fig. 8.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in detail.
As shown in Fig. 1 ~ Fig. 9, the present invention includes a rotation matrix be made up of two annulus 1, two joint seatings 2, two and rotate outer watt 3, two groups of ball set 4 and two groups of action rope systems 5, wherein often organize action rope system 5 and be made up of two action ropes.In the outside wall surface of rotating each annulus of matrix 1, be positioned at outside wall surface both sides and be provided with twice ball outer channel 6, the middle position being positioned at outside wall surface twice ball outer channel 6 is provided with one rope system outer channel 7.Also be arranged with respectively in the outside of rotating each annulus of matrix 1 and rotate outer watt 3 closed circles be fixedly connected to form by a joint seating 2 and one, on this closed circle internal face, be positioned at internal face both sides and be provided with the twice ball internal channel 8 that arrange corresponding to twice ball outer channel 6, it is the corresponding rope system internal channel 9 arranged of outer channel 7 with rope together that the middle position being positioned at internal face twice ball internal channel 8 is provided with.Twice ball internal channel 8 forms twice ball slideway with twice ball outer channel 6 respectively, two groups of ball set 4 are embedded respectively in twice ball slideway, make ball set 4 at rotation matrix 1 and joint seating 2 and rotate between the outer watt closed circle formed, coordinated by ball set 4, rotation matrix 1 and closed circle and form transmission, ball set 4 provides to rotate between matrix 1 and closed circle rotates required environment, and carrying contacts the active force of generation between the two; Rope system internal channel 9 and rope system outer channel 7 form rope system slideway, often organizing action rope system 5 is embedded respectively in the rope system slideway rotating an annulus on matrix 1, and two the action rope one end often organized in action rope system 5 are all fixed on rotation matrix 1 middle position, the other end is in being oppositely arranged and being wrapped on rope system slideway, after winding, this end is connected to the power source being positioned at open space of the present invention two dimension outside, eccentric rotary joint through joint seating 2, the motion of power source drive actions rope system 5, and then realize rotating the rotation between matrix 1 and joint seating 2.
In above-described embodiment, as shown in Figure 8, Figure 9, rotate matrix 1 for realizing double-axle rotation function, rotate matrix 1 to be made up of an integrated rotating shaft 10 and two rotation Nevas 11, rotating shaft 10 is made up of the first rotating shaft of two semicircle shapes and the second rotating shaft and a contiguous block 12, first, second two rotating shafts connect into orthohormbic structure by contiguous block 12, and in similar x type structure.Be fixedly connected with one at each semicircular opening place of rotating shaft 10 respectively and rotate Neva 11, each rotation Neva 11 forms an annulus with rotating shaft 10, and then is formed by two sheathed rotation matrixes 1 formed of annulus.Wherein, in the contiguous block of rotating shaft 10,12 offer with restricting is the through hole that slideway is corresponding, and the every bar action rope one end often organized in action rope system 5 is fixed on contiguous block 12 through fixture through after this through hole.
In the various embodiments described above, as shown in Fig. 3, Fig. 7, also be respectively arranged with two fixed pulleys 13 in each joint seating 2, the every bar action rope often organized in action rope system 5 is that slideway penetrates after in joint seating 2 through rope, then connects external power supply after realizing guiding respectively by fixed pulley 13.
In the various embodiments described above, be arranged with an outer watt snap ring 14 respectively, for playing reinforcement effect each by the outer watt 3 closed circle outside wall surface both sides be fixedly connected to form of joint seating 2 and rotation.
In the various embodiments described above, the action rope often organized in action rope system 5 all adopts Kevla cord, for providing the power needed for its rotation for rotation matrix 1.Action rope system 5 and rotation matrix 1, rotates Neva 11, joint seating 2 and rotate and outward watts 3 carry out winding and coordinate, and form closed loop, power source drive actions rope system 5 carries out " winding-straight line " and moves back and forth, action rope system 5 carries out " winding-straight line " reciprocating motion around being positioned at the rope system slideway rotating matrix 1 surface, thus the rotation realizing joint seating 2 and rotate between matrix 1.
In sum, the mechanical motion principle in open space two dimension eccentric rotary joint of the present invention is the pull effect according to action rope system, realizing rotating function by coordinating between joint seating 2 with rotation matrix 1, two-dimensional rotary function can be realized by the rotating shaft 10 of rotating matrix 1 orthohormbic structure.
The present invention in use, is clear description use procedure, by the present invention's two joint seatings 2 called after first joint seating 2 and second joint seating 2 respectively.When initial position, wherein first joint seating 2 is in fixed constraint state, second joint seating 2 is in free state, when pulling action rope system 5, the drive of action rope system 5 is rotated matrix 1 and is turned clockwise around rotating shaft 10, thus make and rotate second joint seating 2 that matrix 1 is connected and together 10 turn clockwise around the shaft, the function making the mechanism kinematic in open space two dimension eccentric rotary joint have first rotating shaft single shaft to turn clockwise; In like manner, fix first joint seating 2, second joint seating 2 is in free state, when pulling action rope system 5, the drive of action rope system 5 is rotated matrix 1 and is rotated counterclockwise around rotating shaft 10, thus make and rotate second joint seating 2 that matrix 1 is connected and together 10 be rotated counterclockwise around the shaft, the function making the mechanism kinematic in open space two dimension eccentric rotary joint have first rotating shaft single shaft to be rotated counterclockwise.
Equally, during initial position, second joint seating 2 is in fixed constraint state, first joint seating 2 is in free state, when pulling action rope system 5, the drive of action rope system 5 is rotated matrix 1 and is turned clockwise around rotating shaft 10, thus make and rotate first joint seating 2 that matrix 1 is connected and together 10 turn clockwise around the shaft, the function making the mechanism kinematic in open space two dimension eccentric rotary joint have second rotating shaft single shaft to turn clockwise; In like manner, fix second joint seating 2, first joint seating 2 is in free state, when pulling action rope system 5, the drive of action rope system 5 is rotated matrix 1 and is rotated counterclockwise around rotating shaft 10, thus make and rotate first joint seating 2 that matrix 1 is connected and together 10 be rotated counterclockwise around the shaft, the function making the mechanism kinematic in open space two dimension eccentric rotary joint have second rotating shaft single shaft to be rotated counterclockwise.
The various embodiments described above are only for illustration of the present invention; the connection of each parts and structure all can change to some extent; on the basis of technical solution of the present invention; all improvement of carrying out the connection of individual part and structure according to the principle of the invention and equivalents, all should not get rid of outside protection scope of the present invention.
Claims (6)
1. an open space two dimension eccentric rotary joint, it is characterized in that: it comprises a rotation matrix be made up of two annulus, two joint seatings, two rotations outer watt, four outer watt snap rings, two groups of ball set and two groups of action rope systems, wherein often organizes described action rope system and is made up of two action ropes;
Described rotation matrix rotates Neva by an integrated rotating shaft and two and forms, described rotating shaft is made up of the first rotating shaft of two semicircle shapes and the second rotating shaft and a contiguous block, first, second two rotating shafts described connect into orthohormbic structure by described contiguous block, and in similar x type structure;
In the outside wall surface of each annulus of described rotation matrix, be positioned at outside wall surface both sides and be provided with twice ball outer channel, the middle position being positioned at described twice ball outer channel is provided with one rope system outer channel; Also be arranged with by a described joint seating and an outer watt closed circle be fixedly connected to form of described rotation respectively in the outside of each annulus of described rotation matrix, on this closed circle internal face, be positioned at internal face both sides and be provided with the twice ball internal channel that arrange corresponding to described twice ball outer channel, the middle position being positioned at described twice ball internal channel be provided with together with the corresponding rope system internal channel arranged of described rope system outer channel; Described twice ball internal channel forms twice ball slideway with described twice ball outer channel respectively, and described two groups of ball set are embedded respectively in described twice ball slideway; Described rope system internal channel and described rope system outer channel form rope system slideway, often organizing described action rope system is embedded in the rope system slideway of an annulus on described rotation matrix respectively, and two the action rope one end often organized in described action rope system are all fixed on described rotation matrix middle position, the other end is in being oppositely arranged and being wrapped on described rope system slideway, and after winding, this end is connected to outside power source.
2. a kind of open space two dimension eccentric rotary joint as claimed in claim 1, it is characterized in that: in each described joint seating, be also respectively arranged with two fixed pulleys, the every bar action rope often organized in described action rope system is that slideway penetrates after in described joint seating through rope, then connects described external power supply respectively by described fixed pulley.
3. a kind of open space two dimension eccentric rotary joint as claimed in claim 1, it is characterized in that: described contiguous block inside offers the through hole corresponding with described rope system slideway, and the every bar action rope one end often organized in described action rope system is fixed on described contiguous block through fixture through after this through hole.
4. a kind of open space two dimension eccentric rotary joint as described in claim 1 or 2 or 3, is characterized in that: be arranged with an outer watt snap ring each respectively by described joint seating and the outer watt closed circle outside wall surface both sides be fixedly connected to form of described rotation.
5. a kind of open space two dimension eccentric rotary joint as described in claim 1 or 2 or 3, is characterized in that: the action rope often organized in described action rope system all adopts Kevla cord.
6. a kind of open space two dimension eccentric rotary joint as claimed in claim 4, is characterized in that: the action rope often organized in described action rope system all adopts Kevla cord.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410100672.XA CN103846927B (en) | 2014-03-18 | 2014-03-18 | Open type space two-dimensional eccentric rotational joint |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410100672.XA CN103846927B (en) | 2014-03-18 | 2014-03-18 | Open type space two-dimensional eccentric rotational joint |
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| CN103846927A CN103846927A (en) | 2014-06-11 |
| CN103846927B true CN103846927B (en) | 2015-06-10 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104029212B (en) * | 2014-06-13 | 2016-03-16 | 上海交通大学 | Three Degree Of Freedom is external turns heart rotating machinery wrist |
| CN105904482B (en) * | 2016-06-16 | 2017-06-16 | 清华大学深圳研究生院 | A kind of mechanical arm bias articulation mechanism |
| CN107379003B (en) * | 2017-07-21 | 2020-12-29 | 清华大学 | Double-shaft joint mechanism of robot |
| CN107792406A (en) * | 2017-09-11 | 2018-03-13 | 航天东方红卫星有限公司 | A kind of open space two dimension eccentric rotary joint |
| CN111015727A (en) * | 2019-12-10 | 2020-04-17 | 长春工业大学 | Stretching bionic artificial knee joint |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US4723460A (en) * | 1984-04-12 | 1988-02-09 | Rosheim Mark E | Robot wrist actuator |
| CN1281385C (en) * | 2003-07-23 | 2006-10-25 | 郁有华 | Linear driven single o-multi-freedom joint |
| WO2009026937A2 (en) * | 2007-08-26 | 2009-03-05 | Abozaied Abdallah Ezzat Abdall | New robotic joint configuration |
| KR100997143B1 (en) * | 2008-06-30 | 2010-11-30 | 삼성전자주식회사 | Driving apparatus and robot having the same |
| CN103341865B (en) * | 2013-07-05 | 2015-06-24 | 大连理工大学 | Three-freedom-degree constant speed decoupling space robot active spherical wrist and universal compliant control method |
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