CN107150356B - Two-degree-of-freedom joint structure - Google Patents
Two-degree-of-freedom joint structure Download PDFInfo
- Publication number
- CN107150356B CN107150356B CN201710571402.0A CN201710571402A CN107150356B CN 107150356 B CN107150356 B CN 107150356B CN 201710571402 A CN201710571402 A CN 201710571402A CN 107150356 B CN107150356 B CN 107150356B
- Authority
- CN
- China
- Prior art keywords
- gear shaft
- bevel gear
- backlash
- output
- gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Gear Transmission (AREA)
Abstract
The invention relates to the technical field of industrial robots, in particular to a two-degree-of-freedom joint structure. It includes: the automatic backlash eliminating device comprises a first rack, a first driving device, a first gear shaft, a first bevel gear, a second rack, a second driving device, a second gear shaft, a second bevel gear, a third rack, an output gear shaft, an output bevel gear, an backlash eliminating driving device, a backlash eliminating gear shaft and a backlash eliminating bevel gear; the first bevel gear is arranged on a first gear shaft, and the first driving device drives the first gear shaft to rotate; the second bevel gear is arranged on a second gear shaft, and the second driving device drives the second gear shaft to rotate; the output bevel gear is arranged on the output gear shaft; the anti-backlash bevel gear is arranged on the anti-backlash gear shaft, and the anti-backlash driving device drives the anti-backlash gear shaft to rotate; the output bevel gear and the backlash eliminating bevel gear are meshed with the first bevel gear and the second bevel gear respectively and simultaneously. The two-degree-of-freedom joint structure can realize pitching motion, autorotation motion and pitching autorotation compound motion, and has higher transmission precision.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a two-degree-of-freedom joint structure.
Background
Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices oriented to the industrial field, can automatically execute work, and are machines which realize various functions by means of self power and control capacity. Joint structures are important functional elements of industrial robots. The transmission precision of the joint structure directly determines the transmission precision of the industrial robot.
One prior art knuckle structure includes a first bevel gear, a second bevel gear, and a third bevel gear, with the first and second bevel gears simultaneously meshing with the third bevel gear. When the first bevel gear and the second bevel gear rotate in the same direction, the third bevel gear is driven to realize one degree of freedom, and when the first bevel gear and the second bevel gear rotate in opposite directions, the third bevel gear is driven to realize the other degree of freedom.
The joint structure has the defects that due to the existence of errors, the third bevel gear inevitably acts with one of the first bevel gear and the second bevel gear, and when the third bevel gear is in close contact with the first bevel gear, a transmission gap exists between the third bevel gear and the second bevel gear, so that the transmission precision is reduced; when the third bevel gear and the second bevel gear are in close contact, a transmission gap exists between the third bevel gear and the first bevel gear, so that the brake transmission precision is reduced.
Disclosure of Invention
Technical problem to be solved
The invention aims to provide a two-degree-of-freedom joint structure which can realize pitching motion, autorotation motion and pitching autorotation compound motion and has higher transmission precision.
(II) technical scheme
In order to achieve the purpose, the invention adopts the main technical scheme that:
the invention provides a two-degree-of-freedom joint structure. Specifically, the two-degree-of-freedom joint structure includes: the device comprises a first driving unit, a second driving unit, an output unit and a gap eliminating unit;
the first driving unit comprises a first rack, a first driving device arranged on the first rack, a first gear shaft arranged on the first rack and a first bevel gear, the first bevel gear is arranged on the first gear shaft, and the first driving device drives the first gear shaft to rotate;
the second driving unit comprises a second rack, a second driving device arranged on the second rack, a second gear shaft arranged on the second rack and a second bevel gear, the second bevel gear is arranged on the second gear shaft, and the second driving device drives the second gear shaft to rotate;
the output unit comprises a third rack, an output gear shaft and an output bevel gear, wherein the output gear shaft and the output bevel gear are arranged on the third rack;
the anti-backlash unit comprises an anti-backlash driving device, an anti-backlash gear shaft and an anti-backlash bevel gear, wherein the anti-backlash driving device is connected with the output gear shaft, the anti-backlash gear shaft is arranged on the third rack, and the anti-backlash bevel gear is arranged on the anti-backlash gear shaft and drives the anti-backlash gear shaft to rotate;
the first rack is fixedly connected with the second rack, and the third rack is rotatably connected with the first rack and the second rack;
the first bevel gear and the second bevel gear are coaxially arranged, the anti-backlash bevel gear and the output bevel gear are coaxially arranged, the output bevel gear is meshed with the first bevel gear and the second bevel gear, and the anti-backlash bevel gear is meshed with the first bevel gear and the second bevel gear.
Furthermore, the anti-backlash driving device comprises an anti-backlash motor reducer, and an output shaft of the anti-backlash motor reducer is fixedly connected with an anti-backlash gear shaft.
Further, the first driving device comprises a first motor reducer, and an output shaft of the first motor reducer is fixedly connected with the first gear shaft.
Further, the second driving device comprises a second motor reducer, and an output shaft of the second motor reducer is fixedly connected with the second gear shaft.
Further, the first driving device further comprises a first speed reducing mechanism, and an output shaft of the first motor speed reducer is fixedly connected with the first gear shaft through the first speed reducing mechanism.
Furthermore, the second driving device further comprises a second speed reducing mechanism, and an output shaft of the second motor speed reducer is fixedly connected with the second gear shaft through the second speed reducing mechanism.
Furthermore, the first speed reducing mechanism comprises a first worm wheel and a first worm, the first worm is fixedly connected with an output shaft of the first motor speed reducer, and the first worm wheel is fixedly connected to the first gear shaft.
Furthermore, the second speed reducing mechanism comprises a second worm wheel and a second worm, the second worm is fixedly connected with an output shaft of the second motor speed reducer, and the second worm wheel is fixedly connected to a second gear shaft.
Further, the third frame is rotatably connected with the first frame through a first bearing;
the third frame is rotatably connected with the second frame through a second bearing.
Further, the two-degree-of-freedom joint structure of the present invention further comprises:
and the controller is connected with the first motor speed reducer, the second motor speed reducer and the anti-backlash motor speed reducer.
(III) advantageous effects
The invention has the beneficial effects that:
according to the two-degree-of-freedom joint structure, the first driving device drives the first gear shaft to rotate, the second driving device drives the second gear shaft to rotate, and when the first gear shaft and the second gear shaft rotate at the same direction and the same speed, the output gear shaft only pitches and does not rotate;
according to the two-degree-of-freedom joint structure, the first driving device drives the first gear shaft to rotate, the second driving device drives the second gear shaft to rotate, and when the first gear shaft and the second gear shaft rotate reversely at a constant speed, the output gear shaft only rotates and does not pitch;
according to the two-degree-of-freedom joint structure, the first driving device drives the first gear shaft to rotate, the second driving device drives the second gear shaft to rotate, and when the rotating speeds of the first gear shaft and the second gear shaft are unequal, the output gear shaft performs autorotation pitching composite motion;
according to the two-degree-of-freedom joint structure, the first driving device drives the first gear shaft to rotate, the second driving device drives the second gear shaft to rotate, the direction of torque output by the first driving device is the same as that of torque output by the second driving device, the torque output by the second driving device is different in size, the anti-backlash driving device drives the anti-backlash gear shaft to rotate, the output torque of the anti-backlash driving device enables the first gear shaft and the second gear shaft to rotate at the same speed in the same direction, the output gear shaft only pitches and does not rotate automatically, the transmission clearance is eliminated, and the transmission precision is higher;
according to the two-degree-of-freedom joint structure, the first driving device drives the first gear shaft to rotate, the second driving device drives the second gear shaft to rotate, the direction of torque output by the first driving device is opposite to that of torque output by the second driving device, the torque output by the second driving device is different in magnitude, the anti-backlash driving device drives the anti-backlash gear shaft to rotate, the output torque of the anti-backlash driving device enables the first gear shaft and the second gear shaft to rotate reversely at a constant speed, the output gear shaft only rotates in an autorotation mode and does not pitch, the transmission gap is eliminated, and the transmission precision is higher.
In conclusion, the two-degree-of-freedom joint structure disclosed by the invention can realize pitching motion, autorotation motion and pitching autorotation compound motion, and has higher transmission precision.
Drawings
FIG. 1 is a schematic structural diagram of a two-degree-of-freedom joint configuration in an embodiment;
FIG. 2 is a schematic structural view of a two-degree-of-freedom joint structure without a first frame, a second frame, and a third frame according to an embodiment;
fig. 3 is a schematic structural diagram of an output unit and an anti-backlash unit of a two-degree-of-freedom joint structure in a specific embodiment.
[ description of reference ]
In the figure:
1: a first drive unit; 11: a first frame; 12: a first motor reducer; 13: a first worm gear; 14: a first worm; 15: a first gear shaft; 16: a first bevel gear; 17: a first support bearing; 18: a first coupling;
2: a second driving unit; 21: a second frame; 22: a second motor reducer; 23: a second worm gear; 24: a second worm; 25: a second gear shaft; 26: a second bevel gear; 27: a second support bearing; 28: a second coupling;
3: an output unit; 31: a third frame; 32: an output gear shaft; 33: an output bevel gear; 34: a third support bearing; 35: a fourth support bearing; 36: connecting the discs; 37: a bushing; 38: a connecting rod;
4: a backlash eliminating unit; 41: a backlash eliminating motor reducer; 42: a backlash eliminating gear shaft; 43: eliminating a clearance bevel gear; 44: a fifth support bearing; 45: a sixth support bearing; 46: a backlash eliminating coupler;
5: a first bearing;
6: a second bearing.
Detailed Description
For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings.
Referring to fig. 1 to 3, the two-degree-of-freedom joint structure of the present embodiment includes at least: the driving device comprises a first driving unit 1, a second driving unit 2, an output unit 3 and an anti-backlash unit 4.
First drive unit 1
The first driving unit 1 includes a first frame 11, a first driving device provided on the first frame 11, a first gear shaft 15 provided on the first frame 11, and a first bevel gear 16.
The first gear shaft 15 is disposed on the first frame 11 through a first support bearing 17, and the first support bearing 17 plays a positioning and supporting role for the first gear shaft 15.
A first bevel gear 16 is provided on the first gear shaft 15. The first frame 11 is provided with a first hollow shaft, the first gear shaft 15 passes through the first hollow shaft, and the first bevel gear 16 is disposed at a portion of the first gear shaft 15 located outside the first frame 11.
The first driving means drives the first gear shaft 15 to rotate.
The first drive means includes a first motor reducer 12. The first motor reducer 12 is fixed to the first frame 11 by a flange bracket. The first motor reducer 12 integrates a motor and a reduction mechanism, and can provide a large torque and have a small size. An output shaft of the first motor reducer 12 is fixedly connected with a first gear shaft 15, and the first motor reducer 12 is directly or indirectly fixedly connected with the first gear shaft 15.
Specifically, the first driving device further includes a first speed reduction mechanism, and an output shaft of the first motor reducer 12 is fixedly connected to the first gear shaft 15 through the first speed reduction mechanism. The first speed reduction mechanism may be selected from a planetary speed reduction mechanism, a worm and gear speed reduction mechanism, and the like.
In the present embodiment, the first speed reducing mechanism includes the first worm wheel 13 and the first worm 14, and the first worm wheel 13 is meshed with the first worm 14, so that not only a large transmission ratio is realized, but also the size is small. The first worm wheel 13 and the first worm 14 used in the present embodiment do not self-lock, and forward and reverse rotation transmission can be achieved. The first worm 14 is fixedly connected with an output shaft of the first motor reducer 12 in a manner of connection through a first coupling 18, connection through a flange structure, and the like. The first worm wheel 13 is fixedly connected to the first gear shaft 15 in a flat key connection manner, a direct welding fixation manner and the like. The first worm wheel 13 and the first worm 14 are adopted on the basis of the first motor reducer 12, so that the output speed is further reduced, and the structure is more compact and simpler.
In this embodiment, the first motor reducer 12 drives the first worm 14 to rotate at the same speed, the first worm 14 and the first worm wheel 13 are meshed to reduce the speed, and the worm wheel drives the first gear shaft 15 to rotate at the same speed, so that the first bevel gear 16 rotates at the same speed with the first gear shaft 15.
Second drive unit 2
The second driving unit 2 includes a second frame 21 and a second driving device provided on the second frame 21, a second gear shaft 25 provided on the second frame 21, and a second bevel gear 26.
The second gear shaft 25 is disposed on the second frame 21 through a second support bearing 27, and the second support bearing 27 performs a positioning support function on the second gear shaft 25.
A second bevel gear 26 is arranged on the second gear shaft 25. The second frame 21 is provided with a second hollow shaft through which the second gear shaft 25 passes, and the second bevel gear 26 is provided at a portion of the second gear shaft 25 located outside the second frame 21.
The second drive means drives the second gear shaft 25 in rotation.
The second drive means comprises a second motor reducer 22. The second motor reducer 22 is fixed to the second frame 21 by a flange bracket. The second motor reducer 22 integrates a motor and a reduction mechanism, and can provide a large torque and has a small size. An output shaft of the second motor reducer 22 is fixedly connected with a second gear shaft 25, and the second motor reducer 22 is directly or indirectly fixedly connected with the second gear shaft 25.
Specifically, the second driving device further includes a second speed reduction mechanism, and an output shaft of the second motor reducer 22 is fixedly connected to the second gear shaft 25 through the second speed reduction mechanism. The second speed reducing mechanism can be selected from a planetary speed reducing mechanism, a worm and gear speed reducing mechanism and the like.
In the present embodiment, the second reduction mechanism includes the second worm wheel 23 and the second worm 24, and the second worm wheel 23 is meshed with the second worm 24, so that not only a large transmission ratio is realized, but also the volume is small. The second worm wheel 23 and the second worm 24 used in the present embodiment do not self-lock, and forward and reverse rotation transmission can be achieved. The second worm 24 is fixedly connected with the output shaft of the second motor reducer 22 by a second coupling 28, a flange structure, and the like. The second worm wheel 23 is fixedly connected to the second gear shaft 25 in a flat key connection manner, a direct welding fixation manner, or the like. The second worm wheel 23 and the second worm 24 are adopted on the basis of the second motor reducer 22, so that the output speed is further reduced, and the structure is more compact and simpler.
In this embodiment, the second motor reducer 22 drives the second worm 24 to rotate at the same speed, the second worm 24 and the second worm wheel 23 are meshed to reduce the speed, and the worm wheel drives the second gear shaft 25 to rotate at the same speed, so that the second bevel gear 26 rotates with the second gear shaft 25 at the same speed.
Output unit 3
The output unit 3 includes a third frame 31, and an output gear shaft 32 and an output bevel gear 33 provided on the third frame 31.
An output bevel gear 33 is provided on the output gear shaft 32. The output gear shaft 32 is disposed in the inner cavity of the third frame 31 through a third support bearing 34 and a fourth support bearing 35, and the third support bearing 34 and the fourth support bearing 35 are used for positioning and supporting the output gear shaft 32.
Anti-backlash unit 4
The anti-backlash unit 4 comprises an anti-backlash driving device, an anti-backlash gear shaft 42 and an anti-backlash bevel gear 43, wherein the anti-backlash driving device is connected with the output gear shaft 32 through a body, and the anti-backlash gear shaft 42 and the anti-backlash bevel gear 43 are arranged on the third rack 31.
In this embodiment, the output gear shaft 32 is connected to the body of the backlash elimination drive device, and is not connected to the output shaft of the backlash elimination drive device.
The anti-backlash bevel gear 43 is provided on the anti-backlash gear shaft 42. The anti-backlash gear shaft 42 is arranged in the inner cavity of the third frame 31 through a fifth support bearing 44 and a sixth support bearing 45, and the fifth support bearing 44 and the sixth support bearing 45 play a role in positioning and supporting the output gear shaft 32. The anti-backlash gear shaft 42 passes through the hole of the output gear shaft 32 and the hole of the output bevel gear 33 such that the anti-backlash bevel gear 43 is disposed opposite to the output bevel gear 33. The anti-backlash bevel gear 43 is fixedly arranged on the anti-backlash gear shaft 42 in a flat key connection, a welding connection and other modes.
The anti-backlash driving device drives the anti-backlash gear shaft 42 to rotate.
The anti-backlash driving device comprises an anti-backlash motor reducer 41. The backlash elimination motor reducer 41 is connected with the output gear shaft 32, specifically, as shown in fig. 2, the output gear shaft 32 is connected with the connecting disc 36 through a bushing 37, the connecting disc 36 is connected with the connecting rod 38 through a bolt, and the backlash elimination motor reducer 41 is fixed on the connecting rod 38 through a flange bracket. The anti-backlash motor reducer 41 integrates a motor and a reducing mechanism, and not only can provide larger torque, but also has smaller volume. An output shaft of the anti-backlash motor reducer 41 is fixedly connected with an anti-backlash gear shaft 42, and the anti-backlash motor reducer 41 and the anti-backlash gear shaft 42 are directly or indirectly fixedly connected. Specifically, the output shaft of the backlash elimination motor reducer 41 and the backlash elimination gear shaft 42 are fixedly connected through the backlash elimination coupler 46 or fixedly connected through a flange structure, welding and the like.
Wherein, the output gear shaft 32, the shaft bushing 37, the connecting disc 36, the connecting rod 38 and the body of the anti-backlash motor reducer 41 move integrally; the anti-backlash bevel gear 43 is sleeved in a middle hole of the output gear shaft 32; the anti-backlash bevel gear 43 and the third frame 31 are axially fixed and rotate circumferentially through a fifth support bearing 44 and a sixth support bearing 45; the output gear shaft 32 and the third frame 31 are axially fixed in circumferential rotation by a third support bearing 34 and a fourth support bearing 35. The pitching motion, the rotation motion, and the pitching and rotation combined motion in the present embodiment can be transmitted through the link 38.
In this embodiment, the anti-backlash motor reducer 41 drives the anti-backlash gear shaft 42 to rotate at the same speed, so that the anti-backlash bevel gear 43 rotates at the same speed with the anti-backlash gear shaft 42.
The first frame 11 and the second frame 21 are fixedly connected, and the third frame 31 is rotatably connected with the first frame 11 and the second frame 21. Specifically, the third frame 31 is rotatably connected to the first frame 11 through the first bearing 5, and the third frame 31 is rotatably connected to the second frame 21 through the second bearing 6. The first bearing 5 is sleeved on a first hollow shaft of the first frame 11, and a shaft shoulder on the first hollow shaft abuts against an inner ring of the first bearing 5 for positioning the first bearing 5. The second bearing 6 is sleeved on a second hollow shaft of the second frame 21, and a shaft shoulder on the second hollow shaft abuts against an inner ring of the second bearing 6 for positioning the second bearing 6.
The first bevel gear 16 and the second bevel gear 26 are coaxially arranged, the anti-backlash bevel gear 43 and the output bevel gear 33 are coaxially arranged, the output bevel gear 33 is meshed with the first bevel gear 16 and the second bevel gear 26, and the anti-backlash bevel gear 43 is meshed with the first bevel gear 16 and the second bevel gear 26. The first gear shaft 15 (or the second gear shaft 25) and the output gear shaft 32 (or the anti-backlash gear shaft 42) are perpendicular to each other.
The two-degree-of-freedom joint structure of the embodiment further comprises a controller, and the controller is connected with the first motor reducer 12, the second motor reducer 22 and the backlash elimination motor reducer 41. The controller is used for controlling the output torques of the first motor reducer 12, the second motor reducer 22 and the backlash elimination motor reducer 41.
Principle of operation
1. Output gear shaft 32 is pitch-only non-self-rotating
When the first gear shaft 15 and the second gear shaft 25 rotate in the same direction and at the same speed, the output gear shaft 32 only pitches and does not rotate.
The gap eliminating method comprises the following steps: as shown in fig. 3, the output torque of the first motor reducer 12 is controlled by the controller, and the torque transmitted by the first motor reducer 12 to the first gear shaft 15 through the first worm 14 and the first worm wheel 13 reduction gear is T1; the output torque of the second motor reducer 22 is controlled by the controller, the torque transmitted to the second gear shaft 25 by the second motor reducer 22 through the second worm 24 and the second worm wheel 23 reducer is T2, and the torque of the second gear shaft 25 is the same as the torque of the first gear shaft 15 in direction and different in magnitude; the output torque of the backlash elimination motor reducer 41 is controlled by the controller, the torque transmitted by the backlash elimination motor reducer 41 to the backlash elimination gear shaft 42 is T3, when T2 < T1, T3 is T1-T2 and turns to the second gear shaft 25, and when T2> T1, T3 is T2-T1 and turns to the first gear shaft 15. The anti-backlash bevel gear 43 is tightly meshed with the first bevel gear 16 and the second bevel gear 26, when T2 is less than T1, a gap exists between the meshing of the output bevel gear 33 and the second bevel gear 26, and when T2 is greater than T1, a gap exists between the meshing of the output bevel gear 33 and the first bevel gear 16. The torque T1 of the first bevel gear 16 and the torque T2 of the second bevel gear 26 form a torque difference, so that a transmission gap is eliminated, the transmission precision is improved, the torque T3 of the anti-backlash bevel gear 43 can make up for the torque difference formed by the torque T1 of the first bevel gear 16 and the torque T2 of the second bevel gear 26, the rotating directions of the first gear shaft 15 and the second gear shaft 25 are the same, the rotating speeds of the first gear shaft and the second gear shaft 25 are the same, and the output gear shaft 32 only pitches and does not rotate.
2. Output gear shaft 32 only rotates and does not pitch
When the first gear shaft 15 and the second gear shaft 25 rotate in opposite directions and at equal speeds, the output gear shaft 32 rotates only and does not pitch.
The gap eliminating method comprises the following steps: as shown in fig. 3, the output torque of the first motor reducer 12 is controlled by the controller, and the torque transmitted by the first motor reducer 12 to the first gear shaft 15 through the first worm 14 and the first worm wheel 13 reduction gear is T1; the output torque of the second motor reducer 22 is controlled by the controller, the torque transmitted to the second gear shaft 25 by the second motor reducer 22 through the second worm 24 and the second worm wheel 23 reducer is T2, and the torque of the second gear shaft 25 is opposite to the torque of the first gear shaft 15 in direction and different in magnitude; the output torque of the anti-backlash motor reducer 41 is controlled by the controller, the torque transmitted by the anti-backlash motor reducer 41 to the anti-backlash gear shaft 42 is T3, when T2 < T1, T3 is T1-T2, and the first gear shaft 15 is turned, and when T2> T1, T3 is T2-T1, and the second gear shaft 25 is turned. The anti-backlash bevel gear 43 is tightly meshed with the first bevel gear 16 and the second bevel gear 26, when T2 is less than T1, a gap exists between the meshing of the output bevel gear 33 and the second bevel gear 26, and when T2 is greater than T1, a gap exists between the meshing of the output bevel gear 33 and the first bevel gear 16. The torque T1 of the first bevel gear 16 and the torque T2 of the second bevel gear 26 form a torque difference, so that a transmission gap is eliminated, the transmission precision is improved, the torque T3 of the anti-backlash bevel gear 43 can make up for the torque difference formed by the torque T1 of the first bevel gear 16 and the torque T2 of the second bevel gear 26, the rotating directions of the first gear shaft 15 and the second gear shaft 25 are opposite, the rotating speeds of the first gear shaft and the second gear shaft 25 are equal, and the output gear shaft 32 only rotates and does not pitch.
In the two-degree-of-freedom joint structure of the present embodiment, the first driving device drives the first gear shaft 15 to rotate, the second driving device drives the second gear shaft 25 to rotate, and when the first gear shaft 15 and the second gear shaft 25 rotate in the same direction and at the same speed, the output gear shaft 32 only pitches and does not rotate.
In the two-degree-of-freedom joint structure of the present embodiment, the first driving device drives the first gear shaft 15 to rotate, the second driving device drives the second gear shaft 25 to rotate, and when the first gear shaft 15 and the second gear shaft 25 rotate in opposite directions at a constant speed, the output gear shaft 32 only rotates and does not pitch.
In the two-degree-of-freedom joint structure of the embodiment, the first driving device drives the first gear shaft 15 to rotate, the second driving device drives the second gear shaft 25 to rotate, and when the rotating speeds of the first gear shaft 15 and the second gear shaft 25 are not equal, the output gear shaft 32 performs autorotation and pitching composite motion.
In the two-degree-of-freedom joint structure of the embodiment, the first driving device drives the first gear shaft 15 to rotate, the second driving device drives the second gear shaft 25 to rotate, the direction of the torque output by the first driving device is the same as that of the torque output by the second driving device, the torque output by the first driving device is different from that of the torque output by the second driving device, the anti-backlash driving device drives the anti-backlash gear shaft 42 to rotate, and when the output torque of the anti-backlash driving device enables the first gear shaft 15 and the second gear shaft 25 to rotate in the same direction and at the same speed, the output gear shaft 32 only pitches and does not rotate, the transmission.
In the two-degree-of-freedom joint structure of the embodiment, the first driving device drives the first gear shaft 15 to rotate, the second driving device drives the second gear shaft 25 to rotate, the direction of the torque output by the first driving device is opposite to that of the torque output by the second driving device, the torque output by the first driving device is different from that of the torque output by the second driving device in size, the anti-backlash driving device drives the anti-backlash gear shaft 42 to rotate, and when the output torque of the anti-backlash driving device enables the first gear shaft 15 and the second gear shaft 25 to rotate reversely at a constant speed, the output gear shaft 32 only rotates in a self-rotating mode without pitching.
In summary, the two-degree-of-freedom joint structure of the embodiment can realize pitching motion, autorotation motion and pitching autorotation compound motion, and has higher transmission precision.
The above description is only a preferred embodiment of the present invention, and for those skilled in the art, the present invention should not be limited by the description of the present invention, which should be interpreted as a limitation.
Claims (7)
1. A two degree-of-freedom joint structure, comprising: the device comprises a first driving unit (1), a second driving unit (2), an output unit (3) and a gap eliminating unit (4);
the first driving unit (1) comprises a first rack (11), a first driving device arranged on the first rack (11), a first gear shaft (15) arranged on the first rack (11) and a first bevel gear (16), wherein the first bevel gear (16) is arranged on the first gear shaft (15), and the first driving device drives the first gear shaft (15) to rotate;
the second driving unit (2) comprises a second rack (21), a second driving device arranged on the second rack (21), a second gear shaft (25) arranged on the second rack (21) and a second bevel gear (26), wherein the second bevel gear (26) is arranged on the second gear shaft (25), and the second driving device drives the second gear shaft (25) to rotate;
the output unit (3) comprises a third frame (31), an output gear shaft (32) arranged on the third frame (31) and an output bevel gear (33), wherein the output bevel gear (33) is arranged on the output gear shaft (32);
the anti-backlash unit (4) comprises an anti-backlash driving device, an anti-backlash gear shaft (42) and an anti-backlash bevel gear (43), the anti-backlash driving device is connected with the output gear shaft (32) through the body, the anti-backlash gear shaft (42) is arranged on the third rack (31), the anti-backlash bevel gear (43) is arranged on the anti-backlash gear shaft (42), and the anti-backlash driving device drives the anti-backlash gear shaft (42) to rotate;
the first rack (11) is fixedly connected with the second rack (21), and the third rack (31) is rotatably connected with the first rack (11) and the second rack (21);
the first bevel gear (16) and the second bevel gear (26) are coaxially arranged, the anti-backlash bevel gear (43) and the output bevel gear (33) are coaxially arranged, the output bevel gear (33) is meshed with the first bevel gear (16) and the second bevel gear (26), and the anti-backlash bevel gear (43) is meshed with the first bevel gear (16) and the second bevel gear (26);
the anti-backlash driving device comprises an anti-backlash motor reducer (41), and an output shaft of the anti-backlash motor reducer (41) is fixedly connected with an anti-backlash gear shaft (42);
the first driving device comprises a first motor speed reducer (12), and an output shaft of the first motor speed reducer (12) is fixedly connected with a first gear shaft (15);
the third frame (31) is rotationally connected with the first frame (11) through a first bearing (5);
the third frame (31) is rotationally connected with the second frame (21) through a second bearing (6);
the anti-backlash method comprises the following steps:
the output torque of the first motor reducer (12) is controlled through the controller, and the torque transmitted to the first gear shaft (15) by the first motor reducer (12) through the first worm (14) and the first worm wheel (13) speed reduction device is T1; the output torque of the second motor reducer (22) is controlled through the controller, the torque transmitted to the second gear shaft (25) by the second motor reducer (22) through the second worm (24) and the second worm wheel (23) reduction gear is T2, and the torque of the second gear shaft (25) is the same as the torque of the first gear shaft (15) in direction and different in magnitude; the output torque of the anti-backlash motor reducer (41) is controlled by the controller, and the torque transmitted to the anti-backlash gear shaft (42) by the anti-backlash motor reducer (41) is T3;
when the output gear shaft (32) only pitches and does not rotate; when the first gear shaft (15) and the second gear shaft (25) have the same rotating direction and the same rotating speed, the output gear shaft (32) only pitches and does not rotate;
when T2 < T1, T3 is T1-T2 and turns to the second gear shaft (25), and when T2> T1, T3 is T2-T1 and turns to the first gear shaft (15); the anti-backlash bevel gear (43) is tightly meshed with the first bevel gear (16) and the second bevel gear (26), when T2 is less than T1, a gap exists between the meshing of the output bevel gear (33) and the second bevel gear (26), and when T2 is greater than T1, a gap exists between the meshing of the output bevel gear (33) and the first bevel gear (16);
or when the output gear shaft (32) only rotates and does not pitch, when the rotating directions of the first gear shaft (15) and the second gear shaft are opposite and the rotating speeds are equal, the output gear shaft (32) only rotates and does not pitch;
when T2 < T1, T3 is T1-T2 and turns to the first gear shaft (15), and when T2> T1, T3 is T2-T1 and turns to the second gear shaft (25); the anti-backlash bevel gear (43) is tightly meshed with the first bevel gear (16) and the second bevel gear (26), when T2 is less than T1, a gap exists between the meshing of the output bevel gear (33) and the second bevel gear (26), and when T2 is greater than T1, a gap exists between the meshing of the output bevel gear (33) and the first bevel gear (16).
2. The two-degree-of-freedom joint structure according to claim 1,
the second driving device comprises a second motor speed reducer (22), and an output shaft of the second motor speed reducer (22) is fixedly connected with a second gear shaft (25).
3. The two-degree-of-freedom joint structure according to claim 1,
the first driving device further comprises a first speed reducing mechanism, and an output shaft of the first motor speed reducer (12) is fixedly connected with the first gear shaft (15) through the first speed reducing mechanism.
4. The two-degree-of-freedom joint structure according to claim 2,
the second driving device further comprises a second speed reducing mechanism, and an output shaft of the second motor speed reducer (22) is fixedly connected with a second gear shaft (25) through the second speed reducing mechanism.
5. The two-degree-of-freedom joint structure according to claim 3,
the first speed reducing mechanism comprises a first worm wheel (13) and a first worm (14), the first worm (14) is fixedly connected with an output shaft of the first motor speed reducer (12), and the first worm wheel (13) is fixedly connected to a first gear shaft (15).
6. The two-degree-of-freedom joint structure according to claim 4,
the second speed reducing mechanism comprises a second worm wheel (23) and a second worm (24), the second worm (24) is fixedly connected with an output shaft of the second motor speed reducer (22), and the second worm wheel (23) is fixedly connected to a second gear shaft (25).
7. The two degree-of-freedom joint structure of claim 2, further comprising:
and the controller is connected with the first motor speed reducer (12), the second motor speed reducer (22) and the anti-backlash motor speed reducer (41).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710571402.0A CN107150356B (en) | 2017-07-13 | 2017-07-13 | Two-degree-of-freedom joint structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710571402.0A CN107150356B (en) | 2017-07-13 | 2017-07-13 | Two-degree-of-freedom joint structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107150356A CN107150356A (en) | 2017-09-12 |
| CN107150356B true CN107150356B (en) | 2020-08-28 |
Family
ID=59797054
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710571402.0A Expired - Fee Related CN107150356B (en) | 2017-07-13 | 2017-07-13 | Two-degree-of-freedom joint structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107150356B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107789059B (en) * | 2017-09-19 | 2019-06-07 | 山东科技大学 | A kind of minimally invasive abdominal operation robot |
| CN109194024B (en) * | 2018-09-13 | 2020-01-21 | 深圳市三阶微控实业有限公司 | High-precision motor implementation device and method |
| CN109027560B (en) * | 2018-09-13 | 2020-09-15 | 深圳市三阶微控实业有限公司 | High-precision XY moving platform and implementation method thereof |
| CN110561394A (en) * | 2019-10-14 | 2019-12-13 | 河北工业大学 | Differential type robot both arms structure |
| CN110774277A (en) * | 2019-12-02 | 2020-02-11 | 福州大学 | Snake-shaped arm three-degree-of-freedom wrist joint and movement method |
| CN113601517B (en) * | 2021-06-25 | 2023-03-24 | 光华临港工程应用技术研发(上海)有限公司 | Nurse robot |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5459194B2 (en) * | 2010-12-06 | 2014-04-02 | 株式会社安川電機 | Articulated robot and robot joint structure |
| CN105666509B (en) * | 2016-03-17 | 2018-02-02 | 清华大学 | Three Degree Of Freedom surface movable machine finger cell arrangement |
| CN106181996B (en) * | 2016-07-29 | 2018-05-04 | 东北大学 | A kind of six degree of freedom manipulator of Dual-motors Driving |
| CN106182071B (en) * | 2016-08-05 | 2018-10-23 | 北京理工大学 | The flexible differential driving joint module of two degrees of freedom rotation |
| CN106286748A (en) * | 2016-10-13 | 2017-01-04 | 重庆大学 | Dual input multi-change speed worm reducer |
-
2017
- 2017-07-13 CN CN201710571402.0A patent/CN107150356B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN107150356A (en) | 2017-09-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107150356B (en) | Two-degree-of-freedom joint structure | |
| EP1674760A2 (en) | Planetary gear apparatus | |
| JP4626345B2 (en) | Vehicle steering device | |
| US20110067514A1 (en) | Robot arm assembly and industrial robot using the same | |
| US20060011010A1 (en) | Joint Mechanism For Robot Hand And The Like | |
| JPS6039518B2 (en) | Industrial robot wrist mechanism | |
| CN104626129B (en) | A kind of robot with five degrees of freedom end driving mechanism | |
| WO2013018229A1 (en) | Composite drive device and robot | |
| US20110106302A1 (en) | Robot arm assembly and industrial robot using the same | |
| CN105114536B (en) | For robot or the planetary gearing speed reducer of joint of mechanical arm | |
| CN103264399A (en) | Robot waist-arm integrated synchronous double-drive mechanism and control method thereof | |
| JP3785681B2 (en) | Industrial robot | |
| JP2001277176A (en) | Turning device | |
| CN104786235A (en) | Differential joint | |
| JPS63163063A (en) | Two-degree of freedom driving mechanism performing straight advancing motion and rotary motion | |
| US5005453A (en) | Drive for relatively axially shifting chuck parts | |
| JP2001113489A (en) | Industrial robot | |
| CN108356805A (en) | A kind of energy saving single driving three-freedom mechanical arm | |
| JPS632753B2 (en) | ||
| CN207616569U (en) | A kind of industry six-joint robot | |
| KR20120052559A (en) | Power transmit unit and motor driven power steering thereof | |
| JPH0451312B2 (en) | ||
| TWI461254B (en) | Driving device for working platform | |
| CN220500805U (en) | Four-wheel steering mechanism of universal chassis | |
| JP3682899B2 (en) | 5-side machining head device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200828 Termination date: 20210713 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |