CN109434869A - A kind of active drive joint of cylindrical pair form - Google Patents
A kind of active drive joint of cylindrical pair form Download PDFInfo
- Publication number
- CN109434869A CN109434869A CN201811531096.9A CN201811531096A CN109434869A CN 109434869 A CN109434869 A CN 109434869A CN 201811531096 A CN201811531096 A CN 201811531096A CN 109434869 A CN109434869 A CN 109434869A
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- China
- Prior art keywords
- support
- screw rod
- driving motor
- moving platform
- gear
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- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional 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
- B25J9/123—Linear actuators
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of active drive joints of cylindrical pair form, drive pedestal and moving platform two large divisions to form by screw rod.Wherein: moving platform drives the screw rod of pedestal to be attached constraint by internal rotational structure and screw rod.Revolving speed and the direction that two motors of pedestal are driven by control screw rod, make the movement effects of one rotation and a translation of moving platform while output.Driving original part is arranged in gantry base, greatly reduces the movement inertia of moving platform, has the characteristics that precision is high, be quick on the draw.Moving platform does not need to carry heavy driving motor, and the small reaction speed of inertia is sensitive.Meanwhile it being driven advantage by the high-precision of ball screw, further improve the precision of movement.Meanwhile the control line of motor is not necessarily to simplify single unit system layout with moving together on moving platform, improve the safety of mechanism operation.
Description
Technical field
Design robot of the present invention and automation drive area, and in particular to a kind of active drive pass of cylindrical pair form
Section.
Background technique
Cylindrical pair driving refers to that end moving platform can be achieved at the same time the effect of translation and rotation, and is translatable and rotates fortune
It mutually decouples, can independently control between dynamic.The driving of double lead differential refers to the revolving speed size by controlling two screw rods
And direction, make the movement of one rotation and a translation of end moving platform while output.Driving original part is arranged in gantry base,
The movement inertia for greatly reducing moving platform has the characteristics that precision is high, is quick on the draw and delicate structure.
Currently, the driving joint of double freedom is general using multiple driving motors of connecting, linear combination mode, to reach
Export the movement effects of multiple freedom degrees.Traditional mechanism will reach the movement effects of cylindrical pair, usually by rotation and shifting
It is dynamic to be decomposed, it rotates and moves and driven respectively by two mutually independent motors.Specific implementation is mobile using electricity
Machine drives a straight line mould group such as screw rod, then installs moving platform on the nut of screw rod, by second rotary drive mechanism and
Matched motor is fixed with moving platform.In the process, need to consider the driving power of motor, motor quality, kinematic accuracy and
The series of factors such as load inertia.
Existing cylindrical pair driving mechanism realizes the movement effects of a rotation and a translation using the concatenated mode of more motors,
Suffer from the limitation of motor weight, power and reaction speed.Also, since the control line of motor also will be on moving platform
Second motor moves together, and will affect the layout of single unit system, or even operational security risk can be brought to mechanism kinematic.
After searching and discovering the prior art, one is described in the patent application that patent publication No. is CN107756436A
Cylindrical pair joint drive and drive mechanism and its method of the kind for SCARA.The joint drive is two servo motors, by synchronizing
The transmission agency of tape member and ball screw spline component realizes mobile and rotation.Wherein movable part is slowed down by single-stage band and is passed
It is dynamic；Rotating part is fixed by two-stage synchronous belt deceleration transmission, the jackshaft of two-stage synchronous belt by an independent intermediate axle bed
Installation.By the differential input of two drive parts, realize that cylindrical pair end two degrees of freedom exports accordingly.Revolute pair and prismatic pair
Driving motor component, belt wheel jackshaft fixing seat, ball screw spline component are all directly installed on connecting rod.It is wherein independent
Belt wheel jackshaft fixing seat can preferably balance the suppressive jamming of belt wheel, and can be used as it is whole drive jackshaft mobile, adjustment is same
Walk the preload of band.The configuration is rotated as general SCARA robot latter half and mobile combination joint structure, realizes machine
The roll angle pose adjustment of people end and vertical movement.But this application is disadvantageous in that: the lead screw side for the use that moves along a straight line
Formula driving, screw rod need that two motors and its accessory drive structure is driven to be translated and rotated, and moving component inertia is big, reduce
Motor reaction speed, also reduces kinematic accuracy.Meanwhile bi-motor, using parallel arrangement, single unit system structural volume is larger, no
Convenient for arrangement.
Summary of the invention
In view of the above drawbacks of the prior art, a kind of lead to is designed technical problem to be solved by the invention is to provide a kind of
The driving of double lead differential is crossed, two degrees of freedom can be exported, that is, the cylindrical pair for being translatable and rotating drives joint, all motors are disposed
It is fixed in pedestal, end moving platform does not need to carry heavy driving motor, and moving platform inertia is small, reaction speed is sensitive.Meanwhile
It is driven advantage by the high-precision of ball screw, further increases the precision of movement.
To achieve the above object, the present invention provides a kind of active drive joints of cylindrical pair form, including screw rod to drive
Base module and moving platform module, screw rod drive base module include the first driving motor, the second driving motor, the first screw rod,
Second screw rod, the first support, the second support, first side, second side, first side and second side both ends are separately fixed at
On first support and on the second support, the first driving motor is fixed on the first support, and the second driving motor is fixed on second
On seat, the both ends of the first screw rod and the second screw rod are each passed through the spring bearing on the first support and the second support and realize axially admittedly
Fixed, the first driving motor is connect by shaft coupling with the first screw rod, and the second driving motor is connect by shaft coupling with the second screw rod；
Moving platform module include gear housing, sliding block, upper roller gear, lower roller gear, output arm end cap, top nut and
Lower nut, lower roller gear are socketed on lower nut, and upper roller gear is socketed in top nut, and output arm end cap is fixed on circle
Stud wheel end face, sliding block are fixed on gear housing, lower roller gear and upper roller gear engaged transmission；
Sliding block can slide on first side and second side, and the first screw rod passes through top nut and carries out spiral shell with top nut
Line connection, the second screw rod pass through lower nut and are threadedly coupled with lower nut；
Further, screw rod driving base module further includes motor support base, and the first driving motor and the second driving motor are logical
It crosses screw to be fastened on motor support base, motor support base is separately fixed on the first support and the second support；
Further, screw rod driving base module further includes flange screw piece, flange screw piece be mounted on spring bearing and
Between first support and the second support.
Further, first side and second side are fixed on the first support and second by irregular shape fixing piece
On seat；
Further, gear housing includes left gear cabinet and right gear cabinet, and left gear cabinet and right gear cabinet are logical
Screw fastening means is crossed to be fastened；
Further, sliding block shares 4, is separately fixed at left gear cabinet and right gear tank ends；
Further, sliding block is attached by screw fastening means and left gear cabinet and right gear cabinet；
Further, output arm end cap is fixedly connected with upper roller gear by screw fastening means；
Further, first side and second side are aluminum profile；
Further, when the revolving speed and direction all the same of the first driving motor and the second driving motor, moving platform module
Output translation；When the revolving speed of the first driving motor and the second driving motor is identical, when contrary, the output of moving platform module turns
It is dynamic；When the revolving speed difference of the first driving motor and the second driving motor, moving platform module exports translation and rotation simultaneously.
The utility model has the advantages that
Compared with prior art, the present invention provides a kind of drivings of double lead differential, by the revolving speed for controlling two screw rods
Size and Orientation makes the movement effects that one rotation of output is translatable with one while the moving platform of end.It will driving original part arrangement
In gantry base, the movement inertia of moving platform is greatly reduced, has the characteristics that precision is high, be quick on the draw.End moving platform is not
Need to carry heavy driving motor, the small reaction speed of inertia is sensitive.Meanwhile it being driven advantage by the high-precision of ball screw,
Further improve the precision of movement.Meanwhile the control line of motor is not necessarily to simplify single unit system with moving together on moving platform
Layout improves mechanism operational safety.
It is described further below with reference to technical effect of the attached drawing to design of the invention, specific structure and generation, with
It is fully understood from the purpose of the present invention, feature and effect.
Detailed description of the invention
Fig. 1 is the overall structure figure of a preferred embodiment of the present invention；
Fig. 2 is the moving platform module side view of a preferred embodiment of the present invention；
Fig. 3 is the moving platform module cross-sectional view of a preferred embodiment of the present invention；
Fig. 4 is the side view of the screw rod driving base module of a preferred embodiment of the present invention.
Appended drawing reference:
1- screw rod drives base module, 2- moving platform module, 3- sliding block, 4- right gear cabinet, roller gear under 5-, on 6-
Roller gear, 7- output arm end cap, 8- left gear cabinet, 9- first bearing, 10- top nut, 11- second bearing, spiral shell under 12-
Mother, the first driving motor of 13-, 14- first motor support, 15- irregular shape fixing piece, the first support of 16-, 17- support shaft
It holds, the first side 18-, the second screw rod of 19-, 20- shaft coupling, the second support of 21-, 22- flange screw piece.
Specific embodiment
As shown in Figure 1, the present invention drives base module 1 and moving platform mould by screw rod in a preferred embodiment of the present invention
2 two large divisions of block composition.Revolving speed and the direction of two driving motors of pedestal 1 are driven by control screw rod, the joint Lai Shixian
The spatial movement of double freedom.
As shown in Figures 2 and 3, moving platform module of the invention include: sliding block 3, right gear cabinet 4, lower roller gear 5,
Upper roller gear 6, output arm end cap 7, left gear cabinet 8, first bearing 9, top nut 10, lower nut 12 and second bearing 11,
Wherein, sliding block 3 is connected with right gear cabinet 4 and left gear cabinet in the form that screw fastens, and sliding block shares 4, divides respectively
Cloth is socketed on lower nut 12 in the both ends of left gear cabinet and right gear cabinet, lower roller gear 5, and upper roller gear 6 is socketed
In top nut 10, upper roller gear and lower roller gear engaged transmission.First bearing 9 and second bearing 11 are separately mounted to the right side
In the bearing groove of gear housing 4 and left gear cabinet 8, and it is socketed on the multi-diameter shaft at both ends of top nut 10 and lower nut 12.
The end face of output arm end cap and upper roller gear 6 carries out screw fastening.Right gear cabinet 4 is tight by screw with left gear cabinet 8
Gu mode is fastened, gear housing is formed, gear housing can be freely disassembled as left gear cabinet and right gear cabinet.
As shown in figure 4, screw rod driving base module 1 of the invention includes: the first driving motor 13, the second driving motor,
First motor support 14, the second motor support base, irregular shape fixing piece 15, the first support 16, the second support 21, spring bearing
17, first side 18, second side, the first screw rod, the second screw rod 19, shaft coupling 20, flange screw piece 22, wherein first drives
Dynamic motor 13 and the section of first motor support 14 are fastenedly connected by screw, and the second driving motor and the second motor support base break
Face is fastenedly connected by screw, and first motor support and the second motor support base are separately fixed at the first support 16 and the second support 21
End face.Spring bearing 17 is mounted on the inner hole of the first support 16 and the second support 21, the first screw rod and the second screw rod 19
Both ends are each passed through the spring bearing 17 on the first support 16 and the second support 21, realize axial restraint.First driving motor 13
Pass through shaft coupling 20 respectively with the second driving motor to be attached with the first screw rod and the second screw rod 19.18 frame of first side is
On one support 16 and the second support 21, and two supports are fixed in a manner of screw fastening irregular shape fixing piece 15
Side, in the other side of two supports, second side is also fixed in an identical manner, and first side and second side are aluminium
Profile.Flange screw piece 22 is mounted on the inner hole of the first support and the second support, realizes the axial position to spring bearing 17
It is adjusted, to eliminate gap.
Wherein, the first screw rod passes through top nut 10 and is threadedly coupled with it, and the second screw rod 19 passes through lower nut 12 simultaneously
Be threadedly coupled with it, sliding block can cooperate with first side and second side so that moving platform be fixed on first side and
It can be slided between second side and between two supports along first side 18 and second side.Basic transmission side of the invention
Formula are as follows: the first driving motor and the second driving motor drive the first screw rod and the second screw rod to rotate respectively, in the drive of the first screw rod
Nut and upper roller gear are rotated, and the second screw rod drives lower nut and lower roller gear to be rotated, upper roller gear and
Lower roller gear engaged transmission, by controlling revolving speed and the direction of two driving motors, realize moving platform module in the first support and
The rotation of translation and output arm end cap between second support.When the revolving speed and direction of the first driving motor and the second driving motor are equal
When identical, the output translation of moving platform module；When the revolving speed of the first driving motor and the second driving motor is identical, when contrary,
The output rotation of moving platform module；When the revolving speed difference of the first driving motor and the second driving motor, moving platform module is defeated simultaneously
It is translatable and rotates out.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that the ordinary skill of this field is without wound
The property made labour, which according to the present invention can conceive, makes many modifications and variations.Therefore, all technician in the art
Pass through the available technology of logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Scheme, all should be within the scope of protection determined by the claims.
Claims (10)
1. a kind of active drive joint of cylindrical pair form, including screw rod driving base module and moving platform module, feature exist
In,
The screw rod driving base module includes the first driving motor, the second driving motor, the first screw rod, the second screw rod, first
Support, the second support, first side, second side, the first side and second side both ends are separately fixed at described first
On support and on second support, first driving motor is fixed on first support, second driving motor
It is fixed on second support, the both ends of first screw rod and second screw rod are each passed through first support and institute
It states the spring bearing on the second support and realizes that axial restraint, first driving motor are connected by shaft coupling and first screw rod
It connects, second driving motor is connect by shaft coupling with second screw rod；
The moving platform module include gear housing, sliding block, upper roller gear, lower roller gear, output arm end cap, top nut and
Lower nut, the lower roller gear are socketed on the lower nut, and the upper roller gear is socketed in the top nut, described
Output arm end cap is fixed on the upper roller gear end face, and the sliding block is fixed on the gear housing, the lower Cylinder Gear
Wheel and the upper roller gear engaged transmission；
The sliding block can slide on the first side and second side, first screw rod pass through the top nut and with
The top nut is threadedly coupled, and second screw rod passes through the lower nut and is threadedly coupled with the lower nut.
2. a kind of active drive joint of cylindrical pair form as described in claim 1, which is characterized in that the screw rod drives base
Seat module further includes motor support base, and first driving motor and the second driving motor are connected by screw to and are fixed on the motor
On support, the motor support base is separately fixed on the first support and the second support.
3. a kind of active drive joint of cylindrical pair form as described in claim 1, which is characterized in that the screw rod drives base
Seat module further includes flange screw piece, and the flange screw piece is mounted on spring bearing and first support and second described
Between seat.
4. a kind of active drive joint of cylindrical pair form as described in claim 1, which is characterized in that the first side and
Second side is fixed on first support and the second support by irregular shape fixing piece.
5. a kind of active drive joint of cylindrical pair form as described in claim 1, which is characterized in that the gear housing packet
Left gear cabinet and right gear cabinet are included, the left gear cabinet and the right gear cabinet are buckled by screw fastening means
It closes and fixes.
6. a kind of active drive joint of cylindrical pair form as claimed in claim 5, which is characterized in that the sliding block shares 4
It is a, it is separately fixed at the left gear cabinet and the right gear tank ends.
7. a kind of active drive joint of cylindrical pair form as described in claim 1, which is characterized in that the sliding block passes through spiral shell
Nail fastening means is attached with the left gear cabinet and the right gear cabinet.
8. a kind of active drive joint of cylindrical pair form as described in claim 1, which is characterized in that the output arm end cap
It is fixedly connected with the upper roller gear by screw fastening means.
9. a kind of active drive joint of cylindrical pair form as described in claim 1, which is characterized in that the first side and
The second side is aluminum profile.
10. a kind of active drive joint of cylindrical pair form as described in claim 1, which is characterized in that when first drive
When revolving speed and the direction all the same of dynamic motor and second driving motor, the moving platform module output translation；When described
One driving motor is identical with the revolving speed of second driving motor, when contrary, the moving platform module output rotation；Work as institute
When stating the revolving speed difference of the first driving motor and second driving motor, the moving platform module exports translation simultaneously and turns
It is dynamic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811531096.9A CN109434869B (en) | 2018-12-14 | 2018-12-14 | Active driving joint in cylindrical pair form |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811531096.9A CN109434869B (en) | 2018-12-14 | 2018-12-14 | Active driving joint in cylindrical pair form |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109434869A true CN109434869A (en) | 2019-03-08 |
| CN109434869B CN109434869B (en) | 2021-08-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811531096.9A Active CN109434869B (en) | 2018-12-14 | 2018-12-14 | Active driving joint in cylindrical pair form |
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| Country | Link |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110203300A (en) * | 2019-06-05 | 2019-09-06 | 北京交通大学 | A kind of monocycle closed chain leg mechanism with Three Degree Of Freedom |
| CN112207840A (en) * | 2020-09-28 | 2021-01-12 | 镇江瑞昊工程塑料有限公司 | Cantilever type mechanical arm |
| CN113894834A (en) * | 2020-06-22 | 2022-01-07 | 云南电网有限责任公司昆明供电局 | Double-motor linkage structure for telescopic pitching of mechanical arm joint |
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|---|---|---|---|---|
| EP0396758A4 (en) * | 1988-08-11 | 1991-05-15 | Fanuc Ltd. | Direct-acting actuator of industrial robot |
| KR20070010406A (en) * | 2005-07-18 | 2007-01-24 | 김재석 | Robot control apparatus for screw driving system |
| CN106092563A (en) * | 2016-05-31 | 2016-11-09 | 清华大学 | Plane two degrees of freedom high frequency charger and test platform for ball screw assembly, |
| CN107571251A (en) * | 2017-08-28 | 2018-01-12 | 珠海格力节能环保制冷技术研究中心有限公司 | Mechanical arm and there is its horizontal articulated robots of SCARA |
| CN107756436A (en) * | 2017-10-16 | 2018-03-06 | 华南理工大学 | A kind of cylindrical pair joint drive and drive mechanism and its method for SCARA |
| CN108515121A (en) * | 2018-03-02 | 2018-09-11 | 深圳市华正源数控机电设备有限公司 | A kind of full-automatic knives bending machine and its parallel double lead circulation material conveying mechanism |
-
2018
- 2018-12-14 CN CN201811531096.9A patent/CN109434869B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0396758A4 (en) * | 1988-08-11 | 1991-05-15 | Fanuc Ltd. | Direct-acting actuator of industrial robot |
| KR20070010406A (en) * | 2005-07-18 | 2007-01-24 | 김재석 | Robot control apparatus for screw driving system |
| CN106092563A (en) * | 2016-05-31 | 2016-11-09 | 清华大学 | Plane two degrees of freedom high frequency charger and test platform for ball screw assembly, |
| CN107571251A (en) * | 2017-08-28 | 2018-01-12 | 珠海格力节能环保制冷技术研究中心有限公司 | Mechanical arm and there is its horizontal articulated robots of SCARA |
| CN107756436A (en) * | 2017-10-16 | 2018-03-06 | 华南理工大学 | A kind of cylindrical pair joint drive and drive mechanism and its method for SCARA |
| CN108515121A (en) * | 2018-03-02 | 2018-09-11 | 深圳市华正源数控机电设备有限公司 | A kind of full-automatic knives bending machine and its parallel double lead circulation material conveying mechanism |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110203300A (en) * | 2019-06-05 | 2019-09-06 | 北京交通大学 | A kind of monocycle closed chain leg mechanism with Three Degree Of Freedom |
| CN113894834A (en) * | 2020-06-22 | 2022-01-07 | 云南电网有限责任公司昆明供电局 | Double-motor linkage structure for telescopic pitching of mechanical arm joint |
| CN113894834B (en) * | 2020-06-22 | 2023-05-26 | 云南电网有限责任公司昆明供电局 | Double-motor linkage structure for mechanical arm joint telescopic pitching |
| CN112207840A (en) * | 2020-09-28 | 2021-01-12 | 镇江瑞昊工程塑料有限公司 | Cantilever type mechanical arm |
| CN112207840B (en) * | 2020-09-28 | 2021-11-05 | 镇江瑞昊工程塑料有限公司 | Cantilever type mechanical arm |
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| Publication number | Publication date |
|---|---|
| CN109434869B (en) | 2021-08-17 |
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