CN111546304A - Single-motor input three-freedom-degree rotating mechanism - Google Patents
Single-motor input three-freedom-degree rotating mechanism Download PDFInfo
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- CN111546304A CN111546304A CN202010321034.6A CN202010321034A CN111546304A CN 111546304 A CN111546304 A CN 111546304A CN 202010321034 A CN202010321034 A CN 202010321034A CN 111546304 A CN111546304 A CN 111546304A
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- worm
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- wheel disc
- worm wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/14—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting the bench top
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/14—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting the bench top
- B25H1/18—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting the bench top in inclination
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention relates to a three-degree-of-freedom rotating mechanism with single motor input, which comprises a base, a transmission reversing mechanism and an objective table, wherein the base is provided with a first end and a second end; the transmission reversing mechanism is as follows: the power input shaft is connected with a first transmission shaft through a first clutch, the first transmission shaft is in synchronous transmission connection with a first transmission worm, and the first transmission worm is meshed with a flat worm wheel disc; the second transmission shaft is connected with the power input shaft through a meshing bevel gear; the second transmission worm is connected with the second transmission shaft through a first conical clutch; the vertical worm wheel disc is supported on the worm wheel disc bracket and is meshed with the second transmission worm; the third transmission shaft is connected with the second transmission shaft through a second cone-shaped clutch, and the third transmission shaft is in synchronous transmission connection with the fourth transmission shaft and the fourth transmission shaft is in synchronous transmission connection with the third transmission worm respectively; the third transmission worm is arranged on the worm support; the side worm wheel disc is fixed on the objective table bracket, and the objective table bracket is rotationally connected with the upper end part of the worm support; the third transmission worm is meshed with the side worm wheel disc. The invention realizes independent rotation in yaw, pitch and roll directions.
Description
Technical Field
The invention relates to the field of sensing and detection, in particular to a single-motor input three-degree-of-freedom rotating mechanism for detecting whether a sensor normally operates.
Background
In the navigation process of the underwater vehicle, rotation angles in yaw, pitch and roll directions can be generated, and in most cases, the rotation angle does not exceed 60 degrees. In order to detect the performance of the sensor for measuring the rotation angle in these three directions, a three-dimensional turntable of a manual rocker arm type is often used, the rotation in the three directions is independently controlled by three rocker arms, and only one direction is rotated at a time. However, manual adjustment is laborious and time-consuming, and the rotation speed is slow, so that the rotation angular speed condition required by the test cannot be met.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a single-motor input three-degree-of-freedom rotating mechanism which is compact in structure, saves manual operation and can realize independent rotation in three directions of yaw, pitch and roll.
The above object of the present invention is achieved by the following technical solutions:
a three-freedom-degree rotating mechanism with single motor input comprises a base, a transmission reversing mechanism and an objective table;
the transmission reversing mechanism comprises a power input shaft, a first transmission worm, a flat worm wheel disc, a second transmission shaft, a second transmission worm, a vertical worm wheel disc, a third transmission shaft, a fourth transmission shaft, a third transmission worm and a side worm wheel disc;
the power input shaft is connected with a power source, the power input shaft and the first transmission shaft are rotatably arranged below the base through respective shaft seats, the power input shaft is connected with the first transmission shaft through a first clutch, and a first belt wheel is arranged at the end part of the first transmission shaft; the flat worm wheel disc is arranged above the base through a slewing bearing, the first transmission worm is rotatably arranged above the base through a shaft seat connected with the upper end of the base, the first transmission worm is meshed with the flat worm wheel disc, a second belt wheel is arranged at the end part of the first transmission worm, and the second belt wheel is connected with the first belt wheel through a first synchronous belt;
the second transmission shaft is a vertical shaft, the second transmission shaft is vertically arranged on the base in a penetrating manner, and the lower end part of the second transmission shaft is in transmission connection with the power input shaft through a pair of meshed bevel gears; the second transmission worm is arranged above the flat worm wheel disc through a shaft seat connected with the upper end of the flat worm wheel disc, and the second transmission worm is connected with the upper end part of the second transmission shaft through a first conical clutch; the vertical worm wheel disc is supported on a worm wheel disc support, the worm wheel disc support is composed of two vertical plates fixed on the flat worm wheel disc and shaft sleeves supported at the upper ends of the two vertical plates through bearings, the central part of the vertical worm wheel disc is coaxially and fixedly connected with the shaft sleeves, and the vertical worm wheel disc is meshed with the second transmission worm;
the third transmission shaft is rotatably supported above the flat worm wheel disc through a shaft seat connected with the upper end of the flat worm wheel disc, the third transmission shaft is connected with the upper end part of the second transmission shaft through a second cone-shaped clutch, and a third belt wheel is installed on the third transmission shaft; the fourth transmission shaft is rotatably arranged in the shaft sleeve, and a fourth belt wheel and a fifth belt wheel are arranged on the fourth transmission shaft; the third transmission worm is arranged on the worm support, a sixth belt wheel is arranged on the third transmission worm, the worm support is fixedly connected with the shaft sleeve, a worm mounting platform is arranged on the outer side, far away from the connection with the shaft sleeve, of the worm support, and the third transmission worm is mounted above the worm mounting platform through a shaft seat; the side worm wheel disc is fixed at one end of an objective table bracket, and the objective table bracket is fixedly connected with the lower end of an objective table and rotatably connected with the upper end part of the worm support through a shaft sleeve and shaft hole matching structure; the third belt wheel is connected with the fourth belt wheel through a second synchronous belt, the fifth belt wheel is connected with the sixth belt wheel through a third synchronous belt, and the third transmission worm is meshed with the side worm wheel disc;
and an angle encoder is respectively arranged on the flat worm wheel disc, the vertical worm wheel disc and the side worm wheel disc.
Further: the worm support consists of a fixed frame, two connecting plates and a side plate; the fixing frame is of a vertical frame structure, the lower end of the fixing frame is welded with the shaft sleeve, and the upper end of the fixing frame is provided with a first shaft mounting hole; the side plate is of an L-shaped bent plate structure, a transverse edge of the side plate forms a worm mounting platform, an upper end head with a second shaft mounting hole is welded at the upper end of the side plate, and the second shaft mounting hole and the first shaft mounting hole are horizontally and coaxially arranged; one end of each of the two connecting plates is fixedly welded with the shaft sleeve, and the other end of each of the two connecting plates is fixedly connected with the vertical edge of the side plate; the object stage bracket consists of a rotating shaft and supporting plates fixed at two ends of the rotating shaft, the rotating shaft is rotatably arranged in the first shaft mounting hole and the second shaft mounting hole in a penetrating way, and the supporting plates at two ends are fixedly connected with the lower end of the object stage; and the side worm wheel disc is fixedly connected with the lower end of the supporting plate far away from one end of the shaft sleeve.
Further: the vertical worm wheel disc and the side worm wheel disc are both of a half-worm-disc structure.
The invention has the advantages and positive effects that:
the invention adopts a single power source, power is input by a power input shaft, three transmission chains can be formed by combining the clutch states of a plurality of clutches, and the yaw rotation, the roll rotation and the pitching rotation of the objective table can be respectively realized; and the flat worm wheel disc, the vertical worm wheel disc and the side worm wheel disc are respectively provided with an angle encoder, so that the rotation angles in three directions can be accurately measured.
The invention has reasonable position arrangement among all transmission parts, compact structure and small occupied space. When the performance of the sensor is detected, only the clutch states of the clutches need to be switched, so that the manual operation is saved, and the rotation angular speed condition required by the test can be met.
Drawings
FIG. 1 is a schematic perspective view of the present invention 1;
FIG. 2 is a schematic perspective view of the present invention, FIG. 2;
fig. 3 is a schematic perspective view of the present invention shown in fig. 3 (with the stage removed).
Detailed Description
The present invention will be described in further detail with reference to the following embodiments, which are illustrative, not restrictive, and the scope of the invention is not limited thereto.
A three-freedom-degree rotating mechanism with single motor input is disclosed, please refer to fig. 1-3, and comprises a base 1, a transmission reversing mechanism and an objective table 24. The object stage is used for placing and fixing a sensor to be detected.
The transmission reversing mechanism comprises a power input shaft 2, a first transmission shaft 3, a first transmission worm 7, a flat worm wheel disc 8, a second transmission shaft 9, a second transmission worm 10, a vertical worm wheel disc 11, a third transmission shaft 14, a fourth transmission shaft 19, a third transmission worm 22 and a side worm wheel disc 23;
the power input shaft is connected with a power source, the power input shaft and the first transmission shaft are rotatably arranged below the base through respective shaft seats, the power input shaft is connected with the first transmission shaft through a first clutch, and a first belt pulley 4 is arranged at the end part of the first transmission shaft; the flat worm wheel disc is arranged above the base through a slewing bearing, the first transmission worm is rotatably arranged above the base through a shaft seat connected with the upper end of the base, the first transmission worm is meshed with the flat worm wheel disc, a second belt wheel 6 is arranged at the end part of the first transmission worm, and the second belt wheel is connected with the first belt wheel through a first synchronous belt 5;
the second transmission shaft is a vertical shaft, the second transmission shaft is vertically arranged on the base in a penetrating manner, and the lower end part of the second transmission shaft is in transmission connection with the power input shaft through a pair of meshed bevel gears; the second transmission worm is arranged above the flat worm wheel disc through a shaft seat connected with the upper end of the flat worm wheel disc, and the second transmission worm is connected with the upper end part of the second transmission shaft through a first conical clutch. The vertical worm wheel disc is supported on a worm wheel disc support, the worm wheel disc support is composed of a vertical plate 12 fixed on the flat worm wheel disc and a shaft sleeve 13 supported at the upper ends of the two vertical plates through bearings, the central part of the vertical worm wheel disc is coaxially and fixedly connected with the shaft sleeve, and the vertical worm wheel disc is meshed with the second transmission worm;
the third transmission shaft is rotatably supported above the flat worm wheel disc through a shaft seat connected with the upper end of the flat worm wheel disc, the third transmission shaft is connected with the upper end part of the second transmission shaft through a second cone-shaped clutch, and a third belt wheel 15 is installed on the third transmission shaft; the fourth transmission shaft is rotatably arranged in the shaft sleeve, and a fourth belt pulley 17 and a fifth belt pulley 18 are arranged on the fourth transmission shaft. The third transmission worm is arranged on the worm support, a sixth belt wheel 21 is arranged on the third transmission worm, the worm support is fixedly connected with the shaft sleeve, a worm mounting platform is arranged on the outer side of the worm support far away from the connection with the shaft sleeve, and the third transmission worm is arranged above the worm mounting platform through a shaft seat; the side worm wheel disc is fixed at one end of an objective table bracket, and the objective table bracket is fixedly connected with the lower end of an objective table and rotatably connected with the upper end part of the worm support through a shaft sleeve and shaft hole matching structure; the third belt wheel is connected with the fourth belt wheel through a second synchronous belt 16, the fifth belt wheel is connected with the sixth belt wheel through a third synchronous belt 20, and the third transmission worm is meshed with a side worm wheel disc;
and one corner encoder is respectively arranged on the flat worm wheel disc, the vertical worm wheel disc and the side worm wheel disc, so that the measurement of the yaw, pitch and roll angles of the objective table is respectively realized.
In the structure, each clutch is provided with a shifting fork so as to control the separation and combination of the clutches. The first transmission worm, the second transmission worm and the third transmission worm are all processed into a stepped shaft form with thick middle and thin two ends, and spiral teeth are processed on the thick middle shaft section to serve as the actual transmission part.
In the above structure, further: the worm support is composed of a fixed frame 25, two connecting plates 27 and a side plate 26. The fixing frame is of a vertical frame structure, the lower end of the fixing frame is welded with the shaft sleeve, and the upper end of the fixing frame is provided with a first shaft mounting hole; the curb plate adopts L type bent plate structure, and the horizontal limit of curb plate forms worm mounting platform, and the upper end welding of curb plate has the upper end of taking the second shaft mounting hole, and second shaft mounting hole and first shaft mounting hole are the horizontal coaxial setting, the one end of two connecting plates with axle sleeve welded fastening, the other end and the perpendicular limit fixed connection of curb plate. The objective table bracket consists of a rotating shaft 28 and supporting plates 29 fixed with the two ends of the rotating shaft, the rotating shaft can be rotatably arranged in the first shaft mounting hole and the second shaft mounting hole in a penetrating way, and the supporting plates at the two ends are fixedly connected with the lower end of the objective table; and the side worm wheel disc is fixedly connected with the lower end of the supporting plate far away from one end of the shaft sleeve.
In the above structure, further: the vertical worm wheel disc and the side worm wheel disc are both of a half-worm-disc structure, so that the size of the rotating mechanism in the height direction can be effectively reduced on the premise of meeting the requirements of angle measurement in two directions of pitching and rolling, the whole structure is compact, and the occupied space is small.
In the structure, each clutch is provided with a shifting fork so as to control the separation and combination of the clutches.
The working principle of the single-motor input three-degree-of-freedom rotating mechanism is as follows:
when the rotation (yaw) movement is required, the clutch between the power input shaft and the first transmission shaft is engaged, the cone clutch between the second transmission shaft and the third transmission shaft is disengaged, and the cone clutch between the second transmission shaft and the second transmission worm is disengaged. At this time, the motor drives the power input shaft to rotate, so as to drive the first transmission shaft and the second transmission shaft to rotate. The first belt wheel on the first transmission shaft drives the second belt wheel to rotate through the first synchronous belt, so that the first transmission worm rotates, and the first transmission worm drives the flat worm wheel disc to rotate through worm and gear transmission. The two vertical plates welded on the upper part of the flat worm wheel rotate together with the flat worm wheel disc. The two vertical plates drive the shaft sleeve, the worm support and the objective table bracket to rotate together, so that the objective table is rotated. At this time, since the second transmission shaft and the third transmission shaft are stationary, roll and pitch motions are not generated.
When the rolling motion is required to be realized, the clutch between the power input shaft and the first transmission shaft is disengaged, the conical clutch between the second transmission shaft and the third transmission shaft is combined, and the conical clutch between the second transmission shaft and the second transmission worm is disengaged. At the moment, the motor drives the power input shaft to rotate, so that the third transmission shaft and a third belt wheel on the third transmission shaft are driven to rotate together, the third belt wheel drives a fourth belt wheel to rotate through a second synchronous belt, so that the fourth transmission shaft rotates, and a shaft sleeve sleeved outside the fourth transmission shaft does not move. The fourth transmission shaft can drive the fifth belt wheel to rotate when rotating, the fifth belt wheel drives the sixth belt wheel to rotate through the third synchronous belt, so that the third transmission worm is driven to rotate, the third transmission worm drives the side worm wheel disc to rotate through worm and gear transmission, and the transverse rolling motion of the objective table is realized. At this time, the first transmission shaft, the flat worm wheel disc and the vertical worm wheel disc are all still, so that the motions of rotation (yaw) and pitching cannot be generated.
When the pitching motion needs to be realized, the clutch between the power input shaft and the first transmission shaft is disengaged, the conical clutch between the second transmission shaft and the third transmission shaft is disengaged, and the conical clutch between the second transmission shaft and the second transmission worm is combined. At this time, the motor rotates the power input shaft, thereby rotating the second transmission worm. The second transmission worm drives the vertical worm wheel disc to rotate through worm and worm transmission, so that the shaft sleeve, the worm support, the objective table bracket, the side worm wheel disc and the third transmission worm move together, the pitching motion of the objective table is realized, the fourth transmission shaft keeps not rotating, at the moment, the first transmission shaft and the flat worm wheel disc are static, the side worm wheel disc only moves but does not rotate, and therefore rotation and rolling motion cannot be generated.
Although the embodiments and figures of the present invention have been disclosed for illustrative purposes, those skilled in the art will appreciate that: various substitutions, changes and modifications are possible without departing from the spirit and scope of the invention and the appended claims, and therefore the scope of the invention is not limited to the disclosure of the embodiments and figures.
Claims (3)
1. A three-freedom-degree rotating mechanism with single motor input is characterized in that: comprises a base, a transmission reversing mechanism and an object stage;
the transmission reversing mechanism comprises a power input shaft, a first transmission worm, a flat worm wheel disc, a second transmission shaft, a second transmission worm, a vertical worm wheel disc, a third transmission shaft, a fourth transmission shaft, a third transmission worm and a side worm wheel disc;
the power input shaft is connected with a power source, the power input shaft and the first transmission shaft are rotatably arranged below the base through respective shaft seats, the power input shaft is connected with the first transmission shaft through a first clutch, and a first belt wheel is arranged at the end part of the first transmission shaft; the flat worm wheel disc is arranged above the base through a slewing bearing, the first transmission worm is rotatably arranged above the base through a shaft seat connected with the upper end of the base, the first transmission worm is meshed with the flat worm wheel disc, a second belt wheel is arranged at the end part of the first transmission worm, and the second belt wheel is connected with the first belt wheel through a first synchronous belt;
the second transmission shaft is a vertical shaft, the second transmission shaft is vertically arranged on the base in a penetrating manner, and the lower end part of the second transmission shaft is in transmission connection with the power input shaft through a pair of meshed bevel gears; the second transmission worm is arranged above the flat worm wheel disc through a shaft seat connected with the upper end of the flat worm wheel disc, and the second transmission worm is connected with the upper end part of the second transmission shaft through a first conical clutch; the vertical worm wheel disc is supported on a worm wheel disc support, the worm wheel disc support is composed of two vertical plates fixed on the flat worm wheel disc and shaft sleeves supported at the upper ends of the two vertical plates through bearings, the central part of the vertical worm wheel disc is coaxially and fixedly connected with the shaft sleeves, and the vertical worm wheel disc is meshed with the second transmission worm;
the third transmission shaft is rotatably supported above the flat worm wheel disc through a shaft seat connected with the upper end of the flat worm wheel disc, the third transmission shaft is connected with the upper end part of the second transmission shaft through a second cone-shaped clutch, and a third belt wheel is installed on the third transmission shaft; the fourth transmission shaft is rotatably arranged in the shaft sleeve, and a fourth belt wheel and a fifth belt wheel are arranged on the fourth transmission shaft; the third transmission worm is arranged on the worm support, a sixth belt wheel is arranged on the third transmission worm, the worm support is fixedly connected with the shaft sleeve, a worm mounting platform is arranged on the outer side, far away from the connection with the shaft sleeve, of the worm support, and the third transmission worm is mounted above the worm mounting platform through a shaft seat; the side worm wheel disc is fixed at one end of an objective table bracket, and the objective table bracket is fixedly connected with the lower end of an objective table and rotatably connected with the upper end part of the worm support through a shaft sleeve and shaft hole matching structure; the third belt wheel is connected with the fourth belt wheel through a second synchronous belt, the fifth belt wheel is connected with the sixth belt wheel through a third synchronous belt, and the third transmission worm is meshed with the side worm wheel disc;
and an angle encoder is respectively arranged on the flat worm wheel disc, the vertical worm wheel disc and the side worm wheel disc.
2. The single-motor input three-degree-of-freedom rotating mechanism according to claim 1, characterized in that: the worm support consists of a fixed frame, two connecting plates and a side plate; the fixing frame is of a vertical frame structure, the lower end of the fixing frame is welded with the shaft sleeve, and the upper end of the fixing frame is provided with a first shaft mounting hole; the side plate is of an L-shaped bent plate structure, a transverse edge of the side plate forms a worm mounting platform, an upper end head with a second shaft mounting hole is welded at the upper end of the side plate, the second shaft mounting hole and the first shaft mounting hole are horizontally and coaxially arranged, one end of each of the two connecting plates is fixedly welded with the shaft sleeve, and the other end of each of the two connecting plates is fixedly connected with a vertical edge of the side plate; the object stage bracket consists of a rotating shaft and supporting plates fixed at two ends of the rotating shaft, the rotating shaft is rotatably arranged in the first shaft mounting hole and the second shaft mounting hole in a penetrating way, and the supporting plates at two ends are fixedly connected with the lower end of the object stage; and the side worm wheel disc is fixedly connected with the lower end of the supporting plate far away from one end of the shaft sleeve.
3. The single-motor input three-degree-of-freedom rotating mechanism according to claim 1, characterized in that: the vertical worm wheel disc and the side worm wheel disc are both of a half-worm-disc structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010321034.6A CN111546304B (en) | 2020-04-22 | 2020-04-22 | Single-motor input three-freedom-degree rotating mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010321034.6A CN111546304B (en) | 2020-04-22 | 2020-04-22 | Single-motor input three-freedom-degree rotating mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN111546304A true CN111546304A (en) | 2020-08-18 |
| CN111546304B CN111546304B (en) | 2022-07-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010321034.6A Active CN111546304B (en) | 2020-04-22 | 2020-04-22 | Single-motor input three-freedom-degree rotating mechanism |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201136096Y (en) * | 2007-12-03 | 2008-10-22 | 师堂存 | Worm gear driving graduation work bench |
| CN104608837A (en) * | 2015-01-16 | 2015-05-13 | 燕山大学 | Wheel-leg composite type four-leg robot |
| CN105835050A (en) * | 2016-05-23 | 2016-08-10 | 西安电子科技大学 | Three-degree-of-freedom rope driven series robot device |
| EP3219436A1 (en) * | 2016-03-19 | 2017-09-20 | Expert-Tünkers GmbH | Device for the motorized rotating a rigid work piece support in opposing directions of rotation |
| CN108284417A (en) * | 2017-12-29 | 2018-07-17 | 河南平高电气股份有限公司 | Double layer rotating mounting plate |
| CN110966496A (en) * | 2019-12-12 | 2020-04-07 | 浙江大学 | Three-degree-of-freedom precision positioning shooting cloud platform with harmonic reducer |
-
2020
- 2020-04-22 CN CN202010321034.6A patent/CN111546304B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201136096Y (en) * | 2007-12-03 | 2008-10-22 | 师堂存 | Worm gear driving graduation work bench |
| CN104608837A (en) * | 2015-01-16 | 2015-05-13 | 燕山大学 | Wheel-leg composite type four-leg robot |
| EP3219436A1 (en) * | 2016-03-19 | 2017-09-20 | Expert-Tünkers GmbH | Device for the motorized rotating a rigid work piece support in opposing directions of rotation |
| CN105835050A (en) * | 2016-05-23 | 2016-08-10 | 西安电子科技大学 | Three-degree-of-freedom rope driven series robot device |
| CN108284417A (en) * | 2017-12-29 | 2018-07-17 | 河南平高电气股份有限公司 | Double layer rotating mounting plate |
| CN110966496A (en) * | 2019-12-12 | 2020-04-07 | 浙江大学 | Three-degree-of-freedom precision positioning shooting cloud platform with harmonic reducer |
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| Publication number | Publication date |
|---|---|
| CN111546304B (en) | 2022-07-12 |
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