CN102862167A - Two-degree-of-freedom robot ankle joint steering engine - Google Patents

Abstract

The invention relates to a two-degree-of-freedom robot ankle joint steering engine. Most of the traditional robot ankle joint steering engines are in single-shaft output, namely only one degree of freedom can be provided for a robot. The two-degree-of-freedom robot ankle joint steering engine comprises an end cover and a shell, wherein the end cover and the shell are connected by bolts to form a sealed space; the inside of the sealed space is provided with motors, a motor gear, a reducing mechanism, a bearing, a control circuit board, an angle sensor and the like; the motor gear and the input gear of the reducing mechanism are meshed; an output shaft of the reducing mechanism outputs power; and the output shaft is provided with the angle sensor. According to the two-degree-of-freedom robot ankle joint steering engine disclosed by the invention, the two motors are arranged in the same sealed space; the power is simultaneously output to two directions by the arrangement of a gear transmission mechanism in the shell; the control circuit board and the angle sensor arranged in the inside can be used for respectively controlling the output angles of two directions; and the robot steering engine has the capability of providing two degrees of freedom.

Description

Double freedom robot anklebone steering wheel

Technical field

The invention belongs to the Robotics field, relate to a kind of double freedom robot anklebone steering wheel.

Background technology

Along with the development of robot, the machine person to person's is more and more closer alternately, slowly close to the mankind's daily life from traditional industrial environment.

Robot is according to bionics principle, and its motion mimics human realizes by the joint.Each joint is consistent with each joint freedom degrees of people on the basis that can realize accurately control.The free degree of each main activities joint of human body is not quite similar.Conventional machines person joint is for realizing multivariant motion, usually adopts on two groups of structures independently power set, and every component be you can well imagine for one degree of freedom, the joint complicated integral structure, and inertia is large, and dynamic response is poor, and Reconstructed is poor, and assembling is complicated, and inconvenience is safeguarded.

For addressing the above problem, developed at present multiple inertia little, dynamic response is very fast, and structure is relatively simple drive unit also.

Chinese patent N201736231U, wrist joint of robot.This joint is a two degrees of freedom one-rotation parallel mechanism.The U-shaped top of U-shaped spare links to each other with annular element by the secondary hinge of first group of coaxial rotation; The middle part of dead man connects firmly the end at the palm connector, and the two ends of dead man link to each other with annular element by the secondary hinge of second group of coaxial rotation; The palm connector links by revolute pair hinge and several on palm, and several on palm passes through the secondary hinge of the 3rd group of coaxial rotation and links to each other with the wrist joint pedestal.The other end of robot palm and described palm connector links.Although this utility model is simple in structure, fast response time, and the poor characteristics of parallel institution manufacturability have in the past also been improved to a certain extent, because the restriction of itself structure does not have good reconstruct.

US Patent No. 007429844B2, robot servo module and joint servo.This invention has designed two kinds of servo modules that become L-type, and the different joints in robot make up to realize the different frees degree by third party's connector.This invention reconstruct is good, and assembling simply also is easy to safeguard.But because its design feature, body inertia is larger, and dynamic response is relatively poor.

 

Summary of the invention

The objective of the invention is the deficiency for existing robot double freedom articulated driving equipment, a kind of double freedom robot anklebone steering wheel that adopts the bi-motor interlaced arrangement is provided.

The technical solution used in the present invention is as follows:

The present invention forms by being arranged on the X-direction driving mechanism, the Y-direction driving mechanism that are right-angled intersection in the housing.

Described X-direction driving mechanism comprises X-direction end cap, X-direction gear reduction, X-direction angular transducer, X-direction motor, X-direction electric motor end cap.

Be fixedly connected with motor gear on the X-direction motor output shaft, the X-direction motor places in the housing, is positioned by X-direction end cap screw by the X-direction electric motor end cap; The X-direction gear reduction comprises X-direction the first gear, X-direction the second gear, X-direction the first axle, X-direction the second axle and X-direction output gear.

The gear wheel engagement of described X-direction motor gear and X-direction the first gear, the gear wheel engagement of the pinion of X-direction the first gear and X-direction the second gear, the pinion of X-direction the second gear and the engagement of X-direction output gear; Described X-direction the first gear and X-direction the second gear pass and are fixed in the X-direction housing by X-direction the first axle and X-direction the second axle respectively.

X-direction output shaft upper bearing (metal) and X-direction end cap are passed as the driving shaft of X-direction driving mechanism in the upper end of described X-direction output gear; X-direction output shaft lower bearing and the X-direction angular transducer that places housing passed in the lower end of X-direction output gear; Described X-direction angular transducer is fixed by screws in enclosure interior.

Described Y-direction driving mechanism comprises Y-direction end cap, Y-direction gear reduction, Y-direction angular transducer, Y-direction motor, Y-direction electric motor end cap; The Y-direction driving mechanism is identical with the X-direction driving mechanism structure.

Control circuit board places enclosure interior, fixes by screw, in order to control motor.

Beneficial effect of the present invention: by with two electric machine built-ins among a steering wheel, realize that a steering wheel improves the output of both direction, greatly having reduced conventional machines person joint utilizes third party's connector to realize the shared space of both direction output, so that articulation structure is compacter, inertia is less, and dynamic property is more excellent.

Description of drawings

Fig. 1 is steering wheel external form schematic diagram;

Fig. 2 is steering wheel assembling explosive view;

In the accompanying drawing: 1.X is to the end cap screw, 2.X to end cap, 3.X to the second gear, 4.X to the output shaft upper bearing (metal), 5.X to output shaft, 6.X to the second axle, 7.X to the first gear, 8.X to the output shaft lower bearing, 9.X to the first axle, 10.X to hold-down screw, 11.X to angular transducer, 12. housing, 13. control circuit board, 14.Y to angular transducer, 15.Y to bottom, 16.Y to the angular transducer screw, 17. control circuit plate bolt, 18.Y to the bottom screw, 19.Y to motor, 20.Y to electric motor end cap, 21.Y to the electric motor end cap screw, 22.Y to the top cover screw, 23.Y to top cover, 24.Y to the second axle, 25.Y to the second gear, 26.Y to the first axle, 27.Y to the first gear, 28.Y to the output shaft upper bearing (metal), 29.Y to output gear, 30.Y to the output shaft lower bearing, 31.X to motor, 32.X to electric motor end cap, 33.X to the electric motor end cap screw.

The specific embodiment

The invention will be further described below in conjunction with drawings and Examples.

As depicted in figs. 1 and 2, steering wheel is by X-direction end cap screw 1, X-direction end cap 2, X-direction the second gear 3, X-direction output shaft upper bearing (metal) 4, X-direction output gear 5, X-direction the second axle 6, X-direction the first gear 7, X-direction output shaft lower bearing 8, X-direction the first axle 9, X-direction hold-down screw 10, X-direction angular transducer 11, housing 12, control circuit board 13, Y-direction angular transducer 14, Y-direction bottom 15, Y-direction angular transducer screw 16, control circuit plate bolt 17, Y-direction bottom screw 18, Y-direction motor 19, Y-direction electric motor end cap 20, Y-direction electric motor end cap screw 21, Y-direction top cover screw 22, Y-direction top cover 23, Y-direction the second axle 24, Y-direction the second gear 25, Y-direction the first axle 26, Y-direction the first gear 27, Y-direction output shaft upper bearing (metal) 28, Y-direction output gear 29, Y-direction output shaft lower bearing 30, X-direction motor 31, X-direction electric motor end cap 32, X-direction electric motor end cap screw 33 forms.

Described X-direction end cap screw 1, X-direction end cap 2, Y-direction bottom 15, Y-direction bottom screw 18, Y-direction electric motor end cap 20, Y-direction electric motor end cap screw 21, Y-direction top cover screw 22, Y-direction top cover 23, X-direction electric motor end cap 32, X-direction electric motor end cap screw 33 form an enclosure space.

In this enclosure space, be provided with: X-direction the second gear 3, X-direction output shaft upper bearing (metal) 4, X-direction output gear 5, X-direction the second axle 6, X-direction the first gear 7, X-direction output shaft lower bearing 8, X-direction the first axle 9, X-direction hold-down screw 10, X-direction angular transducer 11, housing 12, control circuit board 13, Y-direction angular transducer 14, Y-direction angular transducer screw 16, control circuit plate bolt 17, Y-direction motor 19, Y-direction the second axle 24, Y-direction the second gear 25, Y-direction the first axle 26, Y-direction the first gear 27, Y-direction output shaft upper bearing (metal) 28, Y-direction output gear 29, Y-direction output shaft lower bearing 30, X-direction motor 31.

Described X-direction motor 31 output shafts are fixedly connected with motor gear, and wherein X-direction motor 31 is fixed in the barrel shape structure in the housing 12 via X-direction electric motor end cap screw 33 by X-direction electric motor end cap 32; Described Y-direction motor C16 output shaft is fixedly connected with motor gear, and wherein Y-direction motor 19 is fixed in the barrel shape structure in the housing 12 via Y-direction electric motor end cap screw 21 by Y-direction electric motor end cap 20.

Described X-direction the first gear 7 and X-direction the second gear 3 are fixed on housing 12 relevant positions by X-direction the first axle 9 and X-direction the second axle 9; Described X-direction output gear 5 is fixed on housing 12 relevant positions by X-direction output shaft upper bearing (metal) 4, X-direction output shaft lower bearing 8.

Described Y-direction the first gear 27 and Y-direction the second gear 25 are fixed on housing 12 relevant positions by Y-direction the first axle 26 and Y-direction the second axle 24; Described Y-direction output gear 29 is fixed on housing 12 relevant positions by Y-direction output shaft upper bearing (metal) 28, Y-direction output shaft lower bearing 30.

The below of described X-direction output gear 5 is connected with X-direction angular transducer 11, the below of described Y-direction output gear 29 is connected with Y-direction angular transducer 14, described X-direction angular transducer 11, Y-direction angular transducer 14 link to each other with control circuit board 13, and angle signal is fed back to control circuit board 13; Described control circuit board 13 is fixed on Y-direction angular transducer 14 tops by control circuit plate bolt 17.

The steering wheel working method is as follows:

The body main control chip sends control signal and is transferred to control circuit board 13, require X, Y-direction to export respectively two angles, control circuit board 13 is controlled motor through processing, and X-direction motor 31 rotates respectively different angles from Y-direction motor 19 within the regular hour.Behind the electric motor starting, by above-mentioned power transmission route, namely motor is by gear reduction, with transmission of power to output shaft.Angle with output shaft feeds back to control circuit board via angular transducer afterwards.Carry out the FEEDBACK CONTROL adjustment by control circuit board and reach corresponding precision.

Claims (1)

1. double freedom robot anklebone steering wheel forms by being arranged on the X-direction driving mechanism, the Y-direction driving mechanism that are right-angled intersection in the housing, it is characterized in that:

Described X-direction driving mechanism comprises X-direction end cap, X-direction gear reduction, X-direction angular transducer, X-direction motor, X-direction electric motor end cap;

Be fixedly connected with motor gear on the X-direction motor output shaft, the X-direction motor places in the housing, is positioned by X-direction end cap screw by the X-direction electric motor end cap; The X-direction gear reduction comprises X-direction the first gear, X-direction the second gear, X-direction the first axle, X-direction the second axle and X-direction output gear;

The gear wheel engagement of described X-direction motor gear and X-direction the first gear, the gear wheel engagement of the pinion of X-direction the first gear and X-direction the second gear, the pinion of X-direction the second gear and the engagement of X-direction output gear; Described X-direction the first gear and X-direction the second gear pass and are fixed in the X-direction housing by X-direction the first axle and X-direction the second axle respectively;

X-direction output shaft upper bearing (metal) and X-direction end cap are passed as the driving shaft of X-direction driving mechanism in the upper end of described X-direction output gear; X-direction output shaft lower bearing and the X-direction angular transducer that places housing passed in the lower end of X-direction output gear; Described X-direction angular transducer is fixed by screws in enclosure interior;

Described Y-direction driving mechanism comprises Y-direction end cap, Y-direction gear reduction, Y-direction angular transducer, Y-direction motor, Y-direction electric motor end cap; The Y-direction driving mechanism is identical with the X-direction driving mechanism structure;

Control circuit board places enclosure interior, fixes by screw, in order to control motor.

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