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Two-degree-of-freedom joint structure

A technology of joint structure and degrees of freedom, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of reduced braking transmission accuracy and transmission accuracy, and achieve the effect of eliminating transmission clearance and high transmission accuracy.

Inactive Publication Date: 2017-09-12
NORTHEASTERN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The disadvantage of the above-mentioned joint structure is that due to the existence of errors, it is inevitable that the third bevel gear will act on either the first bevel gear or the second bevel gear. When the third bevel gear and the first bevel gear are in close contact , There is a transmission gap between the third bevel gear and the second bevel gear, which reduces the transmission accuracy; when the third bevel gear and the second bevel gear are in close contact, there is a transmission gap between the third bevel gear and the first bevel gear , so that the accuracy of the brake transmission is reduced

Method used

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Embodiment Construction

[0046] In order to better explain the present invention and facilitate understanding, the present invention will be described in detail below through specific embodiments in conjunction with the accompanying drawings.

[0047] refer to Figure 1-Figure 3 , the two-degree-of-freedom joint structure in this embodiment at least includes: a first drive unit 1 , a second drive unit 2 , an output unit 3 and an anti-backlash unit 4 .

[0048] first drive unit 1

[0049] The first driving unit 1 includes a first frame 11 , a first driving device disposed on the first frame 11 , a first gear shaft 15 and a first bevel gear 16 disposed on the first frame 11 .

[0050] The first gear shaft 15 is arranged on the first frame 11 through the first support bearing 17 , and the first support bearing 17 plays a role of positioning and supporting the first gear shaft 15 .

[0051] The first bevel gear 16 is provided on the first gear shaft 15 . The first frame 11 is provided with a first holl...

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Abstract

The invention relates to the technical field of industrial robots, in particular to a two-degree-of-freedom joint structure. The two-degree-of-freedom joint structure 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, a clearance-elimination driving device, a clearance-elimination gear shaft and a clearance-elimination 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 bevel gear is arranged on the 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 clearance-elimination gear is arranged on the clearance-elimination gear shaft, and the clearance-elimination driving device drives the clearance-elimination gear shaft to rotate. The output bevel gear and the clearance-elimination bevel gear are engaged with the first bevel gear and the second bevel gear correspondingly at the same time. By adoption of the two-degree-of-freedom joint structure, the pitching motion can be achieved, the revolving motion and the pitching and revolving combined motion can also be achieved, and the transmission precision is higher.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a two-degree-of-freedom joint structure. Background technique [0002] An industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device for the industrial field. It can perform work automatically and is a machine that realizes various functions by its own power and control capabilities. Joint structures are important functional elements of industrial robots. The transmission accuracy of the joint structure directly determines the transmission accuracy of the industrial robot. [0003] A joint structure in the prior art includes a first bevel gear, a second bevel gear and a third bevel gear, and the first bevel gear and the second bevel gear mesh with the third bevel gear at the same time. When the first bevel gear and the second bevel gear rotate in the same direction, the third bevel gear is driven to achieve one degree of freedom, and whe...

Claims

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Application Information

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IPC IPC(8): B25J17/00B25J9/12
CPCB25J9/126B25J17/00
Inventor 房立金费梓军
Owner NORTHEASTERN UNIV
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