A single motor drives a two-degree-of-freedom "8"-shaped motion structure

Abstract

The invention discloses a single-motor driven "8"-shaped motion structure with two degrees of freedom, comprising a motor input shaft with one end rotatably connected to a support plate, a gear I fixedly sleeved in the middle of the motor input shaft, a gear II fixedly sleeved outside the motor input shaft is provided on the side of the gear I away from the support plate, a gear III fixedly sleeved outside the motor input shaft is provided on the side of the gear II away from the gear I, a gear VIII meshingly connected on one side of the gear I, the gear VIII fixedly sleeved in the middle of the rotating shaft, one end of the rotating shaft is rotatably connected to the support plate and the other end is fixedly connected to a gear XII, a gear X fixedly sleeved outside the rotating shaft is provided between the gear XII and the gear VIII; the gear III or the gear XII is respectively meshingly connected to a gear XI, the gear XI is fixedly sleeved on one end of a hollow shaft, an inner shaft is rotatably sleeved in the hollow shaft, one end of the inner shaft is fixedly sleeved with a gear IX, and the gear IX is respectively meshingly connected to the gear II or the gear X.

Description

Technical Field

[0001] The invention relates to the technical field of bionic turtle machinery, in particular to a two-degree-of-freedom "8"-shaped motion structure driven by a single motor. Background Art

[0002] A two-degree-of-freedom structure refers to a structure with two degrees of freedom whose axes intersect perpendicularly. The prototypes of this structure are commonly found in the human and animal bodies. The development of a two-degree-of-freedom structure is of certain significance to various bionic machines.

[0003] Generally, the drive of a structure with two or more degrees of freedom adopts a full drive mode, that is, the number of drive motors is equal to the number of degrees of freedom of the structure. However, as the number of machine joints increases, the layout of multiple motors will bring great trouble. If a two-degree-of-freedom structure driven by a single motor can be realized, it can facilitate the design of the machine to a certain extent.

[0004] The projection trajectory of the wing tips of the turtle's limbs on the sagittal plane can be regarded as an "8" shape, where the solid line is the wing tip trajectory when the two rotations move alternately, and the dotted line is the trajectory when the two rotations move in coordination. Therefore, for the bionic turtle machine, how to make a single motor driven two-degree-of-freedom "8"-shaped motion structure is one of the problems that need to be solved. For this reason, we propose a single motor driven two-degree-of-freedom "8"-shaped motion structure to solve the above problem. Summary of the invention

[0005] The purpose of the present invention is to provide a single motor driven two-degree-of-freedom "8"-shaped motion structure to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a single motor drives a two-degree-of-freedom "8"-shaped motion structure, comprising a motor input shaft with one end rotatably connected to a support plate, a gear I is fixedly sleeved in the middle of the motor input shaft, a gear II fixedly sleeved outside the motor input shaft is provided on the side of the gear I away from the support plate, a gear III fixedly sleeved outside the motor input shaft is provided on the side of the gear II away from the gear I, a gear VIII is meshedly connected to one side of the gear I, the gear VIII is fixedly sleeved in the middle of the rotating shaft, one end of the rotating shaft is rotatably connected to the support plate and the other end is fixedly connected to a gear XII, and a gear X fixedly sleeved outside the rotating shaft is provided between the gear XII and the gear VIII;

[0007] The gear III or gear XII are respectively meshed and connected with gear XI, and the gear XI is fixedly sleeved on one end of the hollow shaft, and an inner shaft is rotatably sleeved in the hollow shaft, and a gear IX is fixedly sleeved on one end of the inner shaft, and the gear IX is respectively meshed and connected with gear II or gear X. The other end of the hollow shaft rotates through the U-shaped frame and is fixedly sleeved with a gear IV, and a gear V is provided on the side of the gear IV away from the frame, and the gear V is fixedly sleeved on the end of the inner shaft and meshed and connected with gear VI on one side, and a connecting shaft is fixedly sleeved in the gear VI and the side of the gear VI away from the gear V is meshed and connected with gear VII, one end of the gear VII is fixedly connected with an output shaft, and the end of the output shaft away from the gear VII is connected to one end of a connecting rod, and the other end of the connecting rod is fixedly connected to gear XIII, one side of the gear XIII is meshed and connected with gear IV, and the other side of the gear XIII is fixedly connected to a short shaft at the center.

[0008] Preferably, the center lines of the motor input shaft, inner shaft, hollow shaft, connecting shaft, output shaft and short shaft are in the same horizontal plane.

[0009] Preferably, the centerline of the rotating shaft is directly below the centerline of the inner shaft.

[0010] Preferably, the center lines of the inner shaft, the hollow shaft and the output shaft coincide with each other, the center lines of the connecting shaft and the short shaft coincide with each other, and the opposite ends of the connecting shaft and the short shaft are respectively connected to two sides of the U-shaped frame.

[0011] Preferably, the plane formed by the center lines of the motor input shaft and the inner shaft is perpendicular to the plane formed by the center lines of the inner shaft and the rotating shaft, and the plane formed by the center lines of the motor input shaft and the hollow shaft is perpendicular to the plane formed by the center lines of the hollow shaft and the rotating shaft.

[0012] Preferably, the gear III and the gear XII are two symmetrically arranged sector gears, the gear II and the gear X are one sector gear and the tooth opening area is greater than or equal to twice the area of ​​the gear III or the gear XII.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] 1. The structure of a single motor driving two degrees of freedom provided by the utility model realizes the driving of two degrees of freedom by a single motor and the movement of the output shaft around the "8" shape through the reasonable design of the gear transmission ratio;

[0015] 2. The two-degree-of-freedom structure driven by a single motor provided by the present invention drives two degrees of freedom by one motor through a gear transmission system. The input drive of the structure is less than the number of degrees of freedom, and it belongs to an under-driven system, which can improve the driving efficiency of the motor to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of the present invention;

[0017] Figure 2 It is a schematic diagram of the local structure of the present invention;

[0018] Figure 3 It is the projection trajectory diagram of the wing tip on the sagittal plane of the present invention.

[0019] In the figure: motor input shaft 1, gear I2, gear II3, inner shaft 4, gear III5, hollow shaft 6, gear IV7, gear V8, gear VI9, connecting shaft 10, gear VII11, output shaft 12, rotating shaft 13, gear VIII14, gear IX15, gear X16, gear XI17, gear XII18, short shaft 19, gear XIII20, connecting rod 21. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] Example 1

[0022] Reference Figure 1 , 2, which is the first embodiment of the present invention, and provides a single-motor driven two-degree-of-freedom "8"-shaped motion structure, including a motor input shaft 1 with one end rotatably connected to a support plate, a gear I2 fixedly sleeved in the middle of the motor input shaft 1, a gear II3 fixedly sleeved outside the motor input shaft 1 is provided on the side of the gear I2 away from the support plate, a gear III5 fixedly sleeved outside the motor input shaft 1 is provided on the side of the gear II3 away from the gear I2, a gear VIII14 is meshedly connected to one side of the gear I2, the gear VIII14 is fixedly sleeved in the middle of the rotating shaft 13, one end of the rotating shaft 13 is rotatably connected to the support plate and the other end is fixedly connected to a gear XII18, the gear XII18 is connected to the gear VIII14. A gear X16 is provided between the motor and the gears IX15 and IX16 is fixedly sleeved outside the rotating shaft 13; the motor input shaft 1 rotates driven by the motor, and the gears I2, II3 and III5 are respectively fixedly connected to the motor input shaft 1, and then follow the movement with the same angular velocity of the motor input shaft 1, and the gear VIII14 is meshed with the gear I2, and then when the gear I2 rotates, the gear VIII14 is driven to rotate in the opposite direction, and the gears II3 and X16 are arranged in an alternating manner, and both are meshed with the gears IX15, and the movement directions of the gears II3 and IX15 are opposite, and then when the gears II3 and X16 are respectively driven by the motor input shaft 1 and the rotating shaft 13 to rotate, periodic rotation motion is realized;

[0023] Gear III5 or gear XII18 is respectively meshed and connected with gear XI17, gear XI17 is fixedly sleeved on one end of the hollow shaft 6, inner shaft 4 is rotatably sleeved in the hollow shaft 6, one end of the inner shaft 4 is fixedly sleeved with gear IX15, gear IX15 is respectively meshed and connected with gear II3 or gear X16, the other end of the hollow shaft 6 rotates through the U-shaped frame and is fixedly sleeved with gear IV7, gear IV7 is provided with gear V8 on the side away from the frame, gear V8 is fixedly sleeved on the end of the inner shaft 4 and one side is meshed and connected with gear VI9, gear VI9 is ​​fixedly sleeved with connecting shaft 10 and the side of gear VI9 away from gear V8 is meshed and connected with gear VII11, one end of gear VII11 is fixedly connected with output shaft 12, the end of output shaft 12 away from gear VII11 is connected with one end of connecting rod 21, the other end of connecting rod 21 is fixedly connected with gear XIII20, one side of gear XIII20 is meshed and connected with gear IV7, and the other side of gear XIII20 is fixedly connected with short shaft 19 at the center. Gear IX15 is fixedly connected to the inner shaft 4, and when the gear IX15 rotates, the gear V8 is driven to rotate through the transmission of the inner shaft 4, the gear V8 is meshed with the gear VI9, the gear VI9 is ​​meshed with the gear VII11, the gear VII11 is fixedly connected to the output shaft 12, and the periodic rotation motion around the output shaft 12 is realized; the gear XI17 is fixedly connected to the hollow shaft 6, and when the gear XI17 rotates, the gear IV7 is driven to rotate through the transmission of the hollow shaft 6, the gear IV7 drives the meshing gear XIII20 to rotate, the gear XIII20 is fixedly connected to the connecting rod 21, and the connecting rod 21 is connected to the output shaft 12, and the periodic rotation motion around the short shaft 19 is realized.

[0024] Example 2

[0025] Reference Figure 1-3 , which is the second embodiment of the present invention, is based on the previous embodiment. Specifically, the center lines of the motor input shaft 1, the inner shaft 4, the hollow shaft 6, the connecting shaft 10, the output shaft 12 and the short shaft 19 are in the same horizontal plane, and the same horizontal plane ensures stability during periodic rotation or rotation motion.

[0026] Specifically, the center line of the rotating shaft 13 is directly below the center line of the inner shaft 4, and the staggered setting ensures the normal operation of the two degrees of freedom.

[0027] Specifically, the center lines of the inner shaft 4, the hollow shaft 6 and the output shaft 12 coincide with each other. The coincident center lines ensure that the centers of rotation of the inner shaft 4, the hollow shaft 6 and the output shaft 12 are in the same straight line during operation, thereby ensuring the transmission of power. The center lines of the connecting shaft 10 and the short shaft 19 coincide with each other, and the opposite ends of the connecting shaft 10 and the short shaft 19 are respectively connected to the two sides of the U-shaped frame.

[0028] Specifically, the plane formed by the center lines of the motor input shaft 1 and the inner shaft 4 is perpendicular to the plane formed by the center lines of the inner shaft 4 and the rotating shaft 13, and the plane formed by the center lines of the motor input shaft 1 and the hollow shaft 6 is perpendicular to the plane formed by the center lines of the hollow shaft 6 and the rotating shaft 13. The mutually perpendicular planes are set to ensure the complete freedom of the trajectory during sagittal plane movement.

[0029] Specifically, gear III5 and gear XII18 are two symmetrically arranged sector gears, gear II3 and gear X16 are both sector gears and the tooth area is greater than or equal to twice the area of ​​gear III5 or gear XII18. Gear II3 and gear X16 are arranged in an interlaced manner, and both are meshed with gear IX15 respectively. When half of gear II3 is meshed with gear IX15, gear IX15 is driven to rotate, while gear X16 is not meshed with gear IX15, and gear II3 then drives gear IX15 to move in the opposite direction, and then when gear II3 and gear X16 are respectively driven by motor input shaft 1 and rotating shaft 13 to rotate, periodic rotation is realized, gear III5 and gear XII18 are arranged in an interlaced manner and both are meshed with gear XI17 respectively, when a single gear III5 is meshed with gear XI17, gear XII18 is not meshed with gear XI17, and gear III5 then drives gear XII18 to move in the opposite direction, thereby realizing periodic rotation.

[0030] Example 3

[0031] Reference Figure 1-3, which is the third embodiment of the present invention. This embodiment is based on the above two embodiments. When in use, the motor input shaft 1 rotates under the drive of the motor, and the gear I2, gear II3 and gear III5 are respectively fixedly connected to the motor input shaft 1, and then follow the movement with the same angular velocity of the motor input shaft 1. The gear VIII14 is meshed with the gear I2, and then when the gear I2 rotates, the gear VIII14 is driven to rotate in the opposite direction. The gear II3 and the gear X16 are arranged in an alternating manner, and the two are respectively meshed with the gear IX15. The movement directions of the gear II3 and the gear IX15 are opposite, and then when the gear II3 and the gear X16 are respectively driven by the motor input shaft 1 and the rotating shaft 13 to rotate, a periodic rotation motion is realized. The gear III5 and the gear XII18 are arranged in an alternating manner and the two are respectively meshed with the gear XII18. XI17, the movement directions of gear III5 and gear XII18 are opposite, thereby realizing periodic rotational motion, gear IX15 is fixedly connected to the inner shaft 4, and when the gear IX15 rotates, the gear V8 is driven to rotate through the transmission of the inner shaft 4, the gear V8 is meshed with the gear VI9, the gear VI9 is ​​meshed with the gear VII11, the gear VII11 is fixedly connected to the output shaft 12, thereby realizing periodic rotational motion around the output shaft 12; gear XI17 is fixedly connected to the hollow shaft 6, and when the gear XI17 rotates, the gear IV7 is driven to rotate through the transmission of the hollow shaft 6, the gear IV7 drives the meshing gear XIII20 to rotate, the gear XIII20 is fixedly connected to the connecting rod 21, the connecting rod 21 is connected to the output shaft 12, thereby realizing periodic rotational motion around the short shaft 19.

[0032] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A single motor driven two-degree-of-freedom "8"-shaped motion structure, comprising a motor input shaft (1) with one end rotatably connected to a support plate, characterized in that: A gear I (2) is fixedly sleeved on the middle of the motor input shaft (1); a gear II (3) fixedly sleeved on the outside of the motor input shaft (1) is provided on the side of the gear I (2) away from the support plate; a gear III (5) fixedly sleeved on the outside of the motor input shaft (1) is provided on the side of the gear II (3) away from the gear I (2); a gear VIII (14) is meshingly connected to one side of the gear I (2); the gear VIII (14) is fixedly sleeved on the middle of the rotating shaft (13); one end of the rotating shaft (13) is rotatably connected to the support plate and the other end is fixedly connected to a gear XII (18); a gear X (16) fixedly sleeved on the outside of the rotating shaft (13) is provided between the gear XII (18) and the gear VIII (14); The gear III (5) or the gear XII (18) is respectively meshed and connected with a gear XI (17), and the gear XI (17) is fixedly sleeved on one end of the hollow shaft (6). An inner shaft (4) is rotatably sleeved in the hollow shaft (6), and one end of the inner shaft (4) is fixedly sleeved with a gear IX (15), and the gear IX (15) is respectively meshed and connected with the gear II (3) or the gear X (16). The other end of the hollow shaft (6) rotates through the U-shaped frame and is fixedly sleeved with a gear IV (7), and a gear V (8) is provided on the side of the gear IV (7) away from the frame, and the gear V (8) is fixedly sleeved on the end of the inner shaft (4). One side is meshedly connected with a gear VI (9), a connecting shaft (10) is fixedly sleeved inside the gear VI (9), and the side of the gear VI (9) away from the gear V (8) is meshedly connected with a gear VII (11), one end of the gear VII (11) is fixedly connected with an output shaft (12), the end of the output shaft (12) away from the gear VII (11) is connected with one end of a connecting rod (21), the other end of the connecting rod (21) is fixedly connected with a gear XIII (20), one side of the gear XIII (20) is meshedly connected with a gear IV (7), and the other side of the gear XIII (20) is fixedly connected with a short shaft (19) at the center; The center lines of the motor input shaft (1), the inner shaft (4), the hollow shaft (6), the connecting shaft (10), the output shaft (12) and the short shaft (19) are in the same horizontal plane; the center line of the rotating shaft (13) is directly below the center line of the inner shaft (4); The center lines of the inner shaft (4), the hollow shaft (6) and the output shaft (12) coincide with each other, the center lines of the connecting shaft (10) and the short shaft (19) coincide with each other, and the ends of the connecting shaft (10) and the short shaft (19) facing away from each other are respectively connected to two sides of the U-shaped frame; A plane formed by the center lines of the motor input shaft (1) and the inner shaft (4) is perpendicular to a plane formed by the center lines of the inner shaft (4) and the rotating shaft (13); a plane formed by the center lines of the motor input shaft (1) and the hollow shaft (6) is perpendicular to a plane formed by the center lines of the hollow shaft (6) and the rotating shaft (13).

2. A single motor driven two-degree-of-freedom "8"-shaped motion structure according to claim 1, characterized in that: The gear III (5) and the gear XII (18) are two symmetrically arranged sector gears, the gear II (3) and the gear X (16) are one sector gear and the tooth opening area is greater than or equal to twice the area of ​​the gear III (5) or the gear XII (18).

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