A three-degree-of-freedom series servo mechanism

Abstract

The present invention relates to the technical field of servo mechanisms, and discloses a three-degree-of-freedom series servo mechanism, comprising a first degree-of-freedom mechanism, a second degree-of-freedom mechanism and a third degree-of-freedom mechanism, wherein the first degree-of-freedom mechanism comprises a first U-shaped fixing plate, a first motor is fixed to the inner lower surface of the first U-shaped fixing plate, a second bevel gear is fixed to the output shaft of the first motor, a first bevel gear is arranged below the second bevel gear, the first bevel gear is meshedly connected with the second bevel gear, a first bevel gear shaft is fixed at the bottom center of the first bevel gear, and a first shaft sleeve is fixed to the outer side wall of the first bevel gear shaft near the first bevel gear; compared with the existing servo mechanisms, the present invention has the characteristics of simple structure, easy control, simple installation, easy use, etc., and has strong versatility and practicality.

Description

Technical Field

[0001] The invention relates to the technical field of servo mechanisms, in particular to a three-degree-of-freedom series servo mechanism. Background Art

[0002] A servo mechanism is a servo system in which the controlled quantity is the mechanical position or the derivative of the mechanical position with respect to time. A servo mechanism refers to a system that achieves position, speed, or acceleration control of a mechanical system through a closed-loop control method. Its function is mainly to provide power to the controlled body, which may be presented in the form of pneumatic pressure, oil pressure, or electric drive.

[0003] The existing servo mechanism has a relatively complex structure and is not easy to control, which makes the existing servo mechanism inconvenient to use and inconvenient for operators to install. At the same time, the versatility and practicality are poor. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] In view of the deficiencies in the prior art, the present invention provides a three-degree-of-freedom series servo mechanism, which solves the problems that the existing servo mechanism has a complex structure and is not easy to control, and is inconvenient for operators to install and has poor versatility and practicality.

[0006] (II) Technical solution

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a three-degree-of-freedom series servo mechanism, comprising a first degree-of-freedom mechanism, a second degree-of-freedom mechanism and a third degree-of-freedom mechanism, the first degree-of-freedom mechanism comprising a first U-shaped fixing plate, a first motor is fixed to the inner lower surface of the first U-shaped fixing plate, a second bevel gear is fixed to the output shaft of the first motor, a first bevel gear is arranged below the second bevel gear, the first bevel gear is meshed with the second bevel gear, a first bevel gear shaft is fixed at the bottom center of the first bevel gear, a first shaft sleeve is fixed to the outer side wall of the first bevel gear shaft near the first bevel gear, the interior of the top through hole of the first U-shaped fixing plate is connected through the first bearing end cover and the first bearing end cover. The second bearing end cover is fixed with a first bearing, the bottom end of the first bevel gear shaft passes through the first bearing and is fixed with a first rotating disk, the second degree of freedom mechanism includes a second U-shaped fixing plate, the top of the first U-shaped fixing plate is located inside the second U-shaped fixing plate, and a second motor is fixed on the inner lower surface of the first U-shaped fixing plate near the first bevel gear, a third bevel gear is fixed on the output shaft of the second motor, a fourth bevel gear is provided on one side of the third bevel gear, the fourth bevel gear is meshed with the third bevel gear, and a second bevel gear shaft is fixed at the center of one side of the fourth bevel gear, a second sleeve is fixed on the outer side wall of the second bevel gear shaft near the fourth bevel gear, and the first U-shaped A second bearing is fixed to the inside of a through hole at the top of one side of the fixing plate through a third bearing end cover and a fourth bearing end cover, an end of the second bevel gear shaft away from the fourth bevel gear passes through the second bearing and one side of the second U-shaped fixing plate, and an end of the second bevel gear shaft away from the fourth bevel gear is fixedly connected to one side of the second U-shaped fixing plate through the first locking nut and the second locking nut, a third bearing is fixed to the inside of a through hole at the top of the other side of the first U-shaped fixing plate through a fifth bearing end cover, a connecting shaft passes through the inside of the third bearing, the right end of the connecting shaft passes through the other side of the second U-shaped fixing plate, and the right end of the connecting shaft is connected to the second The other side of the U-shaped fixing plate is fixedly connected, and the third degree of freedom mechanism includes the second U-shaped fixing plate, a third motor is fixed to the inner upper surface of the second U-shaped fixing plate, a fifth bevel gear is fixed to the output shaft of the third motor, a sixth bevel gear is provided above the fifth bevel gear, the sixth bevel gear is meshed with the fifth bevel gear, and a third bevel gear shaft is fixed at the top center of the sixth bevel gear, a third shaft sleeve is fixed on the outer wall of the third bevel gear shaft near the sixth bevel gear, a fourth bearing is fixed to the inside of the top through hole of the second U-shaped fixing plate through the sixth bearing end cover and the seventh bearing end cover, the top end of the third bevel gear shaft passes through the fourth bearing and is fixed with a second rotating disk.

[0008] Preferably, the mechanism includes a first detection mechanism, which includes a first encoder and a first encoder fixing bracket, the first encoder is fixedly connected to the first encoder fixing bracket, the bottom of the first encoder fixing bracket is fixedly connected to the inner lower surface of the first U-shaped fixing plate, and the detection end of the first encoder is fixedly connected to the top of the first bevel gear.

[0009] Preferably, the mechanism includes a second detection mechanism, the second detection mechanism includes a second encoder and a second encoder fixing bracket, the second encoder is fixedly connected to the second encoder fixing bracket, one side of the second encoder fixing bracket is fixedly connected to one side of the inner surface of the first U-shaped fixing plate, and the detection end of the second encoder is fixedly connected to the left end of the connecting shaft.

[0010] Preferably, the mechanism also includes a third detection mechanism, which includes a third encoder and a third encoder fixing bracket, the third encoder is fixedly connected to the third encoder fixing bracket, the top of the third encoder fixing bracket is fixedly connected to the inner upper surface of the second U-shaped fixing plate, and the detection end of the third encoder is fixedly connected to the bottom of the sixth bevel gear.

[0011] (III) Beneficial effects

[0012] The present invention provides a three-degree-of-freedom series servo mechanism, which has the following beneficial effects:

[0013] Compared with the existing servo mechanism, the present invention has the characteristics of simple structure, easy control, simple installation, convenient use, etc., and has strong versatility and practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of the present invention;

[0015] Figure 2 It is a structural schematic diagram of the first degree of freedom mechanism in the present invention;

[0016] Figure 3 It is a structural schematic diagram of the second degree of freedom mechanism in the present invention;

[0017] Figure 4 It is a schematic structural diagram of the third degree of freedom mechanism in the present invention.

[0018] In the figure: 1, first rotating disk; 2, first bevel gear shaft; 3, first bearing end cover; 4, first U-shaped fixing plate; 5, fifth bearing end cover; 7, third locking nut; 8, fourth locking nut; 9, connecting shaft; 10, second U-shaped fixing plate; 11, second rotating disk; 12, third bevel gear shaft; 13, sixth bearing end cover; 14, first locking nut; 15, second locking nut; 16, second bevel gear shaft; 17, third bearing end cover; 18, fourth bearing end cover; 19, second bushing; 20, second bearing end cover; 21, first bushing; 2 2. First encoder fixing bracket; 23. First bevel gear; 24. First encoder; 25. Second bevel gear; 26. First motor; 27. Second encoder; 28. Second encoder fixing bracket; 29. ​​Third encoder fixing bracket; 30. Sixth bevel gear; 31. Seventh bearing end cover; 32. Third bearing; 33. Third encoder; 34. Fifth bevel gear; 35. Third motor; 36. Fourth bevel gear; 37. Third bevel gear; 38. Second motor; 39. First bearing; 40. Second bearing; 41. Third bearing; 42. Fourth bearing. DETAILED DESCRIPTION

[0019] 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.

[0020] like Figure 1-4As shown, the present invention provides a technical solution: a three-degree-of-freedom series servo mechanism, including a first degree-of-freedom mechanism, a second degree-of-freedom mechanism and a third degree-of-freedom mechanism, the first degree-of-freedom mechanism includes a first U-shaped fixing plate 4, a first motor 26 is fixed to the inner lower surface of the first U-shaped fixing plate 4, a second bevel gear 25 is fixed to the output shaft of the first motor 26, a first bevel gear 23 is provided below the second bevel gear 25, the first bevel gear 23 is meshed and connected with the second bevel gear 25, and a first bevel gear shaft 2 is fixed at the bottom center of the first bevel gear 23, a first shaft sleeve 21 is fixed to the outer wall of the first bevel gear shaft 2 near the first bevel gear 23, the interior of the top through hole of the first U-shaped fixing plate 4 is fixed by a first bearing end cover 3 and a second bearing end cover 20 A first bearing 39 is fixed, the bottom end of the first bevel gear shaft 2 passes through the first bearing 39, and is fixed with a first rotating disk 1, the second degree of freedom mechanism includes a second U-shaped fixing plate 10, the top of the first U-shaped fixing plate 4 is located inside the second U-shaped fixing plate 10, and a second motor 38 is fixed to the inner lower surface of the first U-shaped fixing plate 4 near the first bevel gear 23, a third bevel gear 37 is fixed to the output shaft of the second motor 38, a fourth bevel gear 36 is provided on one side of the third bevel gear 37, the fourth bevel gear 36 is meshed and connected with the third bevel gear 37, and a second bevel gear shaft 16 is fixed at the center of one side of the fourth bevel gear 36, a second sleeve 19 is fixed to the outer wall of the second bevel gear shaft 16 near the fourth bevel gear 36, and a top of one side of the first U-shaped fixing plate 4 A second bearing 40 is fixed to the interior of the through hole in the lower part through the third bearing end cover 17 and the fourth bearing end cover 18, and one end of the second bevel gear shaft 16 away from the fourth bevel gear 36 passes through the second bearing 40 and one side of the second U-shaped fixing plate 10, and one end of the second bevel gear shaft 16 away from the fourth bevel gear 36 is fixedly connected to one side of the second U-shaped fixing plate 10 through the first locking nut 14 and the second locking nut 15, and a third bearing 41 is fixed to the interior of the top through hole on the other side of the first U-shaped fixing plate 4 through the fifth bearing end cover 5, and a connecting shaft 9 is penetrated inside the third bearing 41, and the right end of the connecting shaft 9 passes through the other side of the second U-shaped fixing plate 10, and the right end of the connecting shaft 9 is connected to the second U-shaped fixing plate 10 through the third locking nut 7 and the fourth locking nut 8. The other side is fixedly connected, and the third degree of freedom mechanism includes a second U-shaped fixing plate 10, a third motor 35 is fixed to the inner upper surface of the second U-shaped fixing plate 10, a fifth bevel gear 34 is fixed to the output shaft of the third motor 35, a sixth bevel gear 30 is provided above the fifth bevel gear 34, the sixth bevel gear 30 is meshed and connected with the fifth bevel gear 34, and a third bevel gear shaft 12 is fixed at the top center of the sixth bevel gear 30, a third shaft sleeve 32 is fixed to the outer wall of the third bevel gear shaft 12 near the sixth bevel gear 30, a fourth bearing 42 is fixed to the inside of the top through hole of the second U-shaped fixing plate 10 through the sixth bearing end cover 13 and the seventh bearing end cover 31, the top end of the third bevel gear shaft 12 passes through the fourth bearing 42, and a second rotating disk 11 is fixed.When in use, the first motor 26 can drive the second bevel gear 25 to rotate, thereby driving the first bevel gear 23 to rotate. The rotation of the first bevel gear 23 can drive the first bevel gear shaft 2 to rotate, thereby driving the first rotating disk 1 to rotate around the first U-shaped fixed plate 4, completing the movement of the first degree of freedom mechanism. At the same time, the second motor 38 can drive the third bevel gear 37 to rotate, thereby driving the fourth bevel gear 36 to rotate. The rotation of the fourth bevel gear 36 can drive the second bevel gear shaft 16 to rotate, thereby realizing the second U-shaped fixed plate 10 to rotate around the first U-shaped fixed plate 4, completing the movement of the second degree of freedom mechanism. The third motor 35 can drive the fifth bevel gear 34 to rotate, thereby driving the sixth bevel gear 30 to rotate. The rotation of the sixth bevel gear 30 can drive the third bevel gear shaft 12 to rotate, thereby driving the second rotating disk 11 to rotate, thereby realizing the second rotating disk 11 to rotate around the second U-shaped fixed plate 10, completing the movement of the third degree of freedom mechanism.

[0021] Furthermore, the mechanism includes a first detection mechanism, which includes a first encoder 24 and a first encoder fixing frame 22. The first encoder 24 is fixedly connected to the first encoder fixing frame 22. The bottom of the first encoder fixing frame 22 is fixedly connected to the inner lower surface of the first U-shaped fixing plate 4. The detection end of the first encoder 24 is fixedly connected to the top of the first bevel gear 23. When the first bevel gear 23 rotates, the detection end of the first encoder 24 can be driven to rotate together, thereby realizing servo feedback on the rotation angle of the first bevel gear 23.

[0022] Furthermore, the mechanism includes a second detection mechanism, which includes a second encoder 27 and a second encoder fixing frame 28. The second encoder 27 is fixedly connected to the second encoder fixing frame 28. One side of the second encoder fixing frame 28 is fixedly connected to one side of the inner surface of the first U-shaped fixing plate 4. The detection end of the second encoder 27 is fixedly connected to the left end of the connecting shaft 9. When the second U-shaped fixing plate 10 rotates, the detection end of the second encoder 27 can be driven to rotate together, thereby realizing servo feedback on the rotation angle of the fourth bevel gear 36.

[0023] Furthermore, the mechanism also includes a third detection mechanism, which includes a third encoder 33 and a third encoder fixing frame 29. The third encoder 33 is fixedly connected to the third encoder fixing frame 29. The top of the third encoder fixing frame 29 is fixedly connected to the inner upper surface of the second U-shaped fixing plate 10. The detection end of the third encoder 33 is fixedly connected to the bottom of the sixth bevel gear 30. When the sixth bevel gear 30 rotates, the detection end of the third encoder 33 can be driven to rotate together, thereby realizing servo feedback on the rotation angle of the sixth bevel gear 30.

[0024] In summary, the working process of the present invention is as follows: when in use, the second bevel gear 25 can be driven to rotate by the first motor 26, thereby driving the rotation of the first bevel gear 23, and the rotation of the first bevel gear 23 can drive the rotation of the first bevel gear shaft 2, thereby driving the rotation of the first rotating disk 1, and then realizing the rotational movement of the rotating disk 1 around the first U-shaped fixing plate 4, completing the movement of the first degree of freedom mechanism, when the first bevel gear 23 rotates, it can drive the detection end of the first encoder 24 to rotate together, thereby realizing servo feedback of the rotation angle of the first bevel gear 23, and at the same time, the third bevel gear 37 can be driven to rotate by the second motor 38, thereby driving the rotation of the fourth bevel gear 36, and the rotation of the second bevel gear shaft 16 can be driven by the rotation of the fourth bevel gear 36, thereby realizing the second U The U-shaped fixing plate 10 rotates around the first U-shaped fixing plate 4 to complete the movement of the second degree of freedom mechanism. When the second U-shaped fixing plate 10 rotates, the detection end of the second encoder 27 can be driven to rotate together, thereby realizing servo feedback of the rotation angle of the fourth bevel gear 36, and the fifth bevel gear 34 can be driven to rotate through the third motor 35, thereby driving the rotation of the sixth bevel gear 30. Through the rotation of the sixth bevel gear 30, the third bevel gear shaft 12 can be driven to rotate, thereby driving the rotation of the second rotating disk 11, and then the second rotating disk 11 is realized to rotate around the second U-shaped fixing plate 10 to complete the movement of the third degree of freedom mechanism. When the sixth bevel gear 30 rotates, the detection end of the third encoder 33 can be driven to rotate together, thereby realizing servo feedback of the rotation angle of the sixth bevel gear 30.

[0025] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0026] 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 three-degree-of-freedom serial servo mechanism, comprising a first degree-of-freedom mechanism, a second degree-of-freedom mechanism and a third degree-of-freedom mechanism, characterized in that: The first degree of freedom mechanism comprises a first U-shaped fixing plate (4), a first motor (26) is fixed on the inner lower surface of the first U-shaped fixing plate (4), a second bevel gear (25) is fixed on the output shaft of the first motor (26), a first bevel gear (23) is provided below the second bevel gear (25), the first bevel gear (23) is meshingly connected with the second bevel gear (25), a first bevel gear shaft (2) is fixed at the bottom center of the first bevel gear (23), a first shaft sleeve (21) is fixed on the outer side wall of the first bevel gear shaft (2) near the first bevel gear (23), the interior of the top through hole of the first U-shaped fixing plate (4) is connected through the first bearing end cover (3) and the second bearing end cover (20 ) is fixed with a first bearing (39), the bottom end of the first bevel gear shaft (2) passes through the first bearing (39) and is fixed with a first rotating disk (1), the second degree of freedom mechanism comprises a second U-shaped fixing plate (10), the top of the first U-shaped fixing plate (4) is located inside the second U-shaped fixing plate (10), and a second motor (38) is fixed on the inner lower surface of the first U-shaped fixing plate (4) near the first bevel gear (23), a third bevel gear (37) is fixed on the output shaft of the second motor (38), a fourth bevel gear (36) is provided on one side of the third bevel gear (37), the fourth bevel gear (36) is meshedly connected with the third bevel gear (37), and the fourth bevel gear (38) is meshed with the third bevel gear (37), and the fourth bevel gear (38) is meshed with the third bevel gear (37). A second bevel gear shaft (16) is fixed at the center of one side of the first U-shaped fixing plate (6), a second shaft sleeve (19) is fixed to the outer wall of the second bevel gear shaft (16) near the fourth bevel gear (36), a second bearing (40) is fixed inside the top through hole of one side of the first U-shaped fixing plate (4) through a third bearing end cover (17) and a fourth bearing end cover (18), an end of the second bevel gear shaft (16) away from the fourth bevel gear (36) passes through the second bearing (40) and one side of the second U-shaped fixing plate (10), and an end of the second bevel gear shaft (16) away from the fourth bevel gear (36) is fixed to one side of the second U-shaped fixing plate (10) through a first locking nut (14) and a second locking nut (15). The first U-shaped fixing plate (4) is fixedly connected to the second side of the second U-shaped fixing plate (10), the interior of the top through hole on the other side of the first U-shaped fixing plate (4) is fixed with a third bearing (41) through a fifth bearing end cover (5), a connecting shaft (9) is passed through the interior of the third bearing (41), the right end of the connecting shaft (9) passes through the other side of the second U-shaped fixing plate (10), and the right end of the connecting shaft (9) is fixedly connected to the other side of the second U-shaped fixing plate (10) through a third locking nut (7) and a fourth locking nut (8), the third degree of freedom mechanism comprises the second U-shaped fixing plate (10), a third motor (35) is fixed to the inner upper surface of the second U-shaped fixing plate (10), and a fifth bevel gear (34) is fixed to the output shaft of the third motor (35),A sixth bevel gear (30) is provided above the fifth bevel gear (34), the sixth bevel gear (30) is meshedly connected with the fifth bevel gear (34), and a third bevel gear shaft (12) is fixed at the top center of the sixth bevel gear (30), and a third shaft sleeve (32) is fixed to the outer wall of the third bevel gear shaft (12) near the sixth bevel gear (30), and a fourth bearing (42) is fixed inside the top through hole of the second U-shaped fixing plate (10) through a sixth bearing end cover (13) and a seventh bearing end cover (31), and the top end of the third bevel gear shaft (12) passes through the fourth bearing (42) and is fixed with a second rotating disk (11); the mechanism includes a first detection mechanism, the first detection mechanism includes a first encoder (24) and a first encoder fixing frame (22), the first encoder (24) is fixedly connected to the first encoder fixing frame (22), and the detection end of the first encoder (24) is fixedly connected to the top of the first bevel gear (23).

2. A three-degree-of-freedom serial servo mechanism according to claim 1, characterized in that: The mechanism comprises a second detection mechanism, the second detection mechanism comprises a second encoder (27) and a second encoder fixing frame (28), the second encoder (27) is fixedly connected to the second encoder fixing frame (28), one side of the second encoder fixing frame (28) is fixedly connected to one side of the inner surface of the first U-shaped fixing plate (4), and the detection end of the second encoder (27) is fixedly connected to the left end of the connecting shaft (9).

3. A three-degree-of-freedom serial servo mechanism according to any one of claims 1 to 2, characterized in that: The mechanism also includes a third detection mechanism, which includes a third encoder (33) and a third encoder fixing frame (29), wherein the third encoder (33) is fixedly connected to the third encoder fixing frame (29), the top of the third encoder fixing frame (29) is fixedly connected to the inner upper surface of the second U-shaped fixing plate (10), and the detection end of the third encoder (33) is fixedly connected to the bottom of the sixth bevel gear (30).

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