Universal control mechanical joint

Abstract

The invention discloses a universal control mechanical joint. It includes a cross rail, a gimbal ring, a main body shell, a universal joint, a permanent magnet, an electromagnet, a universal ball head, a metal rod, a motor, a gear, a ball head mounting groove and a ball head connecting shaft. The gimbal ring is placed in the middle of the top of the main body shell. The gimbal ring is composed of an outer ring, a first connecting shaft, an inner ring, a disc, a second connecting shaft and a cross groove. The inner ring is placed in the outer ring and is rotatably connected to the outer ring through the first connecting shaft. The disc is placed in the inner ring and is rotatably connected to the inner ring through the second connecting shaft. The first connecting shaft and the second connecting shaft are vertical in space. The disc is provided with a cross groove. One end of the cross rail passes through the cross groove and is placed in the main body shell. The two sides of the cross rail are respectively provided with teeth. Two motors are arranged on the disc and are respectively located on both sides of the cross rail. The invention can realize the adjustment of multiple degrees of freedom, and has a small size, light weight and a wide range of adaptability.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical joints, in particular to a universal control mechanical joint. Background Art

[0002] Currently, mechanical joints are only powered by servos or hydraulics, but both have only one degree of freedom. To achieve multiple degrees of freedom, a combination of multiple degrees of freedom is required, which will increase the space and weight occupied. In addition, it is difficult to achieve more than three degrees of freedom, and it does not have support. Summary of the invention

[0003] In view of the above-mentioned technical deficiencies, the purpose of the present invention is to provide a universally controlled mechanical joint, which can change the direction of the magnetic attraction force to achieve different angles of deflection, and at the same time apply force through a motor to achieve deflection, thereby achieving adjustment of multiple degrees of freedom.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0005] A universal controlled mechanical joint, characterized in that it comprises a cross rail, a gimbal ring, a main body shell, a universal joint, a permanent magnet, an electromagnet, a universal ball head, a metal rod, a motor, a gear, a ball head mounting groove and a ball head connecting shaft, wherein the gimbal ring is placed in the middle of the top of the main body shell, the gimbal ring is composed of an outer ring, a first connecting shaft, an inner ring, a disc, a second connecting shaft and a cross groove, the inner ring is placed in the outer ring, and is rotatably connected to the outer ring through the first connecting shaft, the disc is placed in the inner ring, and is rotatably connected to the inner ring through the second connecting shaft, the first connecting shaft and the second connecting shaft are vertical in space, the disc is provided with a cross groove, one end of the cross rail passes through the cross groove and is placed in the main body shell, The two sides of the cross-shaped rail are respectively provided with teeth, and two motors are arranged on the disc and are respectively located on the two sides of the cross-shaped rail. The rotating shaft of the motor is provided with gears and meshes with the teeth on the side of the cross-shaped rail; a ball head mounting groove is opened in the middle position of the bottom surface of the main body shell, one end of the metal rod is connected to one end of the cross-shaped rail through a universal joint, and the other end of the metal rod passes through the main body shell through the ball head mounting groove, and the universal ball head is placed on the metal rod and located in the ball head mounting groove. The universal ball head is rotatably connected to the main body shell through the ball head connecting shaft; the bottom of the main body shell is a conical structure, and two electromagnets are symmetrically arranged on the inner bottom surface of the main body shell, and the permanent magnet is placed on the metal rod and corresponds to the electromagnet.

[0006] Preferably, the motor, gear and cross rail are combined into a pushing structure, and the pushing structure is changed to be composed of an electromagnetic push rod and a coil, and the coil is sleeved outside the electromagnetic push rod.

[0007] The beneficial effects of the present invention are: it can realize the adjustment of multiple degrees of freedom, and it has small volume, light weight and wide adaptability.

[0008] In this article, “left”, “right”, “front” and “back” are all Figure 1 The “left”, “right”, “front” and “back” of the room shall prevail. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0010] Figure 1 A schematic diagram of the structure of a universal control mechanical joint provided by the present invention;

[0011] Figure 2 A schematic diagram of the structure of a gimbal ring of a universal control mechanical joint provided by the present invention;

[0012] Figure 3 A schematic diagram of the structure of the ball head of the universal control mechanical joint provided by the present invention;

[0013] Figure 4 A schematic diagram of the structure of the metal rod of the universal control mechanical joint provided by the present invention when it is deflected to the left;

[0014] Figure 5 This is a schematic diagram of the structure of the universal control mechanical joint metal rod provided by the present invention when it is deflected to the right.

[0015] Description of reference numerals:

[0016] Cross rail 1, gimbal 2, main body shell 3, universal joint 4, permanent magnet 5, electromagnet 6, universal ball head 7, metal rod 8, motor 9, gear 10, outer ring 11, first connecting shaft 12, inner ring 13, disc 14, second connecting shaft 15, cross groove 16, ball head mounting groove 17, ball head connecting shaft 18. DETAILED DESCRIPTION

[0017] 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.

[0018] like Figure 1-Figure 5As shown, the universal control mechanical joint includes a cross rail 1, a gimbal ring 2, a main body shell 3, a universal joint 4, a permanent magnet 5, an electromagnet 6, a universal ball head 7, a metal rod 8, a motor 9, a gear 10, a ball head mounting groove 17 and a ball head connecting shaft 18. The gimbal ring 2 is placed in the middle of the top of the main body shell 3. The gimbal ring 2 is composed of an outer ring 11, a first connecting shaft 12, an inner ring 13, a disk 14, a second connecting shaft 15 and a cross groove 16. The inner ring 13 is placed in the outer ring 11 and is rotatably connected to the outer ring 11 through the first connecting shaft 12. The disk 14 is placed in the inner ring 13 and is rotatably connected to the inner ring 13 through the second connecting shaft 15. The first connecting shaft 12 and the second connecting shaft 15 are vertical in space. The disk 14 is provided with a cross groove 16, and one end of the cross rail 1 passes through the cross groove 16 is placed in the main body shell 3, and teeth are respectively arranged on the two sides of the cross-shaped rail 1. Two motors 9 are arranged on the disc 14 and are respectively located on both sides of the cross-shaped rail 1. A gear 10 is arranged on the rotating shaft of the motor 9 and meshes with the teeth on the side of the cross-shaped rail 1; a ball head mounting groove 17 is opened in the middle position of the bottom surface of the main body shell 3, one end of the metal rod 8 is connected to one end of the cross-shaped rail 1 through the universal joint 4, and the other end of the metal rod 8 passes through the main body shell 3 through the ball head mounting groove 17, and the universal ball head 7 is placed on the metal rod 8 and located in the ball head mounting groove 17. The universal ball head 7 is rotatably connected to the main body shell 3 through the ball head connecting shaft 18; the bottom of the main body shell 3 is a conical structure, and two electromagnets 6 are symmetrically arranged on the inner bottom surface of the main body shell 3, and the permanent magnet 5 is placed on the metal rod 8 and corresponds to the electromagnet 6.

[0019] Furthermore, the motor 9, gear 10 and cross rail 1 are combined into a pushing structure, and the pushing structure is changed to consist of an electromagnetic push rod and a coil, and the coil sleeve is placed outside the electromagnetic push rod; when in use, the magnetic field generated by the coil is used to push and pull the electromagnetic push rod to achieve adjustment of the angle of the metal rod 8.

[0020] When in use, the two electromagnets 6 on the bottom of the main shell 3 are energized to generate a magnetic field. The left and right electromagnets 6 have the same poles. By changing the direction of the current, the permanent magnet 5 in the middle is attracted and deflected.

[0021] When the electromagnet 6 and the permanent magnet 5 on the left side attract each other and the electromagnet 6 and the permanent magnet 5 on the right side repel each other, the permanent magnet 5 drives the metal rod 8 to swing to the left; when the electromagnet 6 and the permanent magnet 5 on the right side attract each other and the electromagnet 6 and the permanent magnet 5 on the left side repel each other, the permanent magnet 5 drives the metal rod 8 to swing to the right; while the metal rod 8 is swinging, a force is applied by the motor 9 to push the metal rod 8 to achieve deflection, thereby achieving adjustment of multiple degrees of freedom;

[0022] When the metal rod 8 deflects to the left or right, the motor 9 drives the gear 10 to rotate, and the gear 10 and the cross-shaped rail 1 are meshed to make the cross-shaped rail 1 slide downward, thereby applying a thrust to the metal rod 8;

[0023] When the metal rod 8 is restored to the vertical position, the cross rail 1 is driven to slide upward by the reverse rotation of the motor 9, thereby applying a pulling force to the metal rod 8 to restore it to the vertical position;

[0024] The design of the gimbal 2 is such that when the cross rail 1 slides downward to push the metal rod 8 to deflect, the gimbal 2 can adaptively deflect along with the metal rod 8; the inner ring 13 can deflect in the left-right direction through the first connecting shaft 12, and the disc 14 can deflect in the front-back direction through the second connecting shaft 15; and the cross rail 1 can only slide but not rotate under the restriction of the cross groove 16;

[0025] When the metal rod 8 deflects, the ball head is connected to the rotating shaft 18 through the ball head to perform adaptive deflection.

[0026] The device can be used in the range of joint motion connection of biomimetic mechanics. (Mechanical fingers, wrists, ankles, spine, in theory, can fully realize the movement of the human body, made into prostheses, and can also be used for medical treatment, making miniature gastroscopes that can realize S-shaped movement)

[0027] The design of the invention can realize the adjustment of multiple degrees of freedom, and has small volume, light weight and wide adaptability.

[0028] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. Universal control mechanical joint, characterized in that: It includes a cross rail, a gimbal, a main body shell, a universal joint, a permanent magnet, an electromagnet, a universal ball head, a metal rod, a motor, a gear, a ball head mounting groove and a ball head connecting shaft. The gimbal ring is placed in the middle of the top of the main body shell. The gimbal ring is composed of an outer ring, a first connecting shaft, an inner ring, a disc, a second connecting shaft and a cross groove. The inner ring is placed in the outer ring and is rotatably connected to the outer ring through the first connecting shaft. The disc is placed in the inner ring and is rotatably connected to the inner ring through the second connecting shaft. The first connecting shaft and the second connecting shaft are vertical in space. The disc is provided with a cross groove. One end of the cross rail passes through the cross groove and is placed in the main body shell. Both sides of the cross rail The surfaces are respectively provided with teeth, two motors are arranged on the disc and are respectively located on both sides of the cross-shaped rail, a gear is arranged on the rotating shaft of the motor and meshes with the teeth on the side of the cross-shaped rail; a ball head mounting groove is opened in the middle position of the bottom surface of the main body shell, one end of the metal rod is connected to one end of the cross-shaped rail through a universal joint, and the other end of the metal rod passes through the main body shell through the ball head mounting groove, the universal ball head is placed on the metal rod and is located in the ball head mounting groove, and the universal ball head is rotatably connected to the main body shell through the ball head connecting shaft; the bottom of the main body shell is a conical structure, and two electromagnets are symmetrically arranged on the inner bottom surface of the main body shell, and the permanent magnet is placed on the metal rod and corresponds to the electromagnet.

2. The universal control mechanical joint according to claim 1, characterized in that: The motor, gear and cross rail are combined into a driving structure, and the driving structure is changed to be composed of an electromagnetic push rod and a coil, and the coil sleeve is arranged outside the electromagnetic push rod.

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