Three-axis concentric three-degree-of-freedom spherical robot joint

Abstract

The three-axis concentric three-degree-of-freedom spherical robot joint comprises a first motor, a first connecting plate is arranged at the bottom of the first motor, a spherical shell is arranged at the bottom of the first connecting plate, a second connecting plate is arranged on the left side of the spherical shell, a second motor is arranged on the left side of the second connecting plate, and a supporting shaft is arranged on the right side of the second connecting plate; a third motor is arranged in the second connecting plate, a supporting shell is arranged at the bottom of the third motor, and an output end is arranged at the bottom of the supporting shell. The three-degree-of-freedom rotating axes of the three-axis concentric three-degree-of-freedom spherical robot joint intersect at one point to form a sphere, and the three-degree-of-freedom spherical robot joint is compact in structure, stable in transmission and capable of achieving motor passive flexible control.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of robot joints, and particularly relates to a three-axis concentric three-degree-of-freedom spherical robot joint. BACKGROUND

[0002] At present, a robot joint is mainly realized by series connection of a motor and a reducer, and it is difficult to make three-degree-of-freedom rotation axes concentric in the case of realizing multiple degrees of freedom. It is extremely difficult to realize a hip joint and a waist joint of a humanoid robot due to space limitation and weight limitation. Therefore, a new three-axis concentric three-degree-of-freedom spherical robot joint is needed to solve the above problems and meet the needs of people. SUMMARY

[0003] The application aims to provide a three-axis concentric three-degree-of-freedom spherical robot joint to solve the problems of difficult concentricity of rotation axes and low degree of freedom.

[0004] To achieve the above object, the application provides the following technical scheme: a three-axis concentric three-degree-of-freedom spherical robot joint, comprising A No. 1 motor is provided at the bottom of the No. 1 motor, a No. 1 connecting plate is provided at the bottom of the No. 1 connecting plate, a spherical shell is provided at the bottom of the No. 1 connecting plate, a No. 2 connecting plate is provided at the left side of the spherical shell, a No. 2 motor is provided at the left side of the No. 2 connecting plate, a support shaft is provided at the right side of the No. 2 connecting plate, a No. 3 motor is provided in the No. 2 connecting plate, a support shell is provided at the bottom of the No. 3 motor, and an output end is provided at the bottom of the support shell.

[0005] Preferably, the cylindrical shape of the No. 1 motor serves as a transmission shaft, and the output end of the No. 1 motor is fixed to the rack.

[0006] Preferably, the No. 1 motor is fixedly connected to the spherical shell through the No. 1 connecting plate.

[0007] Preferably, the No. 2 motor is fixedly connected to the spherical shell through the No. 2 connecting plate.

[0008] Preferably, the output shaft of the No. 2 motor is fixedly connected to the shell of the No. 3 motor.

[0009] Preferably, the No. 3 motor is connected to the spherical shell through a rotary pair, and the end thereof is positioned through the support shaft.

[0010] The three-axis concentric three-degree-of-freedom spherical robot joint has three-degree-of-freedom rotation axes intersecting at a point and forming a spherical shape, has compact structure, stable transmission, and can realize passive flexible control of the motor. BRIEF DESCRIPTION OF DRAWINGS

[0011] Fig. 1 The drawings are structural schematic diagrams of the application. Fig. 2 This is a schematic diagram of the overall invention.

[0012] In the diagram: 1-Motor No. 1, 2-Connecting Plate No. 1, 3-Motor No. 2, 4-Connecting Plate No. 2, 5-Spherical Housing, 6-Motor No. 3, 7-Support Housing, 8-Output End, 9-Support Shaft. Detailed Implementation

[0013] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0014] This invention provides, for example Figs. 1-2 The diagram shows a three-axis concentric three-degree-of-freedom spherical robot joint, including... Motor 1 has a No. 1 connecting plate 2 at its bottom, a spherical shell 5 at its bottom, a No. 2 connecting plate 4 on its left side, a No. 2 motor 3 on its left side, a support shaft 9 on its right side, a No. 3 motor 6 inside the No. 2 connecting plate 4, a support shell 7 at its bottom, and an output end 8 at its bottom.

[0015] Specifically, the cylindrical shape of motor 1 serves as the drive shaft, and the output end of motor 1 is fixed to the frame.

[0016] Specifically, motor 1 is fixedly connected to spherical shell 5 via connecting plate 2.

[0017] Specifically, motor 3 is fixedly connected to spherical shell 5 via connecting plate 4.

[0018] Specifically, the output shaft of motor 3 is fixedly connected to the housing of motor 6.

[0019] Specifically, motor 6 is connected to the spherical housing 5 via a rotating joint, and its end is positioned by a support shaft 9.

[0020] Working Principle: In use, the three-axis concentric three-degree-of-freedom spherical robot joints are as follows: Motor 1 is fixedly connected to Connecting Plate 2, which in turn is fixedly connected to the spherical shell 5. When Motor 1 rotates, it drives the spherical shell 5 to rotate. The cylindrical outer shell of Motor 1 serves as the drive shaft, and its output end is fixed to the frame. Motor 3 is fixedly connected to Connecting Plate 4, which in turn is fixedly connected to the spherical shell 5. The output shaft of Motor 3 is fixedly connected to the shell of Motor 6. When Motor 3 rotates, it drives Motor 6 to rotate as a whole. Motor 6 is connected to the spherical shell 5 via a rotating joint, with a support shaft 9 at its end for positioning. The outer surface of Motor 6 is connected to the support shell 7 as a force-bearing surface. Its output end 8 is connected to the output shaft of Motor 6, and the support shell 7 and output end 8 are connected via a planar joint. When Motor 6 rotates, it drives output end 8 to rotate. The three rotation axes of the three-degree-of-freedom joint intersect at a single point, and each motor can move independently without affecting the others.

[0021] Finally, it should be noted that the above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A three-axis concentric three-degree-of-freedom spherical robot joint, characterized in that: include A No. 1 motor (1) is provided with a No. 1 connecting plate (2) at the bottom of the No. 1 connecting plate (2). A spherical shell (5) is provided at the bottom of the No. 1 connecting plate (2). A No. 2 connecting plate (4) is provided on the left side of the spherical shell (5). A No. 2 motor (3) is provided on the left side of the No. 2 connecting plate (4). A support shaft (9) is provided on the right side of the No. 2 connecting plate (4). A No. 3 motor (6) is provided inside the No. 2 connecting plate (4). A support shell (7) is provided at the bottom of the No. 3 motor (6). An output end (8) is provided at the bottom of the support shell (7).

2. The three-axis concentric three-degree-of-freedom spherical robot joint according to claim 1, characterized in that: The cylindrical shape of the No. 1 motor (1) serves as the transmission shaft, and the output end of the No. 1 motor (1) is fixed to the frame.

3. A three-axis concentric three-degree-of-freedom spherical robot joint according to claim 1, characterized in that: The No. 1 motor (1) is fixedly connected to the spherical shell (5) through the No. 1 connecting plate (2).

4. A three-axis concentric three-degree-of-freedom spherical robot joint according to claim 1, characterized in that: The second motor (3) is fixedly connected to the spherical shell (5) via the second connecting plate (4).

5. A three-axis concentric three-degree-of-freedom spherical robot joint according to claim 1, characterized in that: The output shaft of the No. 2 motor (3) is fixedly connected to the housing of the No. 3 motor (6).

6. A three-axis concentric three-degree-of-freedom spherical robot joint according to claim 1, characterized in that: The No. 3 motor (6) is connected to the spherical shell (5) through a rotating joint, and its end is positioned by a support shaft (9).

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