Rotating device and remote ultrasonic robot
By using a wire pull encoder to detect the rotation angle in the rotating device, the problems of complex structure, large size and high cost in the prior art are solved, and the effect of compact design and cost reduction is achieved.
Patent Information
- Application Number
- CN202422403863.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-30
- Publication Date
- 2025-09-02
- Estimated Expiration
- 2034-09-30
AI Technical Summary
In existing rotating devices, the use of an encoder or potentiometer is required to obtain the rotation angle, resulting in complex structure, large size and high cost.
The wire pull encoder is used to detect the rotation angle through the change in the length of the output line, and combine the power mechanism and the rotation structure to automatically obtain the rotation angle, which is compact and low-cost.
The compact design of the rotating device is realized, reducing space and manufacturing costs, while accurately obtaining the rotation angle.
Smart Images
Figure CN223289811U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of rotating structures, in particular to a rotating device and a remote ultrasonic robot. Background Art
[0002] For rotary devices, the rotation angle is a critical performance metric. In existing rotary devices, encoders or potentiometers are typically required to obtain the final output angle of the rotating mechanism. Common rotary encoders, primarily through shaft-hole mounting, are relatively complex, bulky, and space-consuming. Using potentiometers to obtain the rotation angle, however, increases costs due to their high price.
[0003] Therefore, how to propose a rotating device that can automatically obtain the rotation angle and has a compact structure, small size and low cost is a technical problem that urgently needs to be solved. Utility Model Content
[0004] The purpose of the utility model is to provide a rotating device and a remote ultrasonic robot. The rotating device can not only obtain the rotation angle of the output rotational motion, but also has a compact structure, occupies a small space and is low in cost.
[0005] To achieve this purpose, the present invention adopts the following technical solutions:
[0006] A rotating device comprises: a power mechanism, the power mechanism comprising a rotating output shaft capable of rotating about a first axis; a rotating structure, the rotating output shaft being transmission-connected to the rotating structure and used to drive the rotating structure to rotate about the first axis; a wire encoder, the wire encoder comprising an encoder body, a retractable output wire and a sensor, the protruding end of the output wire passing around the rotating output shaft and being fixed relative to the rotating output shaft; wherein the length of the portion of the output wire wrapped around the rotating output shaft changes by rotating the rotating output shaft, the sensor being used to detect a length change value of the output wire, and the length change value can be converted into an angular change value of the rotating output shaft.
[0007] Preferably, a wire groove is provided on the rotating output shaft along the circumferential direction, and the output wire can be confined in the wire groove.
[0008] Preferably, the rotating device further comprises a first fixing member, the first fixing member is fixed on the rotating output shaft, and the protruding end of the output line is fixed on the first fixing member.
[0009] Preferably, the first fixing member is provided with an elongated hole, the rotating output shaft is provided with a connecting hole, and the rotating device further comprises a connecting member, which passes through the elongated hole and is fixed in the connecting hole, and the position of the connecting member in the elongated hole is adjustable.
[0010] Preferably, a limiting groove is provided on the rotating output shaft, the connecting hole is provided on the bottom surface of the limiting groove, the first fixing member includes a fixing plate, the elongated hole is provided on the fixing plate, and the fixing plate can be slidably placed in the limiting groove.
[0011] Preferably, the first fixing member is provided with a wiring hole, and the protruding end of the output line is fixed in the wiring hole.
[0012] Preferably, the power mechanism includes a rotating motor and a reducer, the motor shaft of the rotating motor is drivingly connected to the input shaft of the reducer, and the output shaft of the reducer is drivingly connected to the rotating output shaft.
[0013] Preferably, the rotating device further includes a mounting structure, the mounting structure is formed in a mounting cavity, the rotating motor is mounted in the mounting cavity, and the reducer is mounted outside the mounting cavity.
[0014] Preferably, the rotating device further comprises a top plate, the top plate is provided with a through hole, and the rotating output shaft is passed through the through hole.
[0015] Preferably, the encoder body is fixed to the top plate by a second fixing member.
[0016] A remote ultrasonic robot comprises a mechanical arm and the above-mentioned rotating device, wherein the pull-wire encoder is communicatively connected to the mechanical arm, and the angle change value of the arm rod of the mechanical arm can be obtained through the length change value of the output line.
[0017] Beneficial effects of the utility model:
[0018] The rotary device provided by the utility model includes a power mechanism, a rotary structure and a wire encoder, wherein the power mechanism includes a rotary output shaft capable of rotating around a first axis, the rotary output shaft is transmission-connected to the rotary structure and is used to drive the rotary structure to rotate around the first axis, the wire encoder includes an encoder body, a retractable output wire and a sensor, the protruding end of the output wire passes around the rotary output shaft and is fixedly arranged relative to the rotary output shaft. The rotary device is provided with a wire encoder, and when the rotary output shaft rotates around the first axis, the output wire can continuously extend from the encoder body and rotate and be wound around the rotary output shaft, or rotate and detach from the rotary output shaft and be recovered to the encoder body, and the sensor is used to detect the length change value of the portion of the output wire wound around the rotary output shaft. The rotation angle of the rotary output shaft can be calculated by the length change of the output wire, thereby obtaining the rotation angle of the rotary structure. The use of the wire encoder not only makes the rotary device compact in structure, occupies less space, but also reduces cost. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] Figure 1 It is a schematic diagram of a rotating device provided in an embodiment of the present utility model.
[0020] In the picture:
[0021] 100. Power mechanism; 110. Rotating output shaft; 111. Wire groove; 112. Connecting hole; 120. Rotating motor; 130. Reducer; 200. Rotating structure; 300. Wire encoder; 310. Encoder body; 320. Output line; 400. First fixing member; 401. Long hole; 402. Wiring hole; 500. Mounting structure; 501. Mounting cavity; 600. Top plate; 700. Second fixing member. DETAILED DESCRIPTION
[0022] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all of its components.
[0023] In the description of this utility model, unless otherwise specified or limited, the terms "connected," "connect," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.
[0024] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.
[0025] In the description of this embodiment, the terms "upper," "lower," "right," and other orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely for ease of description and simplified operation. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meaning.
[0026] This embodiment discloses a rotating device, such as Figure 1 As shown, the rotary device includes a power mechanism 100, a rotary structure 200 and a wire encoder 300. The power mechanism 100 is used to output rotary motion. The power mechanism 100 includes a rotary output shaft 110 located at its transmission end. The rotary output shaft 110 can rotate around a first axis. The first axis is as shown in FIG. Figure 1 As shown in Figure a. The power mechanism 100 is used to provide power for the rotating structure 200 to perform rotational motion. Specifically, the rotating output shaft 110 is in transmission connection with the rotating structure 200. Under the drive of the rotating output shaft 110, the rotating structure 200 can rotate synchronously around the first axis. The wire encoder 300 includes an encoder body 310, an output line 320 and a sensor (not shown in the figure). The output line 320 is retractable relative to the encoder body 310. Specifically, the output line 320 is arranged in the encoder body 310 in a reel shape, and the protruding end of the output line 320 passes around the rotating output shaft 110 and is fixed relative to the rotating output shaft 110.
[0027] Compared with the rotary encoders in the prior art that use an axial-hole installation method, the rotating device provided by the present invention is provided with a wire-pull encoder 300. The rotating output shaft 110 rotating around the first axis can directly drive the output wire 320 of the wire-pull encoder 300, the part located inside the encoder body 310, to continuously extend to the outside of the encoder body 310, or to make the part of the output wire 320 located outside the encoder body 310 continuously retract into the encoder body 310. Whether it is extended or retracted depends on the rotation direction of the rotating output shaft 110. The extended output wire 320 can be rotated and wound around the rotating output shaft 110, and the retracted output wire 320 rotates away from the rotating output shaft 110 and automatically retracts into the encoder body 310. That is to say, in the process of rotating the output shaft 110 around the first axis, the length of the portion of the output line 320 wrapped around the rotating output shaft 110 changes, and the sensor is used to detect the length change value of the output line 320. After calculation, the length change value of the output line 320 can be converted into the rotation angle value of the rotating output shaft 110, thereby obtaining the rotation angle of the rotating structure 200. The use of the wire encoder 300 not only makes the rotating device of this embodiment compact in structure, occupies less space, and reduces costs. Compared with the potentiometer in the prior art, the price of the wire encoder 300 is low, and the use of the wire encoder 300 is conducive to reducing the manufacturing cost of the rotating device. It should be noted that how to convert the length change of the output line 320 into the rotation angle of the rotating output shaft 110 is a prior art and will not be described in detail here.
[0028] Continue to refer to Figure 1 As shown, the power mechanism 100 includes a rotary motor 120 and a reducer 130. The motor shaft of the rotary motor 120 is in transmission connection with the input shaft of the reducer 130, and the output shaft of the reducer 130 is in transmission connection with the rotary output shaft 110. Driven by the rotary motor 120 and decelerated by the reducer 130, the rotary output shaft 110 can achieve rotational motion about a first axis. Optionally, the reducer 130 is a harmonic reducer. Of course, the power mechanism 100 can also include only the rotary motor 120, or the power mechanism 100 can be a combination of a motor and a gear assembly, as long as it can ultimately output rotational motion.
[0029] It should be noted that the motor shaft of the rotary motor 120 or the output shaft of the speed reducer 130 can all be used as the rotary output shaft 110 in principle, but it is necessary to improve the rotary motor 120 and the speed reducer 130, and the cost of design and remanufacturing is all large. Directly design and manufacture a rotary output shaft 110 separately, and the rotary output shaft 110 is installed on the motor shaft of the rotary motor 120 or the output shaft of the speed reducer 130 and used, not only cost is low, and easy to disassemble, easy to replace. In addition, the rotary output shaft 110 can be a cylindrical shaft or a stepped shaft. The rotary output shaft 110 can be coaxially connected with the motor shaft of the rotary motor 120 or the output shaft of the speed reducer 130 through a coupling.
[0030] In order to enable the rotating motor 120 and the reducer 130 to operate stably, in some embodiments, the rotating device also includes an installation structure 500, which is formed in the installation cavity 501, the rotating motor 120 is installed in the installation cavity 501, and the reducer 130 is installed outside the installation cavity 501.
[0031] Optionally, the mounting structure 500 is a mounting frame formed by assembling plates, which has a simple structure, light weight, and is easy to assemble and disassemble. In one embodiment, the mounting frame includes a mounting plate, a supporting side plate, and a supporting bottom plate. The mounting plate is arranged horizontally, and the supporting side plate is arranged vertically. The supporting side plate is supported below the mounting plate, and the bottom end of each supporting side plate is connected to a supporting bottom plate. The provision of the supporting bottom plate can increase the support area and improve the support stability of the mounting structure 500. Further optionally, the mounting plate and the supporting side plate are both rectangular plates, and there are three supporting side plates. The three supporting side plates are supported at three edges of the mounting plate, so that a lateral opening can be formed, so that the rotating motor 120 can be more easily placed in the mounting cavity 501. Further optionally, the mounting plate and the supporting side plate are detachably connected, and the supporting side plate and the supporting bottom plate are detachably connected. As for the detachable connection method, it includes but is not limited to screw connection, snap connection, magnetic connection, etc.
[0032] Continue to refer to Figure 1 As shown, in some embodiments, a wire groove 111 is circumferentially provided on the rotating output shaft 110, and the output wire 320 can be restrained within the wire groove 111. The provision of the wire groove 111 can limit the output wire 320 in the axial direction of the rotating output shaft 110, thereby preventing the output wire 320 from falling off the rotating output shaft 110. Optionally, the output wire 320 is a steel wire rope, which has a high structural strength and is not easily broken. Optionally, the wire groove 111 can be an annular groove or a spiral groove.
[0033] In order to achieve a fixed setting of the protruding end of the output wire 320 relative to the rotating output shaft 110, in some embodiments, the rotating device further includes a first fixing member 400, which is fixed on the rotating output shaft 110, and the protruding end of the output wire 320 is fixed on the first fixing member 400.
[0034] Optionally, the first fixing member 400 is provided with an elongated hole 401, the rotating output shaft 110 is provided with a connecting hole 112, and the rotating device further includes a connecting member, which passes through the elongated hole 401 and is fixed in the connecting hole 112, and the position of the connecting member in the elongated hole 401 is adjustable. Optionally, there are at least two elongated holes 401, and the multiple elongated holes 401 are spaced apart in a direction parallel to the axial direction of the rotating output shaft 110. Correspondingly, there are also at least two connecting holes 112, and the multiple connecting holes 112 are arranged in a one-to-one correspondence with the multiple elongated holes 401. The multiple connecting members are respectively passed through the multiple elongated holes 401 and then fixed in the corresponding connecting holes 112. Optionally, the elongated holes 401 are waist-shaped holes, the connecting holes 112 are threaded holes, and the connecting members are screws.
[0035] Because the wall surface of the rotating output shaft 110 is an arcuate surface, directly fixing the first fixing member 400 to the arcuate wall surface is unstable. In some embodiments, the rotating output shaft 110 is provided with a retaining groove, and the connecting hole 112 is provided at the bottom surface of the retaining groove. The first fixing member 400 includes a fixing plate with an elongated hole 401 provided on the fixing plate, and the fixing plate is slidably placed in the retaining groove. This can improve the stability of the connection between the first fixing member 400 and the rotating output shaft 110.
[0036] In some embodiments, the first fixing member 400 is provided with a wiring hole 402, and the extended end of the output cable 320 is fixed in the wiring hole 402. Optionally, the first fixing member 400 is provided with a wire groove 111 that connects to the wiring hole 402 and passes through the edge of the first fixing member 400. A retaining buckle is provided at the end of the output cable 320, allowing the output cable 320 to enter the connection hole 112 through the wire groove 111. The retaining buckle is larger than the size of the connection hole 112, allowing the retaining buckle to be locked in the connection hole 112. Of course, the retaining buckle and the end of the output cable 320 can also be made detachable, so that the output cable 320 can be fixed to the first fixing member 400 without providing the wire groove 111. Optionally, the retaining buckle is provided with a grip structure, which a user's finger can be locked in. By grasping the grip structure, the user can apply force to pull out a section of the output cable 320, allowing the output cable 320 to approach the first fixing member 400 and finally complete the fixation to the first fixing member 400.
[0037] Continue to refer to Figure 1As shown, in some embodiments, the rotating device further includes a top plate 600, and the top plate 600 is provided with a through hole, the size of the through hole is larger than the diameter of the rotary output shaft 110, and the rotary output shaft 110 is passed through the through hole. The top plate 600 can be provided as a mounting seat for the encoder body 310, and of course can also be used as a mounting seat for other components. In one embodiment, the encoder body 310 is fixed to the top plate 600 by a second fixing member 700. Optionally, the second fixing member 700 is a plate-like structure, and the second fixing member 700 is detachably connected to the top plate 600, and the housing of the encoder body 310 is detachably connected to the second fixing member 700, and the detachable connection method includes but is not limited to screw connection, snap connection, magnetic connection, etc.
[0038] The rotary device has the following advantages:
[0039] 1. Compact structure, small size and small space occupation;
[0040] 2. The wire encoder 300 is easier to maintain;
[0041] 3. The wire encoder 300 is low-priced, which reduces the manufacturing cost of the rotating device.
[0042] The present invention also discloses a remote ultrasonic robot, which includes a mechanical arm and the above-mentioned rotating device, the mechanical arm includes at least one arm and a controller for controlling the rotation of the arm, the wire encoder 300 is communicatively connected to the controller of the mechanical arm, and the rotating structure 200 is connected to the arm or integrated into one, and the angle change value of the arm can be obtained by the length change value of the output line 320. Specifically, the sensor of the wire encoder 300 is communicatively connected to the controller of the mechanical arm, and the controller collects the length change of the output line 320 of the wire encoder 300. The length change of the output line 320 is calculated by software to obtain the rotation angle of the motor that drives the arm to rotate, and then obtain information such as the amount of movement, angle or position of the mechanical arm. As for the calculation method of the software, it is a prior art and will not be described in detail here. By using the above-mentioned rotating device, not only can the rotation angle of the arm be obtained, but the structure is compact, the space occupied is small, and the cost is low, which is conducive to compactness.
[0043] Obviously, the above-described embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention and are not intended to limit the manner in which the present invention is to be implemented. A person skilled in the art would be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.
Claims
1. A rotating device, characterized in that: include: A power mechanism (100), the power mechanism (100) comprising a rotary output shaft (110) rotatable about a first axis; a rotating structure (200), wherein the rotating output shaft (110) is in transmission connection with the rotating structure (200) and is used to drive the rotating structure (200) to rotate around the first axis; A wire draw encoder (300), comprising an encoder body (310), a retractable output wire (320), and a sensor, wherein an extended end of the output wire (320) passes around the rotary output shaft (110) and is fixedly arranged relative to the rotary output shaft (110); The length of the portion of the output line (320) wound around the rotating output shaft (110) changes by rotating the rotating output shaft (110), and the sensor is used to detect the length change value of the output line (320), and the length change value can be converted into the angle change value of the rotating output shaft (110).
2. The rotating device according to claim 1, characterized in that A wire groove (111) is provided on the rotary output shaft (110) along the circumferential direction, and the output wire (320) can be confined in the wire groove (111).
3. The rotating device according to claim 1, characterized in that The rotating device further comprises a first fixing member (400), wherein the first fixing member (400) is fixed on the rotating output shaft (110), and the protruding end of the output line (320) is fixed on the first fixing member (400).
4. The rotating device according to claim 3, characterized in that The first fixing member (400) is provided with an elongated hole (401), the rotating output shaft (110) is provided with a connecting hole (112), and the rotating device further comprises a connecting member, the connecting member passes through the elongated hole (401) and is fixed in the connecting hole (112), and the position of the connecting member in the elongated hole (401) is adjustable.
5. The rotating device according to claim 4, characterized in that The rotary output shaft (110) is provided with a limiting groove, the connecting hole (112) is provided on the bottom surface of the limiting groove, the first fixing member (400) includes a fixing plate, the elongated hole (401) is provided on the fixing plate, and the fixing plate is slidably placed in the limiting groove.
6. The rotating device according to claim 3, characterized in that The first fixing member (400) is provided with a wiring hole (402), and the protruding end of the output line (320) is fixed in the wiring hole (402).
7. The rotating device according to claim 1, characterized in that The power mechanism (100) comprises a rotating motor (120) and a reducer (130), wherein the motor shaft of the rotating motor (120) is in transmission connection with the input shaft of the reducer (130), and the output shaft of the reducer (130) is in transmission connection with the rotating output shaft (110).
8. The rotating device according to claim 7, characterized in that The rotating device further comprises a mounting structure (500), wherein the mounting structure (500) is formed in a mounting cavity (501), the rotating motor (120) is mounted in the mounting cavity (501), and the reducer (130) is mounted outside the mounting cavity (501).
9. The rotating device according to claim 1, characterized in that The rotating device further comprises a top plate (600), the top plate (600) being provided with a through hole, and the rotating output shaft (110) being passed through the through hole.
10. A remote ultrasonic robot, characterized in that: It comprises a robotic arm and a rotating device according to any one of claims 1 to 9, wherein the wire encoder (300) is communicatively connected to the robotic arm, and the angle change value of the arm of the robotic arm can be obtained through the length change value of the output line (320).