Multi-degree-of-freedom active driving device based on spherical joint

Abstract

The utility model discloses a multi-degree-of-freedom active driving device based on a spherical joint, which belongs to the technical field of mechanical connection and movement and comprises an upper fixing plate and a lower fixing plate, a special-shaped gear set is rotatably connected onto the upper fixing plate, a connecting block is connected onto the lower fixing plate, and a connecting rod is hinged between the special-shaped gear set and the connecting block; a driving gear set is further included, the driving gear set and the special-shaped gear set are perpendicularly arranged and connected in a meshed mode, and the driving gear set is in key connection with a driving device. Through the arrangement of the driving device, the driving gear set and the special-shaped gear set, the technical problem that in a moving joint, an existing spherical joint unit cannot actively drive the joint to move, and only passive transmission can be achieved is solved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the mechanical connection and motion technical field, concretely relates to the multi -freedom degree initiative drive device based on spherical joint. BACKGROUND

[0002] As a common mechanical connection and motion transmission device, spherical joints are widely used in robotics, robotic arms, medical devices, aerospace and other fields. They can achieve flexible rotation and tilting motion in multiple degrees of freedom, providing an effective solution for complex spatial motion devices. However, existing spherical joint technology has the following limitations. 1. Passive motion control limitations: Most current spherical joints use passive design, where joint motion is controlled by external mechanical force or drive source. This passive design relies on external structures and devices, resulting in limited joint motion flexibility and inability to independently achieve precise angle adjustment. In some applications requiring high precision control, such as industrial robots, surgical devices, etc., passive joints cannot meet the high requirements for rapid response and multi-degree of freedom motion; 2. Large volume, poor adaptability: The volume of existing spherical joint designs is large, especially in embedded installations or for space-limited devices. This volume problem not only affects the overall design compactness of the device, but also limits the motion range of the joint. In addition, most traditional spherical joint structures are complex, involving the combination of multiple components, resulting in high production costs, cumbersome installation and maintenance processes, and poor adaptability; 3. Limited range of motion: Although spherical joints can theoretically achieve multi-degree of freedom motion, existing designs are often limited in practice, especially in scenarios requiring large-scale rotation and tilting. This limitation often results from unreasonable joint structure design or limited drive source, which cannot meet the requirements of full-angle rotation and large tilting angle; 4. Complex maintenance, insufficient reliability: Traditional spherical joint structures are complex, involving multiple friction surfaces and transmission devices, which are prone to wear over time, affecting the motion accuracy and stability of the device. In addition, complex mechanical structures also increase maintenance difficulty and cost, reducing the service life and reliability of the device. SUMMARY

[0003] The utility model aims at providing multi -freedom degree initiative drive device based on spherical joint, solved the technical problem that the existing spherical joint unit cannot realize the motion of the initiative drive joint in the motion joint and can only realize passive transmission.

[0004] The utility model discloses a technical scheme is based on the multi -freedom degree active drive arrangement of spherical joint, including upper fixed plate and lower fixed plate, the upper fixed plate is rotationally connected with the special profile gear set on, and the lower fixed plate is connected with the connecting block on, and the connecting rod is hinged between special profile gear set and connecting block, still including drive gear set, and drive gear set is perpendicular with special profile gear set and is mutually engaged and is connected, and drive gear set is connected with the drive device of key.

[0005] The utility model discloses a technical scheme is based on the multi -freedom degree active drive arrangement of spherical joint, including upper fixed plate and lower fixed plate, the upper fixed plate is rotationally connected with the special profile gear set on, and the lower fixed plate is connected with the connecting block on, and the connecting rod is hinged between special profile gear set and connecting block, still including drive gear set, and drive gear set is perpendicular with special profile gear set and is mutually engaged and is connected, and drive gear set is connected with the drive device of key.

[0006] Drive gear set includes a plurality of drive gears, and the drive gear is all be bevel gear, and the drive gear axle center all has the axle hole and the key groove, and the drive shaft is matched with the axle hole, and the drive shaft is connected with the drive gear through the key.

[0007] Special profile gear set includes a plurality of special profile gears, and the special profile gear top is set as the bevel gear of meshing with the drive gear, and the special profile gear bottom has the pin hole, and the connecting rod end has the pin hole, and two pin shafts pass through the pin hole and connect the special profile gear with the connecting rod.

[0008] The upper fixed plate has a plurality of through grooves, and the long side of the through groove is fixed with the mounting seat, and the two mounting seats are connected through the rotating shaft, and the special profile gear is sleeved on the rotating shaft.

[0009] The lower fixed plate has a plurality of through grooves, and the long side of the through groove is fixed with the mounting seat, and the two mounting seats are connected through the rotating shaft, and the connecting block is sleeved on the rotating shaft, and the connecting block end is connected with the connecting rod through the pin shaft.

[0010] The connecting rod both ends are fixed with the connecting support, and the connecting support is U-shaped structure, and the connecting block is inserted into the connecting support and is hinged with the connecting support through the pin shaft, and the special profile gear bottom is inserted into the connecting support and is hinged with the connecting support through the pin shaft, wherein, the pin shaft is perpendicular with the rotating shaft.

[0011] The connecting rod is made of carbon fiber, titanium alloy or aluminum alloy.

[0012] The drive device adopts the step motor or servo motor.

[0013] The utility model discloses a technical scheme is based on the multi -freedom degree active drive arrangement of spherical joint, including upper fixed plate and lower fixed plate, the upper fixed plate is rotationally connected with the special profile gear set on, and the lower fixed plate is connected with the connecting block on, and the connecting rod is hinged between special profile gear set and connecting block, still including drive gear set, and drive gear set is perpendicular with special profile gear set and is mutually engaged and is connected, and drive gear set is connected with the drive device of key.

[0014] Unlike the traditional passive spherical joint, the utility model discloses a plurality of directions through the gear set realizes the active drive, makes the lower fixed plate can accurate control the movement angle, greatly improves the flexibility and precision of motion control, the connecting component quantity between the upper fixed plate and the lower fixed plate is few, and the whole device is small in size, can adapt to the environment of limited space and install and use, through the meshing of bevel gear and multi-degree of freedom design, this device can rotate in the wide angle range, satisfies the demand to the big activity range, through the design and the material selection of connecting support, ensure that the good structural stability is kept in the movement process, avoid the movement error caused by vibration or external force interference, the device of the utility model adopts the modular design, and each component is easy to disassemble and maintain, is suitable for the application scene that needs frequent adjustment and replacement component, in addition, the wear -resisting material is selected to further enhance the service life and reliability of the device. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is the structure schematic diagram of the utility model based on the multi-degree of freedom active drive device of spherical joint;

[0016] Figure 2 It is the structure schematic diagram of the connecting rod in the utility model based on the multi-degree of freedom active drive device of spherical joint;

[0017] Figure 3 It is the structure schematic diagram of the special-shaped gear in the utility model based on the multi-degree of freedom active drive device of spherical joint.

[0018] Wherein, 1. upper fixed plate, 2. drive gear, 201. first drive gear, 202. second drive gear, 203. third drive gear, 3. special-shaped gear, 301. first special-shaped gear, 302. second special-shaped gear, 303. third special-shaped gear, 4. lower fixed plate, 5. connecting rod, 6. connecting support, 7. connecting block, 701. first connecting block, 702. second connecting block, 703. third connecting block, 8. mounting seat. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0020] Embodiment 1

[0021] As Figures 1-3As shown, the multi-degree-of-freedom active driving device based on the spherical joint disclosed in the embodiment comprises an upper fixed plate 1 and a lower fixed plate 4, the upper fixed plate 1 is rotationally connected with a special-shaped gear set, the lower fixed plate 4 is connected with a connecting block 7, and a connecting rod 5 is hinged between the special-shaped gear set and the connecting block 7; the device further comprises a driving gear set, the driving gear set is vertically arranged with the special-shaped gear set and is in meshing connection with the special-shaped gear set, and the driving gear set is key-connected with a driving device.

[0022] In the embodiment, the upper fixed plate 1 and the lower fixed plate 4 are both circular structures, which can optimize the symmetry and stress uniformity of the device; the driving gear set is vertically arranged with the special-shaped gear set and is in meshing connection with the special-shaped gear set, which is used to realize the rotary driving in different directions; the connecting rod 5 is hinged between the special-shaped gear set and the mounting seat 8, which is used to transmit the driving of the driving gear set to the lower fixed plate, to ensure the stability and efficiency of the motion transmission and to realize the multi-degree-of-freedom motion of the lower fixed plate 4 relative to the upper fixed plate 1; wherein the upper fixed plate 1 serves as the base of the device and provides a stable support platform for the device; the lower fixed plate 4 realizes the multi-degree-of-freedom rotation with the upper fixed plate 1 through the connecting rod 5, which is used to mount the components or equipment to be driven, and the rotation angle of the lower fixed plate 4 can be accurately controlled by the driving device to realize the motion in different directions and angles; the connecting bracket 6 is used to provide stable support between the upper fixed plate 1 and the lower fixed plate 4, to ensure the structural stability of the device during the motion and to reduce the vibration and error in the motion. Through the arrangement of the driving device, the driving gear set and the special-shaped gear set, the technical problem that the existing spherical joint unit cannot realize the active driving joint motion and can only realize the passive transmission in the motion joint is solved.

[0023] The device of the utility model is suitable for robot arms, precise instrument adjusting devices, medical joint equipment, space measurement and control equipment and other fields requiring high precision and multi-degree-of-freedom control, and has wide application prospects.

[0024] Embodiment 2

[0025] The multi-degree-of-freedom active driving device based on the spherical joint disclosed in the embodiment comprises an upper fixed plate 1 and a lower fixed plate 4, the upper fixed plate 1 is rotationally connected with a special-shaped gear set, the lower fixed plate 4 is connected with a connecting block 7, and a connecting rod 5 is hinged between the special-shaped gear set and the connecting block 7; the device further comprises a driving gear set, the driving gear set is vertically arranged with the special-shaped gear set and is in meshing connection with the special-shaped gear set, and the driving gear set is key-connected with a driving device; the driving gear set comprises a plurality of driving gears 2, the driving gears 2 are all bevel gears, shaft holes and key grooves are formed in the shaft centers of the driving gears 2, the driving device is matched with the shaft holes, and the driving device is connected with the driving gears 2 through keys.

[0026] Further, the special-shaped gear set comprises a plurality of special-shaped gears 3, the top of the special-shaped gears 3 is provided with bevel gears for meshing with the driving gears 2, and pin holes are formed in the bottoms of the special-shaped gears 3 for rotationally connecting with the connecting rod 5.

[0027] In this embodiment, there are three drive gears 2, three irregular gears 3, and three connecting rods 5. The drive gear 2 includes a first drive gear 201, a second drive gear 202, and a third drive gear 203. The irregular gear 3 includes a first irregular gear 301, a second irregular gear 302, and a third irregular gear 303. The connecting block 7 includes a first connecting block 701, a second connecting block 702, and a third connecting block 703. Figure 1 As shown, the first drive gear 201 meshes with the first shaped gear 301, the second drive gear 202 meshes with the second shaped gear 302, and the third drive gear 203 meshes with the third shaped gear 303. The first shaped gear 301 is connected to the second connecting block 702 via a connecting rod 5, the second shaped gear 302 is connected to the third connecting block 703 via a connecting rod 5, and the third shaped gear 303 is connected to the first connecting block 701 via a connecting rod 5. The upper fixed plate 1 and the lower fixed plate 4 are connected by three connecting rods 5, which transmit the motion direction to the lower fixed plate 4, thereby increasing the structural stability and accuracy of the device. By driving different drive gears 2, forces in different directions can be generated, allowing the lower fixed plate 4 to move freely at the required angle and direction. The drive gears 2 and shaped gears 3 are made of high-strength alloy steel, which has strong wear resistance and fatigue resistance to improve the service life of the gears. The drive gear 2 can provide power in multiple degrees of freedom, enabling the lower fixed plate 4 to rotate along the X, Y, and Z axes. This multi-directional drive method significantly improves the flexibility and control accuracy of the device. In practical applications, the motion accuracy and response speed of the lower fixed plate 4 can be further improved by adjusting the clearance and lubrication method between the drive gear 2 and the special gear 3.

[0028] Example 3

[0029] The multi-degree-of-freedom active drive device based on a ball joint disclosed in this embodiment includes an upper fixed plate 1 and a lower fixed plate 4. A set of irregular gears is rotatably connected to the upper fixed plate 1, and a connecting block 7 is connected to the lower fixed plate 4. A connecting rod 5 is hinged between the irregular gear set and the connecting block 7. The device also includes a drive gear set, which is perpendicular to and meshes with the irregular gear set. A drive device is keyed to the drive gear set. The drive gear set includes multiple drive gears 2, all of which are bevel gears. Each drive gear 2 has a shaft hole and a keyway. The drive device mates with the shaft hole and is connected to the drive gear 2 via a key. The irregular gear set includes multiple irregular gears 3. The top of each irregular gear 3 is configured with bevel teeth that mesh with the drive gear 2. The bottom of each irregular gear 3 has a pin hole for rotatably connecting with the connecting rod 5. The upper fixed plate 1 has multiple through slots. Mounting seats 8 are fixed on both sides of the long side of each through slot. Two mounting seats 8 are connected by a rotating shaft, and the irregular gear 3 is sleeved on the rotating shaft.

[0030] Further, the lower fixed plate 4 is provided with a plurality of through grooves, and the long sides of the through grooves are fixed with mounting seats 8. The two mounting seats 8 are connected through a rotating shaft, and the rotating shaft is sleeved with a connecting block 7. The end of the connecting block 7 is connected with the connecting rod 5 through a pin shaft.

[0031] In this embodiment, the through grooves are provided on the upper fixed plate 1 and the lower fixed plate 4, which facilitates the installation and disassembly of the special-shaped gear 3 and the connecting block 7. In addition, the through groove on the upper fixed plate 1 can meet the rotation of the special-shaped gear 3 in the through groove. When the special-shaped gear 3 and the connecting block 7 need to be installed, the special-shaped gear 3 and the connecting block 7 are placed between the two mounting seats 8, and then the rotating shaft is inserted into the pin holes provided on the special-shaped gear 3, the connecting block 7 and the mounting seat 8, so as to complete the connection. When the special-shaped gear 3 and the connecting block 7 need to be disassembled, the rotating shaft is first pulled out, and then the special-shaped gear 3 and the connecting block 7 can be disassembled from the through groove.

[0032] Embodiment 4

[0033] The multi-degree-of-freedom active driving device based on the spherical joint disclosed in this embodiment comprises an upper fixed plate 1 and a lower fixed plate 4. The upper fixed plate 1 is rotatably connected with a special-shaped gear set. The lower fixed plate 4 is connected with a connecting block 7. The special-shaped gear set and the connecting block 7 are hingedly connected with a connecting rod 5. The multi-degree-of-freedom active driving device further comprises a driving gear set. The driving gear set is vertically arranged and connected with the special-shaped gear set. The driving gear set is key-connected with a driving device. The driving gear set comprises a plurality of driving gears 2. The driving gears 2 are all bevel gears. The shaft holes and key grooves are provided on the shaft centers of the driving gears 2. The driving device is matched with the shaft holes. The driving device is connected with the driving gears 2 through the keys. The special-shaped gear set comprises a plurality of special-shaped gears 3. The top of the special-shaped gear 3 is provided with a bevel gear which is engaged with the driving gear 2. The bottom of the special-shaped gear 3 is provided with a pin hole which is used for rotatably connecting with the connecting rod 5. The connecting rod 5 is fixedly connected with a connecting bracket 6 at both ends. The connecting bracket 6 is in a U-shaped structure. The connecting block 7 is inserted into the connecting bracket 6 and is hingedly connected with the connecting bracket 6 through a pin shaft. The bottom of the special-shaped gear 3 is inserted into the connecting bracket 6 and is hingedly connected with the connecting bracket 6 through a pin shaft. The pin shaft is vertically arranged with the rotating shaft.

[0034] In this embodiment, the connecting bracket 6 at one end of the connecting rod 5 is hingedly connected with the special-shaped gear 3, which ensures that no resistance and interference are generated in the transmission process and maintains the smoothness of the movement. The connecting bracket 6 at the other end of the connecting rod 5 is hingedly connected with the connecting block 7, so as to transmit the driving force and ensure the movement accuracy.

[0035] Embodiment 5

[0036] The multi-degree-of-freedom active driving device based on spherical joints disclosed in the embodiment comprises an upper fixed plate 1 and a lower fixed plate 4, a special-shaped gear set is rotatably connected to the upper fixed plate 1, a connecting block 7 is connected to the lower fixed plate 4, and a connecting rod 5 is hingedly connected between the special-shaped gear set and the connecting block 7; the device further comprises a driving gear set, the driving gear set is perpendicularly arranged with the special-shaped gear set and is in meshing connection with the special-shaped gear set, and the driving gear set is key-connected with a driving device; the connecting rod 5 is made of carbon fiber, titanium alloy or aluminum alloy.

[0037] Embodiment 6

[0038] The multi-degree-of-freedom active driving device based on spherical joints disclosed in the embodiment comprises an upper fixed plate 1 and a lower fixed plate 4, a special-shaped gear set is rotatably connected to the upper fixed plate 1, a connecting block 7 is connected to the lower fixed plate 4, and a connecting rod 5 is hingedly connected between the special-shaped gear set and the connecting block 7; the device further comprises a driving gear set, the driving gear set is perpendicularly arranged with the special-shaped gear set and is in meshing connection with the special-shaped gear set, and the driving gear set is key-connected with a driving device, and the driving device adopts a stepping motor or a servo motor. In the embodiment, each driving gear 2 is connected with a corresponding motor, the rotation angle and speed of the gear can be controlled through a preset program, precise motion control is realized, the rotation direction and speed of the driving gear 2 are controlled, precise positioning of the lower fixed plate 4 in different directions is realized, and the needs of different working conditions are met. The rotation angle of each degree of freedom is precisely controlled.

[0039] The utility model is suitable for robot, precision instrument adjusting device, medical joint equipment and spaceflight measurement and control equipment and a variety of need high accuracy and multi-degree-of-freedom control's field.In robot application, this device can be used as joint driving device, gives robot arm higher flexibility and control accuracy, in precision instrument, can be used for the angle adjustment of optical equipment, realizes accurate azimuth control.

[0040] Finally, it should be noted that the terms "first", "second", and the like, herein do not denote any order, quantity, combination, or importance, but rather are used to distinguish one element from another, and are not intended to denote the presence of any such actual relationship or order. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0041] The various embodiments in the specification are described with progression in this order of description. Embodiments described later add additional features to the embodiments described earlier, and are configured similarly to those described earlier, but with the added features. Each of the various embodiments can stand on its own, and each embodiment can be implemented and can be used independently.

[0042] The above description of disclosed embodiments provides enough information to enable those skilled in the art to make or use the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein can be applied to other embodiments without departing from the spirit or scope of the application. Accordingly, the application is not to be restricted based on the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A multi-degree-of-freedom active driving device based on a spherical joint, characterized by, It includes upper fixed plate (1) and lower fixed plate (4), the upper fixed plate (1) is rotatably connected with the special-shaped gear set, the lower fixed plate (4) is connected with the connecting block (7), the connecting rod (5) is hinged between the special-shaped gear set and the connecting block (7);It also includes driving gear set, the driving gear set is perpendicular to the special-shaped gear set and is connected with each other, the driving gear set is keyed with driving device; The driving gear set includes a plurality of driving gears (2), the driving gear (2) is bevel gear, the driving gear (2) shaft center is opened with shaft hole and key groove, the driving device is matched with the shaft hole, and the driving device is connected with the driving gear (2) through the key; The special-shaped gear set includes a plurality of special-shaped gears (3), the top of the special-shaped gear (3) is set as the bevel gear engaged with the driving gear (2), the bottom of the special-shaped gear (3) is opened with the pin hole, and the connecting rod (5) is rotatably connected; The upper fixed plate (1) is opened with a plurality of through grooves, the long side of the through groove is fixed with the mounting seat (8), the two mounting seats (8) are connected through the rotating shaft, and the special-shaped gear (3) is sleeved on the rotating shaft; The lower fixed plate (4) is opened with a plurality of through grooves, the long side of the through groove is fixed with the mounting seat (8), the two mounting seats (8) are connected through the rotating shaft, the connecting block (7) is sleeved on the rotating shaft, and the connecting block (7) is rotatably connected with the connecting rod (5); The connecting rod (5) is fixedly connected with the connecting bracket (6) at both ends, the connecting bracket (6) is in U-shaped structure, the connecting block (7) is inserted into the connecting bracket (6) and is hinged with the connecting bracket (6) through the pin shaft, and the bottom of the special-shaped gear (3) is inserted into the connecting bracket (6) and is hinged with the connecting bracket (6) through the pin shaft;Wherein, the pin shaft is perpendicular to the rotating shaft.

2. The spherical joint based multi-degree-of-freedom active drive device according to claim 1, characterized in that, The connecting rod (5) is made of carbon fiber, titanium alloy or aluminum alloy.

3. The spherical joint based multi-degree-of-freedom active drive device according to claim 1, characterized in that, The driving device adopts a stepping motor or a servo motor.

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