Double-degree-of-freedom rotating mechanism

Abstract

The utility model provides a two-degree-of-freedom rotating mechanism. The two-degree-of-freedom rotating mechanism comprises an output part, a reversing assembly, a first rotating driving part and a second rotating driving part. The output end of the reversing assembly is in transmission connection with the output piece. The axis of the input end of the reversing assembly is perpendicular to the axis of the output end of the reversing assembly. An output shaft of the first rotary driving piece is connected with the input end of the reversing assembly; the first rotary driving piece can drive the output piece to rotate around a first direction; an output shaft of the second rotary driving part is in transmission connection with the first rotary driving part; the second rotary driving piece can drive the first rotary driving piece to rotate perpendicular to the first direction; the first direction is parallel to the axis of the output end of the reversing assembly. By arranging the reversing assembly, rotation of the output piece in the two vertical directions can be achieved, and the complexity of the whole mechanism is reduced; in addition, layout of the first rotary driving part and the second rotary driving part can be facilitated, the size of the mechanism is reduced, and miniaturization and integration of equipment are facilitated.

Description

Technical Field

[0001] This application belongs to the field of rotary mechanism technology, and more specifically, relates to a two-degree-of-freedom rotary mechanism. Background Technology

[0002] A satellite signal receiver is a device used to receive and process signals from satellites, and it is widely used in navigation, communication, and meteorology. It typically includes key components such as an antenna, a low-noise amplifier, a down-converter, an intermediate frequency amplifier, and a signal processor. The core function of a satellite signal receiver is to amplify the weak signals transmitted by satellites and convert them into processable electrical signals, which are then decoded and analyzed by the signal processor to ultimately extract useful information.

[0003] To better receive signals, satellite signal receivers typically require attitude adjustments, such as horizontal and vertical rotation. Traditional satellite signal receivers usually employ a combination of multiple single-degree-of-freedom rotational mechanisms to achieve these adjustments. However, this design suffers from structural complexity, control difficulties, and high costs. Furthermore, the combination of multiple single-degree-of-freedom rotational mechanisms often results in a large overall size, hindering miniaturization and integration of the device. Utility Model Content

[0004] The purpose of this application is to provide a two-degree-of-freedom rotation mechanism to solve the technical problems of complex structure and large size of existing rotation mechanisms.

[0005] To achieve the above objectives, the technical solution adopted in this application is as follows: a two-degree-of-freedom rotation mechanism is provided, including an output component, a reversing assembly, a first rotation drive component, and a second rotation drive component; the output end of the reversing assembly is driveably connected to the output component; the axis of the input end of the reversing assembly is perpendicular to the axis of the output end of the reversing assembly; the output shaft of the first rotation drive component is connected to the input end of the reversing assembly; the first rotation drive component can drive the output component to rotate about a first direction; the output shaft of the second rotation drive component is driveably connected to the first rotation drive component; the second rotation drive component can drive the first rotation drive component to rotate perpendicular to the first direction; the first direction is parallel to the axis of the output end of the reversing assembly.

[0006] Optionally, the reversing assembly includes a worm gear and a worm; the worm gear is connected to the output component in a driving transmission; the worm meshes with the worm gear in a driving transmission; and the output shaft of the first rotary drive component is connected to the worm.

[0007] Optionally, the two-degree-of-freedom rotary mechanism further includes a first reducer, the input end of which is connected to the worm gear; and the output end of which is connected to the output component.

[0008] Optionally, the first reducer includes a first internal gear housing and at least two stages of first planetary transmission assembly disposed within the first internal gear housing. The first planetary transmission assembly includes a first sun gear, a first planet carrier, and a plurality of first planet gears. The plurality of first planet gears are arranged in an array with the first sun gear as the center. The first planet gears are rotatably connected to the first planet carrier. The first planet gears are externally meshed with the first sun gear and internally meshed with the first internal gear housing.

[0009] The first sun gear in the first stage first planetary transmission assembly is connected to the worm gear, the first sun gear in the last stage first planetary transmission assembly is connected to the first planet carrier in the previous stage first planetary transmission assembly, and the first planet carrier in the last stage first planetary transmission assembly is connected to the output component.

[0010] Optionally, the two-degree-of-freedom rotation mechanism further includes a second reducer, the input end of which is connected to the second rotation drive member; the output end of the second reducer is connected to the first rotation drive member.

[0011] Optionally, the second reducer includes a second internal gear housing and at least two stages of second planetary transmission assembly disposed within the second internal gear housing. The second planetary transmission assembly includes a second sun gear, a second planet carrier, and a plurality of second planet gears. The plurality of second planet gears are arranged in an array with the second sun gear as the center. The second planet gears are rotatably connected to the second planet carrier. The second planet gears are externally meshed with the second sun gear and internally meshed with the second internal gear housing.

[0012] The second sun gear in the first-stage second planetary transmission assembly is connected to the output shaft of the second rotary drive. The second sun gear in the last-stage second planetary transmission assembly is connected to the second planet carrier in the previous-stage second planetary transmission assembly. The second planet carrier in the last-stage second planetary transmission assembly is connected to the first rotary drive.

[0013] Optionally, the output component includes a panel and a first mounting base mounted on the panel; the first planetary carrier in the last stage first planetary transmission assembly has a shaft portion, one end of which is connected to the first mounting base.

[0014] Optionally, the two-degree-of-freedom rotation mechanism further includes a protective housing, in which the first reducer, the worm gear, and the worm are disposed.

[0015] Optionally, the panel is further provided with a second mounting base, and the two-degree-of-freedom rotation mechanism further includes an auxiliary shaft, the axis of which coincides with the axis of the shaft portion; one end of the auxiliary shaft is rotatably connected to the protective housing, and the other end of the auxiliary shaft is rotatably connected to the second mounting base.

[0016] Optionally, the two-degree-of-freedom rotation mechanism further includes a housing, and the second reducer and the second rotation drive are disposed inside the housing.

[0017] The beneficial effects of the dual-degree-of-freedom rotation mechanism provided in this application are as follows: Compared with the prior art, the dual-degree-of-freedom rotation mechanism of this application has the advantages of compact structure, simple control, and low cost. By setting a reversing component, the output component can be rotated in two vertical directions, thereby simplifying the combined use of multiple single-degree-of-freedom rotation mechanisms in traditional satellite signal receivers and reducing the complexity of the overall mechanism; at the same time, by setting a reversing component, the layout of the first and second rotation drive components can be facilitated, reducing the size of the mechanism and contributing to the miniaturization and integration of the equipment. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 A partial cross-sectional view of the two-degree-of-freedom rotation mechanism provided in an embodiment of this application;

[0020] Figure 2 This is a schematic diagram of the assembly structure of the reversing component in the two-degree-of-freedom rotation mechanism provided in the embodiments of this application;

[0021] Figure 3 This is a schematic cross-sectional view of the first reducer in the two-degree-of-freedom rotation mechanism provided in the embodiments of this application;

[0022] Figure 4 This is a cross-sectional structural diagram of the second reducer in the two-degree-of-freedom rotation mechanism provided in the embodiments of this application;

[0023] Figure 5 A partial three-dimensional structural schematic diagram of the two-degree-of-freedom rotation mechanism provided in the embodiments of this application;

[0024] Figure 6 This is a schematic diagram of the overall three-dimensional structure of the two-degree-of-freedom rotation mechanism provided in the embodiments of this application.

[0025] The following are the labeling elements in the figure:

[0026] 100 - Output component; 110 - First mounting base; 120 - Second mounting base; 130 - Panel; 140 - Auxiliary shaft;

[0027] 200 - Reversing assembly; 210 - Worm gear; 220 - Worm;

[0028] 300 - First rotary drive component;

[0029] 400 - Second rotary drive component;

[0030] 500 - First reducer; 510 - First internal gear housing; 520 - First sun gear; 530 - First planet carrier; 531 - Shaft; 540 - First planet gear;

[0031] 600 - Second reducer; 610 - Second internal gear housing; 620 - Second sun gear; 630 - Second planet carrier; 640 - Second planet gear;

[0032] 700 - Protective housing;

[0033] 800 - Outer casing;

[0034] 900-Support base. Detailed Implementation

[0035] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0036] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0037] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0038] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0039] Please refer to the following: Figure 1 and Figure 2 The two-degree-of-freedom rotation mechanism provided in this application embodiment will now be described. This two-degree-of-freedom rotation mechanism includes an output component 100, a reversing assembly 200, a first rotation drive component 300, and a second rotation drive component 400. The output end of the reversing assembly 200 is driveably connected to the output component 100. The axis of the input end of the reversing assembly 200 is perpendicular to the axis of the output end of the reversing assembly 200. The output shaft of the first rotation drive component 300 is connected to the input end of the reversing assembly 200. The first rotation drive component 300 can drive the output component 100 to rotate about a first direction. The output shaft of the second rotation drive component 400 is driveably connected to the first rotation drive component 300. The second rotation drive component 400 can drive the first rotation drive component 300 to rotate perpendicular to the first direction. The first direction is parallel to the axis of the output end of the reversing assembly 200. Figure 1 The direction indicated by the double-headed arrow is the first direction.

[0040] Compared with the prior art, the dual-degree-of-freedom rotation mechanism provided in this application embodiment has the advantages of compact structure, simple control, and low cost. By setting the reversing component 200, the output component 100 can be rotated in two vertical directions, thereby simplifying the combined use of multiple single-degree-of-freedom rotation mechanisms in traditional satellite signal receivers and reducing the complexity of the overall mechanism. At the same time, by setting the reversing component 200, the layout of the first rotation drive component 300 and the second rotation drive component 400 can be facilitated, reducing the size of the mechanism and contributing to the miniaturization and integration of the equipment.

[0041] In this embodiment, the output device 100 is a satellite signal receiver. In another embodiment of this application, the output device 100 can also be a display or other items that require attitude adjustment; no specific limitations are made here. Both the first rotation drive 300 and the second rotation drive 400 can be motors.

[0042] In one embodiment of this application, please refer to the following: Figure 2 and Figure 3 The reversing assembly 200 includes a worm gear 210 and a worm 220; the worm gear 210 is connected to the output component 100 for transmission; the worm 220 meshes with the worm gear 210 for transmission; the output shaft of the first rotary drive component 300 is connected to the worm 220.

[0043] In this embodiment, by setting the worm gear 210 and the worm 220, the rotational motion of the first rotary drive 300 can be effectively converted into the rotational motion of the worm gear 210, thereby driving the output component 100 to rotate.

[0044] In another embodiment of this application, the commutation assembly 200 may also employ two meshing bevel gears (not shown), which have a compact structure and high transmission efficiency. The tooth surfaces of the bevel gears are tapered, resulting in a large contact area and strong load-bearing capacity when the two bevel gears mesh, enabling them to withstand larger torques.

[0045] In one embodiment of this application, please refer to the following: Figure 1 and Figure 3 The two-degree-of-freedom rotary mechanism also includes a first reducer 500, the input end of which is connected to the worm gear 210; the output end of the first reducer 500 is connected to the output component 100.

[0046] In this embodiment, a first reducer 500 is provided between the worm gear 210 and the output component 100 to reduce the rotational speed of the output component 100 and increase its rotational torque.

[0047] In one embodiment of this application, please refer to the following: Figure 2 and Figure 3 The first reducer 500 includes a first internal gear housing 510 and at least two stages of first planetary transmission assemblies disposed within the first internal gear housing 510. The first planetary transmission assemblies include a first sun gear 520, a first planet carrier 530, and a plurality of first planet gears 540. The plurality of first planet gears 540 are arranged in an array around the first sun gear 520. The first planet gears 540 are rotatably connected to the first planet carrier 530. The first planet gears 540 are externally meshed with the first sun gear 520 and internally meshed with the first internal gear housing 510. The first sun gear 520 in the first stage of the first planetary transmission assembly is connected to the worm gear 210. The first sun gear 520 in the last stage of the first planetary transmission assembly is connected to the first planet carrier 530 in the previous stage of the first planetary transmission assembly. The first planet carrier 530 in the last stage of the first planetary transmission assembly is connected to the output component 100.

[0048] In this embodiment, by employing a multi-stage first planetary transmission assembly, the first reducer 500 can further improve the reduction ratio, thereby making the rotation of the output component 100 more stable and precise. The compact structure of the first planetary transmission assembly also allows for control of the overall reducer's size, which is beneficial for the miniaturization design of the overall mechanism.

[0049] In one embodiment of this application, please refer to the following: Figure 1 and Figure 4The two-degree-of-freedom rotary mechanism also includes a second reducer 600, the input end of which is connected to the second rotary drive 400; the output end of the second reducer 600 is connected to the first rotary drive 300.

[0050] In this embodiment, the design of the second reducer 600 is similar to that of the first reducer 500. By setting the second reducer 600, the rotational speed of the second rotary drive 400 can be reduced, thereby increasing the output torque.

[0051] In one embodiment of this application, please refer to the following: Figure 4 and Figure 5 The second reducer 600 includes a second internal gear housing 610 and at least two stages of second planetary transmission assemblies disposed within the second internal gear housing 610. The second planetary transmission assemblies include a second sun gear 620, a second planet carrier 630, and a plurality of second planet gears 640. The plurality of second planet gears 640 are arranged in an array around the second sun gear 620. The second planet gears 640 are rotatably connected to the second planet carrier 630. The second planet gears 640 are externally meshed with the second sun gear 620 and internally meshed with the second internal gear housing 610. The second sun gear 620 in the first stage of the second planetary transmission assembly is connected to the output shaft of the second rotary drive 400. The second sun gear 620 in the last stage of the second planetary transmission assembly is connected to the second planet carrier 630 in the previous stage of the second planetary transmission assembly. The second planet carrier 630 in the last stage of the second planetary transmission assembly is connected to the first rotary drive 300.

[0052] In this embodiment, by employing a multi-stage second planetary transmission assembly, the second reducer 600 can further improve the reduction ratio, thereby making the rotation of the output component 100 more stable and precise. The compact structure of the second planetary transmission assembly also allows for control of the overall reducer's size, which is beneficial for the miniaturization design of the overall mechanism.

[0053] In one embodiment of this application, please refer to Figure 5 The output component 100 includes a panel 130 and a first mounting base 110 mounted on the panel 130; the first planet carrier 530 in the last stage first planetary transmission assembly has a shaft portion 531, one end of which is connected to the first mounting base 110.

[0054] In this embodiment, by providing the first mounting base 110, the connection between the output component 100 and the first reducer 500 can be facilitated, ensuring the stability and accuracy of the output component 100 during rotation. By connecting the shaft portion 531 to the first mounting base 110, the rotational motion of the first planetary carrier 530 can be effectively transmitted to the output component 100, thereby driving the output component 100 to rotate precisely.

[0055] In one embodiment of this application, please refer to Figure 5 The dual-degree-of-freedom rotation mechanism also includes a protective housing 700, and a first reducer 500, a worm gear 210 and a worm 220 are disposed inside the protective housing 700.

[0056] In this embodiment, the protective housing 700 is designed to protect the internal precision components from external environmental influences such as dust and moisture, thereby extending the service life of the mechanism and ensuring its operational reliability.

[0057] In one embodiment of this application, please refer to Figure 5 The panel 130 is also provided with a second mounting base 120. The dual-degree-of-freedom rotation mechanism also includes an auxiliary shaft 140. The axis of the auxiliary shaft 140 coincides with the axis of the shaft portion 531. One end of the auxiliary shaft 140 is rotatably connected to the protective housing 700, and the other end of the auxiliary shaft 140 is rotatably connected to the second mounting base 120.

[0058] In this embodiment, the design of the auxiliary shaft 140 provides an additional support point for the pitch and rotation of the output component 100, thereby enhancing the stability of the output component 100.

[0059] In one embodiment of this application, please refer to Figure 6 The dual-degree-of-freedom rotation mechanism also includes an outer casing 800, a second reducer 600, and a second rotation drive 400 disposed within the outer casing 800.

[0060] In this embodiment, the outer casing 800 not only provides protection for the second reducer 600 and the second rotary drive component 400, serving as a waterproof and dustproof barrier, but also effectively isolates noise, reduces vibrations generated during operation, and improves overall operational stability.

[0061] In one embodiment of this application, please refer to Figure 6 The two-degree-of-freedom rotation mechanism also includes a support base 900, and one end of the outer casing 800 is connected to the support base 900.

[0062] In this embodiment, by setting up the support base 900, a stable support can be provided for the entire two-degree-of-freedom rotary mechanism, ensuring good stability and reliability under various working environments. The design of the support base 900 takes into account the center of gravity distribution of the mechanism to ensure that no unnecessary offset or vibration occurs during rotation.

[0063] The working principle of the two-degree-of-freedom rotational mechanism provided in this application embodiment is as follows:

[0064] (1) Pitch +-90° rotation. Start the first rotary drive 300 and turn off the second rotary drive 400; the first rotary drive 300 drives the worm 220 to rotate, the worm 220 meshes with the worm wheel 210, and drives the worm wheel 210 to rotate. The worm wheel 210 drives the first sun gear 520 at the input end of the first reducer 500 to rotate. Through the planetary gear system transmission, it drives the first planet carrier 530 at the output end of the first reducer 500 to rotate. The shaft 531 of the first planet carrier 530 is fixedly connected to the output component 100, and thus drives the output component 100 to rotate around the first direction, thereby realizing the pitch +-90° rotation of the output component 100.

[0065] (2) Horizontal ±180° rotation. Turn off the first rotary drive 300 and start the second rotary drive 400. The second rotary drive 400 drives the second sun gear 620 at the input end of the second reducer 600 to rotate. Through the planetary gear transmission, it drives the second planet carrier 630 at the output end of the second reducer 600 to rotate, which in turn drives the first rotary drive 300 to rotate perpendicular to the first direction. At this time, the first rotary drive 300, the first reducer 500 and the commutation assembly 200 are all relatively stationary, so that the output component 100 can rotate together with the first rotary drive 300, thereby realizing the horizontal ±180° rotation of the output component 100.

[0066] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A two-degree-of-freedom rotational mechanism, characterized in that, include: Output components; A commutation assembly, the output end of which is connected to the output component in a driving manner; the axis of the input end of the commutation assembly is perpendicular to the axis of the output end of the commutation assembly. A first rotary drive; the output shaft of the first rotary drive is connected to the input end of the reversing assembly; the first rotary drive is capable of driving the output component to rotate about a first direction; A second rotary drive is connected to the first rotary drive via its output shaft; the second rotary drive is capable of driving the first rotary drive to rotate perpendicular to the first direction; the first direction is parallel to the axis of the output end of the reversing assembly.

2. The two-degree-of-freedom rotational mechanism as described in claim 1, characterized in that, The commutation component includes: The worm gear is connected to the output component in a driving connection. A worm gear meshes with a worm wheel for transmission; the output shaft of the first rotary drive is connected to the worm gear.

3. The two-degree-of-freedom rotational mechanism as described in claim 2, characterized in that, The two-degree-of-freedom rotary mechanism further includes a first reducer, the input end of which is connected to the worm gear; the output end of the first reducer is connected to the output component.

4. The two-degree-of-freedom rotational mechanism as described in claim 3, characterized in that, The first reducer includes a first internal gear housing and at least two stages of first planetary transmission assembly disposed within the first internal gear housing. The first planetary transmission assembly includes a first sun gear, a first planet carrier, and a plurality of first planet gears. The plurality of first planet gears are arranged in an array with the first sun gear as the center. The first planet gears are rotatably connected to the first planet carrier. The first planet gears are externally meshed with the first sun gear and internally meshed with the first internal gear housing. The first sun gear in the first stage first planetary transmission assembly is connected to the worm gear, the first sun gear in the last stage first planetary transmission assembly is connected to the first planet carrier in the previous stage first planetary transmission assembly, and the first planet carrier in the last stage first planetary transmission assembly is connected to the output component.

5. The two-degree-of-freedom rotational mechanism as described in claim 4, characterized in that, The dual-degree-of-freedom rotation mechanism further includes a second reducer, the input end of which is connected to the second rotation drive member; the output end of the second reducer is connected to the first rotation drive member.

6. The two-degree-of-freedom rotational mechanism as described in claim 5, characterized in that, The second reducer includes a second internal gear housing and at least two stages of second planetary transmission assembly disposed within the second internal gear housing. The second planetary transmission assembly includes a second sun gear, a second planet carrier, and a plurality of second planet gears. The plurality of second planet gears are arranged in an array with the second sun gear as the center. The second planet gears are rotatably connected to the second planet carrier. The second planet gears are externally meshed with the second sun gear and internally meshed with the second internal gear housing. The second sun gear in the first-stage second planetary transmission assembly is connected to the output shaft of the second rotary drive. The second sun gear in the last-stage second planetary transmission assembly is connected to the second planet carrier in the previous-stage second planetary transmission assembly. The second planet carrier in the last-stage second planetary transmission assembly is connected to the first rotary drive.

7. The two-degree-of-freedom rotational mechanism as described in claim 4, characterized in that, The output component includes a panel and a first mounting base mounted on the panel; the first planetary carrier in the last stage first planetary transmission assembly has a shaft portion, one end of which is connected to the first mounting base.

8. The two-degree-of-freedom rotational mechanism as described in claim 7, characterized in that, The dual-degree-of-freedom rotation mechanism also includes a protective housing, and the first reducer, the worm gear, and the worm are disposed inside the protective housing.

9. The two-degree-of-freedom rotational mechanism as described in claim 8, characterized in that, The panel is also provided with a second mounting base, and the dual-degree-of-freedom rotation mechanism further includes an auxiliary shaft, the axis of which coincides with the axis of the shaft portion; one end of the auxiliary shaft is rotatably connected to the protective housing, and the other end of the auxiliary shaft is rotatably connected to the second mounting base.

10. The two-degree-of-freedom rotational mechanism as described in claim 5 or 6, characterized in that, The dual-degree-of-freedom rotation mechanism also includes an outer casing, and the second reducer and the second rotation drive are disposed inside the outer casing.

Images