Double-side supporting orthogonal axis driving device

Abstract

The utility model belongs to the technical field of multi-axis driving, and particularly relates to a bilateral supporting orthogonal axis driving device which comprises a first rotating assembly, a second rotating assembly and a third rotating assembly, and the second rotating assembly is arranged at the output end of the first rotating assembly; the third rotating assembly is arranged at the output end of the second rotating assembly; wherein the first rotating assembly is provided with a first rotating groove, the two ends of the second rotating assembly are connected with the inner wall of the first rotating groove, the second rotating assembly is provided with a second rotating groove, and the two ends of the third rotating assembly are fixedly connected with the inner wall of the second rotating groove. The problem of asymmetric layout caused by bias of a driving source in a traditional orthogonal shaft structure is effectively solved, the torsional vibration risk caused by insufficient rigidity of a transmission chain under single-side supporting and bias acting force is eliminated, and stress distribution of all shaft systems of the multi-shaft rotating mechanism in the composite motion process is more balanced.

Description

TECHNICAL FIELD

[0001] The utility model belongs to multi -shaft drive technical field especially relates to a double -sided support orthogonal axle drive arrangement. BACKGROUND

[0002] In the existing multi -shaft rotating mechanical system, orthogonal axle structure often adopts independent drive source to control different axial rotation respectively.This kind of design usually through multiple independent configuration motor or driver is directly or indirectly connected to corresponding rotating axle body, with the help of split type transmission mechanism realizes the power transmission and decoupling control between each shafting.The technical scheme can realize compound motion in multidimensional space in theory, has wide application basis in precision instrument, industrial robot etc., and its advantage lies in each shafting drive unit is independent, it is convenient to build modular control system and realizes accurate trajectory planning.

[0003] However, this kind of orthogonal axle structure has significant mechanical stability defects in practical application.Due to the physical arrangement of different axial drive source needs to avoid the rotation space of adjacent shafting, drive unit is often forced to bias in the end of upper rotating axle or lateral installation position, and this asymmetric layout leads to the rigid support structure of transmission chain to be weakened.With the increase of the number of shafting layers, the non-collinear force generated by the biased drive source can intensify the torsional vibration of each rotating joint, especially under the compound motion working condition, the dynamic response characteristic of transmission system continues to deteriorate, which seriously restricts the reliability performance under the high speed high precision motion scene. UTILITY MODEL CONTENTS

[0004] The utility model aims at providing a kind of double -sided support orthogonal axle drive arrangement, to solve the technical problems in the prior art in the multi -shaft orthogonal transmission structure, with the increase of the number of shafting layers, the non-collinear force generated by the biased design drive source can intensify the torsional vibration of each rotating joint, especially under the compound motion working condition, the dynamic response characteristic of transmission system continues to deteriorate.

[0005] To realize the above-mentioned purpose, a kind of double -sided support orthogonal axle drive arrangement provided in the utility model embodiment, including first rotating component, second rotating component and third rotating component, the second rotating component is set in the output end of the first rotating component;The third rotating component is set in the output end of the second rotating component;Wherein, the first rotating component is provided with first rotating groove, the two ends of the second rotating component are connected with the inner wall of the first rotating groove, the second rotating component is provided with second rotating groove, the two ends of the third rotating component are fixedly connected with the inner wall of the second rotating groove.

[0006] Optionally, the first rotating assembly comprises a first fixed seat, a first rotating seat and a first driving source, the first driving source is arranged on the first fixed seat, the first rotating seat is rotationally connected to the first fixed seat, the output end of the first driving source is drivingly connected with the first rotating seat, the first rotating groove is formed on the first rotating seat, the cross section of the first rotating seat is in the shape of a Chinese character "fang", the second rotating assembly is arranged in the first rotating groove, and the two ends of the second rotating assembly are respectively connected with the inner wall of the first rotating seat.

[0007] Optionally, the second rotating assembly comprises a second fixed seat, a second rotating seat, a connecting rotating shaft and a second driving source, the second fixed seat is fixedly arranged on the inner wall of the first rotating seat and located at the end of the first rotating groove, the connecting rotating shaft is rotationally connected to the end of the first rotating seat away from the second fixed seat, the second driving source is fixedly arranged on the outer side wall of the first rotating seat, the two ends of the second rotating seat are rotationally connected with the second fixed seat and the connecting rotating shaft respectively, the output end of the second driving source penetrates into the first rotating groove and is drivingly connected with the second rotating seat, the second rotating groove is formed in the second rotating seat, and the two ends of the third rotating assembly are fixedly connected with the inner wall of the second rotating seat respectively.

[0008] Optionally, the second rotating seat is sequentially formed with a first side wall, a second side wall, a third side wall and a fourth side wall in the horizontal direction, the first side wall, the second side wall, the third side wall and the fourth side wall are connected in the shape of a rectangular ring, the first side wall and the third side wall are opposite to each other, the second side wall and the fourth side wall are opposite to each other, the first side wall and the third side wall are rotationally connected with the second fixed seat and the connecting rotating shaft respectively, the second side wall and the fourth side wall are fixedly connected with the two ends of the third rotating assembly respectively, and the output end of the second driving source is drivingly connected with the first side wall.

[0009] Optionally, the third rotating assembly comprises a third fixed seat, a third driving source and a third rotating seat, the two ends of the third fixed seat are fixedly connected with the inner walls of the two ends of the second rotating groove, the third rotating seat is rotationally connected to the third fixed seat, and the output end of the third driving source is drivingly connected with the third rotating seat.

[0010] Optionally, the third fixed seat is in the shape of a long strip plate, the two ends of the third fixed seat are fixedly connected with the two ends of the second rotating groove respectively, and the third rotating seat is rotationally connected to the middle position of the third fixed seat.

[0011] Optionally, the rotation central axis of the third rotating seat is coplanar with the rotation central axis of the first rotating assembly.

[0012] Optionally, adjustment waist holes are provided on the side walls at both ends of the first rotating groove, and the two ends of the second rotating assembly are respectively disposed on the corresponding adjustment waist holes.

[0013] Optionally, the plane on which the output end of the first rotating component rotates is located is a first plane, and the plane on which the output end of the second rotating component rotates is located is a second plane, with the first plane being perpendicular to the second plane.

[0014] Optionally, a gap is provided between the second rotating component and the bottom wall of the second rotating groove, and the rotation path of the output end of the second rotating component is always separate from the bottom wall of the second rotating groove.

[0015] The above-mentioned one or more technical solutions in the double-sided support orthogonal axis drive device provided in this utility model embodiment have at least one of the following technical effects: by forming a double-sided fixed connection support between the two ends of the second rotating component and the third rotating component and the inner wall of the first rotating groove and the second rotating groove respectively, the asymmetric layout problem caused by the offset of the drive source in the traditional orthogonal axis structure is effectively overcome, the risk of insufficient rigidity of the transmission chain and torsional vibration caused by the offset force under single-sided support is eliminated, and the force distribution of each axis system in the multi-axis rotating mechanism is more balanced during the compound motion, which significantly improves the overall rigidity and dynamic stability of the transmission system. It is especially suitable for industrial robots or precision machining equipment in high-speed and high-precision motion scenarios, and fundamentally improves the problem of dynamic response lag and reliability reduction caused by the weakening of support in traditional structures. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model, 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 utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A schematic diagram of the structure of the double-sided support orthogonal axis drive device provided in an embodiment of this utility model.

[0018] Figure 2 for Figure 1 A schematic diagram of the structure of the first rotating component.

[0019] Figure 3 This is a schematic diagram of the structure of the second rotating component provided in an embodiment of the present invention.

[0020] Figure 4 This is a schematic diagram of the structure of the third rotating component provided in an embodiment of the present invention.

[0021] Wherein, the reference signs in the figures:

[0022] 100 - first rotating assembly 200 - second rotating assembly 300 - third rotating assembly

[0023] 400 - first rotating groove 500 - second rotating groove 110 - first fixed seat

[0024] 120 - first rotating seat 130 - first driving source 210 - second fixed seat

[0025] 220 - second rotating seat 230 - connecting shaft 240 - second driving source

[0026] 221 - first side wall 222 - second side wall 223 - third side wall

[0027] 224 - fourth side wall 310 - third fixed seat 320 - third driving source

[0028] 330 - third rotating seat 410 - adjustable waist hole DETAILED DESCRIPTION

[0029] The embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The following describes the embodiments of the present application by referring to the accompanying drawings. Figures 1-4 The described embodiments are exemplary, and are intended to explain the embodiments of the present application, and cannot be understood as a limitation of the present application.

[0030] In the description of the embodiments of the present application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0031] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0032] In the embodiments of the utility model, unless another explicit provision and limitation, the terms "mount", "connect", "connect", "fix" and other terms should be understood in broad sense, for example, can be fixed connection, also can be detachable connection, or integral; can be mechanical connection, also can be electrical connection; can be directly connected, also can be indirectly connected through intermediate medium, can be the communication of two elements or the interaction of two elements. For ordinary skilled in the art, the above terms can be understood according to the specific meaning of the embodiments of the utility model.

[0033] In an embodiment of the utility model, as Figures 1-4 The utility model provides a kind of double-side support orthogonal shaft driving device, including first rotating assembly 100, second rotating assembly 200 and third rotating assembly 300, the second rotating assembly 200 is arranged at the output end of the first rotating assembly 100;The third rotating assembly 300 is arranged at the output end of the second rotating assembly 200;Wherein, the first rotating assembly 100 is provided with first rotating groove 400, the inner wall of the first rotating groove 400 is connected with the two ends of the second rotating assembly 200, the second rotating assembly 200 is provided with second rotating groove 500, the inner wall of the second rotating groove 500 is fixedly connected with the two ends of the third rotating assembly 300.

[0034] By the two ends of second rotating assembly 200 and third rotating assembly 300 respectively with the inner wall of first rotating groove 400, second rotating groove 500 form double-side fixed connection support, effectively overcome the asymmetric layout problem caused by the driving source bias in traditional orthogonal shaft structure, eliminates the torsional vibration risk caused by the insufficient rigidity of single-side support under transmission chain and biasing force, makes the stress distribution of each shaft system of multi-shaft rotating mechanism more balanced in composite motion process, significantly improves the overall rigidity and dynamic stability of transmission system, especially applicable to high-speed high-precision motion scene under industrial robot or precision machining equipment, fundamentally improves the dynamic response delay and reliability decline problem caused by the weakening of traditional structure support.

[0035] As Figures 1-4As shown, in another embodiment of the utility model, first rotating component 100 includes first fixed seat 110, first rotating seat 120 and first drive source 130, first drive source 130 sets up on first fixed seat 110, first rotating seat 120 is rotationally connected on first fixed seat 110, the output of first drive source 130 is drivenly connected with first rotating seat 120, first rotating groove 400 is formed on first rotating seat 120, the section of first rotating seat 120 is arranged in the shape of the Chinese character fan, second rotating component 200 is arranged in first rotating groove 400, and both ends of second rotating component 200 are connected with the inner wall of first rotating seat 120 respectively.First drive source 130 drives first rotating seat 120 to rotate around first fixed seat 110, drives second rotating component 200 to move synchronously in first rotating groove 400, and the Chinese character fan section of first rotating seat 120 forms symmetrical constraint to second rotating component 200 through both sides inner wall, avoids the rotation axis bias problem caused by traditional single side support, effectively improves the torsional stiffness of first stage rotating shaft system, suppresses the vibration transmission caused by asymmetric layout, and ensures that the power transmission between first rotating component 100 and second rotating component 200 is more stable.

[0036] As Figures 1-4As shown, in another embodiment of the present application, the second rotating assembly 200 comprises a second fixed seat 210, a second rotating seat 220, a connecting rotating shaft 230 and a second driving source 240, the second fixed seat 210 is fixedly arranged on the inner wall of the first rotating seat 120 and located at the end of the first rotating groove 400, the connecting rotating shaft 230 is rotatably connected to the end of the first rotating seat 120 away from the second fixed seat 210, the second driving source 240 is fixedly arranged on the outer side wall of the first rotating seat 120, the two ends of the second rotating seat 220 are rotatably connected with the second fixed seat 210 and the connecting rotating shaft 230 respectively, the output end of the second driving source 240 penetrates into the first rotating groove 400 and is drivingly connected with the second rotating seat 220, the second rotating groove 500 is formed in the second rotating seat 220, and the two ends of the third rotating assembly 300 are fixedly connected with the inner wall of the second rotating seat 220 respectively. The second driving source 240 drives the second rotating seat 220 to rotate around the axis formed by the second fixed seat 210 and the connecting rotating shaft 230 through the output end, and the inner wall of the second rotating groove 500 fixes the third rotating assembly 300 on both sides at the same time. The design integrates the second driving source 240 on the outer side wall of the first rotating seat 120, avoids the layout of the driving source offsetting the shaft end in the traditional design, forms symmetrical support through the double-sided fixed seat and the connecting rotating shaft 230, significantly enhances the bending resistance of the second rotating seat 220, reduces the transmission chain deformation risk caused by the driving source offsetting, ensures the connection rigidity of the second rotating seat 220 and the third rotating assembly 300, and reduces the dynamic error in the composite motion.

[0037] As Figures 1-4As shown in the utility model, in another embodiment of the utility model, the second rotating seat 220 is sequentially formed with a first side wall 221, a second side wall 222, a third side wall 223 and a fourth side wall 224 along the horizontal direction, the first side wall, the second side wall, the third side wall 223 and the fourth side wall 224 are connected to be arranged in a rectangular ring structure, the first side wall 221 and the third side wall 223 are opposite to each other, the second side wall and the fourth side wall 224 are opposite to each other, the first side wall 221 and the third side wall 223 are rotationally connected with the second fixed seat 210 and the connecting rotating shaft 230 respectively, the second side wall and the fourth side wall 224 are fixedly connected with two ends of the third rotating assembly 300 respectively, and the output end of the second driving source 240 is drivingly connected with the first side wall 221.

[0038] As shown in the utility model, in another embodiment of the utility model, the third rotating assembly 300 includes a third fixed seat 310, a third driving source 320 and a third rotating seat 330, two ends of the third fixed seat 310 are fixedly connected with the inner walls of two ends of the second rotating groove 500, the third rotating seat 330 is rotationally connected on the third fixed seat 310, and the output end of the third driving source 320 is drivingly connected with the third rotating seat 330. Figures 1-4 As shown in the utility model, in another embodiment of the utility model, the third rotating assembly 300 includes a third fixed seat 310, a third driving source 320 and a third rotating seat 330, two ends of the third fixed seat 310 are fixedly connected with the inner walls of two ends of the second rotating groove 500, the third rotating seat 330 is rotationally connected on the third fixed seat 310, and the output end of the third driving source 320 is drivingly connected with the third rotating seat 330.

[0039] As shown in the utility model, in another embodiment of the utility model, the third rotating assembly 300 includes a third fixed seat 310, a third driving source 320 and a third rotating seat 330, two ends of the third fixed seat 310 are fixedly connected with the inner walls of two ends of the second rotating groove 500, the third rotating seat 330 is rotationally connected on the third fixed seat 310, and the output end of the third driving source 320 is drivingly connected with the third rotating seat 330. Figures 1-4As shown in another embodiment of the utility model, the third fixed seat 310 is long strip board structure, both ends of the third fixed seat 310 are fixedly connected with both ends of the second rotary groove 500, and the third rotary seat 330 is rotatably connected to the middle position of the third fixed seat 310. The long strip board third fixed seat 310 is fixed to the inner wall of the second rotary groove 500 through both ends, and the third rotary seat 330 is centrally installed on the third fixed seat 310 to realize rotary motion, which provides uniform support strength, realizes the symmetrical distribution of rotary torque through the central installation of the third rotary seat 330, avoids the eccentric load problem caused by traditional single-side installation, effectively reduces the eccentric swing amplitude in the rotary process, and improves the motion consistency of the end effector.

[0040] As shown in another embodiment of the utility model, Figures 1-4 As shown in another embodiment of the utility model, the rotation central axis of the third rotary seat 330 is coplanar with the rotation central axis of the first rotary assembly 100. The rotation axis of the third rotary seat 330 is in the same plane as the rotation axis of the first rotary assembly 100, so that the motion trajectory of the multi-axis rotary mechanism is cooperatively constrained in space, the interference risk caused by the axis misalignment of the traditional orthogonal shaft system is reduced, the composite motion path planning is optimized, and the coordination and overall rigidity of the multi-degree-of-freedom action are improved.

[0041] As shown in another embodiment of the utility model, Figures 1-4 As shown in another embodiment of the utility model, the two end sidewalls of the first rotary groove 400 are provided with adjusting waist holes 410, and the two ends of the second rotary assembly 200 are arranged on the corresponding adjusting waist holes 410. The second rotary assembly 200 is embedded in the adjusting waist hole 410 at both ends to realize the fine adjustment of the installation position, and the position is locked through the fastener. This design provides an axial installation allowance, facilitates the compensation of processing or assembly errors, avoids the shaft system jamming problem caused by the tolerance accumulation of traditional rigid connection, ensures the symmetry of bilateral support, and maintains the initial rigidity design of the transmission chain.

[0042] As shown in another embodiment of the utility model, Figures 1-4 As shown in another embodiment of the utility model, the plane where the output end rotation path of the first rotary assembly 100 is located is a first plane, the plane where the output end rotation path of the second rotary assembly 200 is located is a second plane, and the first plane is perpendicular to the second plane. The rotation planes of the first rotary assembly 100 and the second rotary assembly 200 are perpendicular to each other, forming an orthogonal motion relationship, ensuring the decoupling of multi-axis motion, avoiding the additional torque fluctuation caused by the motion interference of the traditional non-orthogonal shaft system, improving the accuracy of composite motion control, and compensating for the inherent dynamic stability defects of the orthogonal shaft system through rigid support design.

[0043] As shown in another embodiment of the utility model, Figures 1-4As shown, in another embodiment of the utility model, the second rotation component 200 is provided with a gap on the bottom wall of the second rotation groove 500, and the output end rotation path of the second rotation component 200 is always separated from the bottom wall of the second rotation groove 500. The second rotation component 200 keeps a gap with the bottom wall of the second rotation groove 500 during rotation, avoids contact interference, eliminates the vibration noise and transmission efficiency decline caused by contact collision of the traditional structure, and ensures the long-term operation reliability under high load conditions by reserving the thermal expansion allowance through the gap.

[0044] The above only is the preferred embodiment of the utility model, and does not use to limit the utility model, and any modification, equivalent replacement and improvement etc. that are made within the spirit and principle of the utility model should be included in the protection scope of the utility model.

Claims

1. A bilaterally supported orthogonal axis drive device, characterized in that, include: First rotating component; A second rotating component is disposed at the output end of the first rotating component; A third rotating component is disposed at the output end of the second rotating component; The first rotating component is provided with a first rotating groove, the two ends of the second rotating component are connected to the inner wall of the first rotating groove, the second rotating component is provided with a second rotating groove, and the two ends of the third rotating component are fixedly connected to the inner wall of the second rotating groove.

2. The bilateral support orthogonal axis drive device according to claim 1, characterized in that: The first rotating component includes a first fixed base, a first rotating base, and a first driving source. The first driving source is disposed on the first fixed base, and the first rotating base is rotatably connected to the first fixed base. The output end of the first driving source is drivenly connected to the first rotating base. The first rotating groove is formed on the first rotating base, and the cross-section of the first rotating base is arranged in the shape of an inverted triangle. The second rotating component is disposed in the first rotating groove, and both ends of the second rotating component are respectively connected to the inner wall of the first rotating base.

3. The bilateral support orthogonal axis drive device according to claim 2, characterized in that: The second rotating assembly includes a second fixed base, a second rotating base, a connecting shaft, and a second drive source. The second fixed base is fixedly disposed on the inner wall of the first rotating base and located at the end of the first rotating groove. The connecting shaft is rotatably connected to the end of the first rotating base away from the second fixed base. The second drive source is fixedly disposed on the outer wall of the first rotating base. Both ends of the second rotating base are rotatably connected to the second fixed base and the connecting shaft, respectively. The output end of the second drive source passes through the first rotating groove and is drivenly connected to the second rotating base. The second rotating groove is formed inside the second rotating base. Both ends of the third rotating assembly are fixedly connected to the inner wall of the second rotating base, respectively.

4. The bilateral support orthogonal axis drive device according to claim 3, characterized in that: The second rotating seat is formed sequentially with a first sidewall, a second sidewall, a third sidewall, and a fourth sidewall along the horizontal direction. The first sidewall, the second sidewall, the third sidewall, and the fourth sidewall are connected to form a rectangular ring structure. The first sidewall and the third sidewall are opposite to each other, and the second sidewall and the fourth sidewall are opposite to each other. The first sidewall and the third sidewall are rotatably connected to the second fixed seat and the connecting shaft, respectively. The second sidewall and the fourth sidewall are fixedly connected to both ends of the third rotating assembly, respectively. The output end of the second driving source is driven connected to the first sidewall.

5. The bilateral support orthogonal axis drive device according to claim 3, characterized in that: The third rotating assembly includes a third fixed base, a third driving source, and a third rotating base. The two ends of the third fixed base are fixedly connected to the inner walls of the two ends of the second rotating groove. The third rotating base is rotatably connected to the third fixed base. The output end of the third driving source is drivenly connected to the third rotating base.

6. The bilateral support orthogonal axis drive device according to claim 5, characterized in that: The third fixed seat is arranged in the shape of a long plate. The two ends of the third fixed seat are respectively fixedly connected to the two ends of the second rotating groove, and the third rotating seat is rotatably connected to the middle position of the third fixed seat.

7. The bilateral support orthogonal axis drive device according to claim 6, characterized in that: The central axis of rotation of the third rotating seat is coplanar with the central axis of rotation of the first rotating assembly.

8. The bilateral support orthogonal axis drive device according to any one of claims 1 to 7, characterized in that: Adjustment holes are provided on the side walls at both ends of the first rotating groove, and the two ends of the second rotating assembly are respectively provided on the corresponding adjustment holes.

9. The bilateral support orthogonal axis drive device according to claim 1, characterized in that: The plane on which the output end of the first rotating component rotates is located is the first plane, and the plane on which the output end of the second rotating component rotates is located is the second plane. The first plane is perpendicular to the second plane.

10. The bilateral support orthogonal axis drive device according to claim 9, characterized in that: A gap is provided between the second rotating component and the bottom wall of the second rotating groove, and the rotation path of the output end of the second rotating component is always separate from the bottom wall of the second rotating groove.

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