CN103624798A - Universal joint knuckle of assembly-type universal robot - Google Patents
Universal joint knuckle of assembly-type universal robot Download PDFInfo
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- CN103624798A CN103624798A CN201310697618.3A CN201310697618A CN103624798A CN 103624798 A CN103624798 A CN 103624798A CN 201310697618 A CN201310697618 A CN 201310697618A CN 103624798 A CN103624798 A CN 103624798A
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- filling block
- axle
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- gimbal suspension
- knuckle
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Abstract
The invention provides a universal joint knuckle of an assembly-type universal robot. The universal joint knuckle comprises an upper knuckle pit, a lower knuckle pit, a filling block, a concave shaft and a convex shaft, wherein the filling block is provided with a pair of through holes which are orthogonal to each other, mounting holes corresponding to the through holes in the filling block are formed in the upper knuckle pit and the lower knuckle pit, a groove is formed in the middle part of the concave shaft, one side of the convex shaft is provided with an incision corresponding to the groove in the middle part of the concave shaft, the concave shaft and the convex shaft are inserted in the mounting holes and the through holes in sequence, the concave shaft and the convex shaft are orthogonal to each other in the filling block and are locked with each other, and a driving mechanism with two degrees of freedom is arranged on the filling block. The universal joint knuckle of the assembly-type universal robot has the advantages that the requirements of the robot knuckle on different driving modes can be satisfied by changing the driving manner of the filling block, the requirements of the robot knuckle on different structures can be satisfied by changing the sizes and shapes of the upper knuckle pit and the lower knuckle pit, and therefore, the universal joint knuckle has certain structure and function universality.
Description
Technical field
What the present invention relates to is a kind of all-purpose robot gimbal suspension mechanism.
Background technology
The joint of robot is the foundation of robot, is robot performance's key, and the quality of joint of robot design has directly determined the quality of this robot.At present, joint of robot great majority all carry out designing and making for certain specific purposes, and purposes is single, and assembling and maintenance are complicated, waste time and energy.Seldom there is the joint for convenience detach that can be used in robot for versatility design.
In the motion of robot, joint is divided into linear joint and cradle head according to motion mode, and gimbal suspension belongs to cradle head.Rotation is the main movement form of joint of robot, has needed the output of different axial forces in rotation process, and this just needs gimbal suspension, and will reach this object, and gimbal suspension often design comparison is complicated, controls difficulty high.
Chinese Patent Application No. be 200910072646.X, name be called in the patent document of " a kind of pin-connected panel all-purpose robot rotary joint and assembling method thereof ", mentioned a kind of can be general, the robot rotary articulation of pin-connected panel, is mainly used for the joint of robot of single-degree-of-freedom.Under many circumstances, need a kind of easy-to-dismount gimbal suspension in robot, such as the motion of the nearly knucklebone of bionic mechanical hand needs gimbal suspension, the ankle arthrosis of robot need to be used gimbal suspension etc.With two independently rotary joint make robot motion resolve generation transcendental equation.In gimbal suspension design in the past, structure seldom has versatility.
Summary of the invention
The object of the present invention is to provide a kind of pin-connected panel all-purpose robot gimbal suspension of being convenient to handling, being easy to control.
The object of the present invention is achieved like this:
Comprise upper joint nest, hypozygal nest, filling block, recessed axle and protruding axle, described filling block has a pair of mutually orthogonal through hole, upper joint nest with on hypozygal nest, have the installing hole corresponding with described through hole on filling block, described recessed axle middle part has a groove, described protruding axle one side has the corresponding otch of groove of opening with recessed axle middle part, recessed axle and protruding axle successively insert in described installing hole and described through hole, recessed axle and protruding axle be mutually orthogonal mutual locking in filling block, and the driving mechanism of two frees degree is installed on filling block.
The present invention can also comprise:
1, described two free degree driving mechanisms are: in two perpendicular end surface of filling block, tendon line guide rail is installed respectively, is realized two frees degree drive with tendon type of drive.
2, described two free degree driving mechanisms are: on an end face in two perpendicular end surface of filling block, tendon line guide rail is installed, on another end face, gear is installed, drive with gear drive mode and realize two frees degree drivings respectively with tendon.
3, described two free degree driving mechanisms are: in two perpendicular end surface of filling block, gear is installed respectively, is realized two frees degree drive in gear drive mode.
4, described protruding axle has one to coordinate otch with recessed axle at non-abutting end.
5, described protruding axle coordinates otch front portion to have the conical surface for ease of installation with recessed axle.
The assembling method of robot of the present invention gimbal suspension is:
The first step, filling block guide rail is glued on filling block, the correct position of noting guaranteeing guide rail, all adopts the type of drive of gear drive mode or two frees degree of gimbal suspension to be tendon type of drive if adopt the type of drive of two frees degree to be, and omits this step; Second step, gear is inserted to the gear mounting groove of filling block, guarantee one of them quadrature hole of gear hole aligning filling block, if adopt the type of drive of two frees degree to be, all adopt gear drive mode, this step need to be installed two gears, if adopt the type of drive of two frees degree of gimbal suspension to be tendon type of drive, omit this step; The 3rd step, puts into filling block the fossa glenoid coordinating with recessed axle, notices guaranteeing that the installing hole of filling block is coaxial with glenoid installing hole, then inserts recessed axle, makes another hole of the groove aligning filling block of recessed axle; The 4th step, puts into by filling block the fossa glenoid that protruding axle is corresponding, notices guaranteeing that the installing hole of filling block is coaxial with glenoid installing hole, then inserts protruding axle, makes protruding axle snap in recessed axial trough and reaches mutual locking.Unloading process is contrary with said process.In actual use, the dimensional structure of recessed axle and protruding axle is determined by concrete structure, as need obtain a more high-precision transmission, can be used on glenoid installation endoporus and use material for sliding bearing, in order to reduce the face insertion that filling block and glenoid wearing and tearing can also be in contact with one another in filling block and fossa glenoid, lubricate sheet.
The course of work of the present invention is: this joint consists of the revolute pair of two quadratures, when using the type of drive of two frees degree of gimbal suspension to be tendon type of drive, tendon is arranged on the boss that filling block contacts with fossa glenoid inwall, the drive source that is contained in hypozygal nest side drives the side-sway motion of filling block, thereby drives the side-sway motion of upper joint nest under the support of hypozygal nest, because filling block is fixed with respect to hypozygal nest in the rotation direction of upper joint nest, so being contained in the drive source drive tendon line of upper joint nest side is to make the own elevating movement of upper joint, the type of drive of two frees degree of gimbal suspension is and all adopts gear drive mode is also such working method, if adopting the type of drive of two frees degree of gimbal suspension to be one is gear drive mode, one is tendon type of drive, the drive source of tendon can be arranged on the drive source of gear same fossa glenoid side, two rotation directions that can meet gimbal suspension have the requirement of different control characteristics.
Gimbal suspension of the present invention both can be used as an independently mechanism, when two fossa glenoids connect other fixed part, also can form a machine integral body with other joint.
Advantage of the present invention is: the present invention does not use fastening standard component, but realize locking by the cooperation of mechanism, be convenient to installation and removal, without any instrument in the situation that, can realize on-the-spot maintenance, simultaneously the otch of concavo-convex axle can be used for sensor installation.
The corner in two joints of the present invention in one, two joint for one of gear drive under tendon type of drive, be respectively ± 45 ° and ± 90 °, as other slewing area of need, need to adjust size and the glenoid width of filling block.
In sum, feature of the present invention is, by be convenient to the part of processing assembled the gimbal suspension of quadrature, be used in the Simplified Motion Equation that can make robot in robot, can not produce transcendental equation; Can be compatible: the type of drive of two frees degree of gimbal suspension is gear drive, be that tendon drives, a side tooth drives a side tendon to drive three kinds of different driving patterns, and can be according to user's demand, the drive source of two frees degree is arranged in to the homonymy of gimbal suspension or two drive sources is arranged in to the both sides of gimbal suspension.Be convenient to dismounting, gimbal suspension drive source homonymy is wherein installed the mechanism that is particularly suitable for open kinematic chain structure, such as robot delicate, and robot foot ankle-joint.The mode that drive source both sides distribute is particularly suitable on the dependency structure of similar snake-shaped robot.
Accompanying drawing explanation
Fig. 1 is perspective view of the present invention.
Fig. 2 is planar structure schematic diagram of the present invention.
Fig. 3 is the A-A cutaway view of Fig. 2.
Fig. 4 is the structural representation of upper joint nest;
Fig. 5 is the structural representation of hypozygal nest;
Fig. 6 is the structural representation of filling block;
Fig. 7 is the structural representation of recessed axle;
Fig. 8 is the structural representation of protruding axle;
Fig. 9 is that the driving of two frees degree of gimbal suspension is the application reference figure that tendon type of drive is.
The specific embodiment
Below in conjunction with accompanying drawing, for example the present invention is described in more detail.
In conjunction with Fig. 1-Fig. 8.The composition of pin-connected panel all-purpose robot gimbal suspension of the present invention comprises upper joint nest 1, hypozygal nest 2, filling block 3, recessed axle 4 and protruding axle 5.Wherein filling block 3 has a pair of mutually orthogonal through hole, and the installing hole of upper joint nest 1 and hypozygal nest 2 snaps to respectively filling block 3 through holes, first inserts recessed axle 4, more protruding axle 5 is inserted, and reaches locking effect.
The present invention can also comprise:
1, the type of drive of described two frees degree of gimbal suspension is tendon type of drive, pulley boss at filling block removes to embed tendon line, at filling block pulley boss side aperture, insert little pin, tendon line is beaten a knot on little pin, reinstall fossa glenoid, little pin is stuck in pulley side aperture, makes tendon line can not come off and inefficacy is installed because of little pin.
2, to be one be gear drive mode to the type of drive of described two frees degree of gimbal suspension, and one is tendon type of drive, and tendon line guide rail is installed on filling block top, and tendon line is arranged on the embedded location of upper joint nest, along guide rail, draws tendon line.Gear mounting means is in filling block and hypozygal nest junction, opens a gear grooved, and gear is inserted, and then inserts concave, convex shaft locking.
3, the type of drive of described two frees degree of gimbal suspension is and all adopts gear drive mode, and the two ends tooth punching race in two quadrature holes of filling block, inserts gear after filling block, packs fossa glenoid into, inserts concavo-convex shaft locking.
4, described protruding, recessed diaxon has a kerf at non-abutting end.
5, described protruding axle coordinates otch front portion to have the conical surface for ease of installation with recessed axle.
If wherein fossa glenoid and axle are for the higher quenching medium carbon steel of can using of Structure of need ratio of rigidity as No. 45 steel, filling block can be used YL7075, if for toy part, can select ABS plastic; The detection of joint angle can be by being pasted into SMD potentiometer or angular transducer in fossa glenoid outside; If desired test joint stressed, can be pasted into foil gauge in fossa glenoid relevant position; The kind of drive can need to be selected voluntarily according to using.
In conjunction with Fig. 9, concrete assemble method of the present invention is: the driving of two frees degree of gimbal suspension of take is tendon type of drive as example, and the first step, is glued to filling block guide rail on filling block, notes guaranteeing the correct position of guide rail, referring to accompanying drawing; The first step, is contained in corresponding tendon line fixed position on filling block 3 by tendon 6 and tendon 7; Second step, inserts upper joint nest 1 relevant position by the filling block 3 that installs tendon, notes the empty alignment of two installations, then recessed axle 4 is inserted into correct position, makes another hole of recessed axle intermediate channel alignment filling block 3; The 3rd step, by the installing hole of the installing hole alignment filling block 3 of hypozygal nest 2, is that the groove at recessed axle 4 middle parts keeps level, inserts recessed axle 5 to bottom.Unloading process is contrary with said process.
Claims (6)
1. a pin-connected panel all-purpose robot gimbal suspension, comprise upper joint nest, hypozygal nest, filling block, recessed axle and protruding axle, it is characterized in that: described filling block has a pair of mutually orthogonal through hole, upper joint nest with on hypozygal nest, have the installing hole corresponding with described through hole on filling block, described recessed axle middle part has a groove, described protruding axle one side has the corresponding otch of groove of opening with recessed axle middle part, recessed axle and protruding axle successively insert in described installing hole and described through hole, recessed axle and protruding axle be mutually orthogonal mutual locking in filling block, the driving mechanism of two frees degree is installed on filling block.
2. pin-connected panel all-purpose robot gimbal suspension according to claim 1, is characterized in that described two free degree driving mechanisms are: in two perpendicular end surface of filling block, tendon line guide rail is installed respectively, is realized two frees degree drive with tendon type of drive.
3. pin-connected panel all-purpose robot gimbal suspension according to claim 1, it is characterized in that described two free degree driving mechanisms are: on an end face in two perpendicular end surface of filling block, tendon line guide rail is installed, on another end face, gear is installed, with tendon, is driven with gear drive mode and realize two frees degree drivings respectively.
4. pin-connected panel all-purpose robot gimbal suspension according to claim 1, is characterized in that described two free degree driving mechanisms are: in two perpendicular end surface of filling block, gear is installed respectively, is realized two frees degree drive in gear drive mode.
5. the pin-connected panel all-purpose robot gimbal suspension described in any one according to claim 1-4, is characterized in that described protruding axle has one to coordinate otch with recessed axle at non-abutting end.
6. pin-connected panel all-purpose robot gimbal suspension according to claim 5, is characterized in that described protruding axle coordinates otch front portion to have the conical surface for ease of installation with recessed axle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310697618.3A CN103624798A (en) | 2013-12-18 | 2013-12-18 | Universal joint knuckle of assembly-type universal robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310697618.3A CN103624798A (en) | 2013-12-18 | 2013-12-18 | Universal joint knuckle of assembly-type universal robot |
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| CN103624798A true CN103624798A (en) | 2014-03-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310697618.3A Pending CN103624798A (en) | 2013-12-18 | 2013-12-18 | Universal joint knuckle of assembly-type universal robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106926223A (en) * | 2015-12-30 | 2017-07-07 | 中国科学院沈阳自动化研究所 | A kind of snake-shaped robot |
| CN108908315A (en) * | 2018-09-17 | 2018-11-30 | 深圳市越疆科技有限公司 | Forearm and articulated robot |
| CN111152204A (en) * | 2020-01-18 | 2020-05-15 | 九立(北京)机器人科技有限公司 | Slewing mechanism, mechanical arm and robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2568329A1 (en) * | 1984-07-26 | 1986-01-31 | Faure Benoit | Universal joint with limited progressive coupling |
| CN101628418A (en) * | 2009-08-05 | 2010-01-20 | 哈尔滨工程大学 | Spilt amounting type universal robot rotary joint and spilt amounting method thereof |
| DE102010038392A1 (en) * | 2010-07-26 | 2012-01-26 | Aktiebolaget Skf | Universal joint for drive shaft in e.g. lorry, has pins comprising inner raceway and outer raceway connected with bearing centers, cross member comprising adjusting device for axial play of bearing, and holes extending along axis |
| CN102444674A (en) * | 2010-10-11 | 2012-05-09 | 鸿富锦精密工业（深圳）有限公司 | Cardan joint with three degrees of freedom |
| CN202612432U (en) * | 2012-06-07 | 2012-12-19 | 田运波 | Novel universal joint |
| CN103112014A (en) * | 2013-02-22 | 2013-05-22 | 浙江工业大学 | Industrial robot joint |
-
2013
- 2013-12-18 CN CN201310697618.3A patent/CN103624798A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2568329A1 (en) * | 1984-07-26 | 1986-01-31 | Faure Benoit | Universal joint with limited progressive coupling |
| CN101628418A (en) * | 2009-08-05 | 2010-01-20 | 哈尔滨工程大学 | Spilt amounting type universal robot rotary joint and spilt amounting method thereof |
| DE102010038392A1 (en) * | 2010-07-26 | 2012-01-26 | Aktiebolaget Skf | Universal joint for drive shaft in e.g. lorry, has pins comprising inner raceway and outer raceway connected with bearing centers, cross member comprising adjusting device for axial play of bearing, and holes extending along axis |
| CN102444674A (en) * | 2010-10-11 | 2012-05-09 | 鸿富锦精密工业（深圳）有限公司 | Cardan joint with three degrees of freedom |
| CN202612432U (en) * | 2012-06-07 | 2012-12-19 | 田运波 | Novel universal joint |
| CN103112014A (en) * | 2013-02-22 | 2013-05-22 | 浙江工业大学 | Industrial robot joint |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106926223A (en) * | 2015-12-30 | 2017-07-07 | 中国科学院沈阳自动化研究所 | A kind of snake-shaped robot |
| CN108908315A (en) * | 2018-09-17 | 2018-11-30 | 深圳市越疆科技有限公司 | Forearm and articulated robot |
| CN111152204A (en) * | 2020-01-18 | 2020-05-15 | 九立(北京)机器人科技有限公司 | Slewing mechanism, mechanical arm and robot |
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Application publication date: 20140312 |