CN108098827B

CN108098827B - Special neck joint structure of three-degree-of-freedom robot

Info

Publication number: CN108098827B
Application number: CN201711430004.3A
Authority: CN
Inventors: 李晓艳; 班书昊; 江鹏
Original assignee: Changzhou University
Current assignee: Changzhou University
Priority date: 2017-12-26
Filing date: 2017-12-26
Publication date: 2021-07-30
Anticipated expiration: 2037-12-26
Also published as: CN108098827A

Abstract

The invention discloses a neck joint structure special for a three-degree-of-freedom robot, and belongs to the field of joint design of industrial robots. It is including the outer joint spare B that is used for installing the robot head, adopt the cylinder hinge to install the in-connection union piece on outer joint spare B, the outer joint spare A that links to each other with the robot body, install can free rotation's gear shaft C on outer joint spare A, mesh driven gear shaft D with gear shaft C mutually, fix the motor C of installing on outer joint spare B through motor C frame, install gear shaft B and motor B on the in-connection union piece, install on outer joint spare B with gear shaft B mesh driven gear shaft A. The invention is a special neck joint structure with more reasonable structure and more stable motion, which can be used in industrial robots and has three degrees of freedom of motion.

Description

Special neck joint structure of three-degree-of-freedom robot

Technical Field

The invention mainly relates to the field of industrial robot joint design, in particular to a special neck joint structure for a three-degree-of-freedom robot.

Background

The design of the neck joint of the robot has important decisive significance for the performance of the whole robot. The neck joint in the prior art usually has only one torsional degree of freedom, and the complex motion effect of the robot head is difficult to realize, which is very disadvantageous for industrial robots, especially special operation robots. Therefore, the design of a neck joint structure with three freedom degrees of motion has important significance.

Disclosure of Invention

The technical problems to be solved by the invention are as follows: aiming at the technical problems in the prior art, the invention provides the special neck joint structure which has more reasonable structure and more stable motion, can be used in an industrial robot and has three motion degrees of freedom.

In order to solve the problems, the solution proposed by the invention is as follows: a neck joint structure special for a three-degree-of-freedom robot comprises an outer connecting piece B used for mounting a head of the robot, an inner connecting piece arranged on the outer connecting piece B by adopting a cylindrical hinge, an outer connecting piece A connected with a body of the robot, a gear shaft C arranged on the outer connecting piece A and capable of freely rotating, a gear shaft D meshed with the gear shaft C for transmission, a motor C fixedly arranged on the outer connecting piece A through a motor C frame, a gear shaft B and a motor B arranged on the inner connecting piece, and a gear shaft A arranged on the outer connecting piece B and meshed with the gear shaft B for transmission.

A tension coil spring is arranged between the inner connecting piece and the gear shaft C; the lower end of the transition rod is fixedly arranged at the upper end of the gear shaft C, and the other end of the transition rod is hinged on the inner connecting piece.

The outer connecting piece B can rotate around the X-axis direction relative to the inner connecting piece; the inner connecting piece can rotate around the Z-axis direction relative to the gear shaft C; the gear shaft C is rotatable about the Y-axis direction relative to the outer joint member a.

The spring driver is arranged at the bottom of the inner connecting piece and can drive the extension spiral spring to extend or contract. The two extension helical springs are arranged on two sides of the transition rod in an inclined direction with the vertical direction.

Compared with the prior art, the invention has the following advantages and beneficial effects:

(1) the special neck joint structure for the three-degree-of-freedom robot is provided with the motor B and the motor C, so that the Y-direction torsional motion and the Z-direction rotary motion of the external connecting piece B relative to the external connecting piece A are respectively realized, and the motion stability is improved in a mode that all transmission is realized through the gear shaft.

(2) The special neck joint structure for the three-degree-of-freedom robot is further provided with a spring driver for driving the extension or the shortening of the extension spiral spring, so that the left and right swinging of the outer connecting piece B relative to the outer connecting piece A is realized. Therefore, the invention has the advantages of compact structure, stable motion and three degrees of freedom of motion, not only can realize the complex motion of the robot head, but also can better protect the robot head by absorbing redundant motion energy through the extension spiral spring.

Drawings

Fig. 1 is a schematic structural principle diagram of a neck joint structure special for a three-degree-of-freedom robot according to the present invention.

In the figure, 1-external connecting piece A; 2-inner connecting piece; 3-external connection member B; 4-gear shaft A; 5-gear shaft B; 6-gear shaft C; 7-gear shaft D; 8-extension coil spring; 9-a spring driver; 10-a transition rod; 11-motor B; 12-motor C frame; 13-motor C; 14-cylindrical hinge.

Detailed Description

The invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

Referring to fig. 1, the three-degree-of-freedom robot dedicated neck joint structure of the present invention includes an outer connecting member B3 for mounting a head of a robot, an inner connecting member 2 mounted on the outer connecting member B3 by using a cylindrical hinge 14, an outer connecting member a1 connected to a body of the robot, a gear shaft C6 mounted on the outer connecting member a1 and capable of freely rotating, a gear shaft D7 meshed with the gear shaft C6 for transmission, a motor C13 fixed on the outer connecting member a1 through a motor C frame 12, a gear shaft B5 and a motor B11 mounted on the inner connecting member 2, and a gear shaft a4 mounted on the outer connecting member B3 and meshed with the gear shaft B5 for transmission.

Referring to fig. 1, a tension coil spring 8 is installed between the inner link 2 and the gear shaft C6; the lower end of the transition rod 10 is fixedly installed at the upper end of the gear shaft C6, and the other end thereof is hinged to the inner connection member 2.

Referring to fig. 1, the outer link B3 is rotatable relative to the inner link 2 about the X-axis direction; the inner link 2 is rotatable about the Z-axis direction relative to the gear shaft C6; the gear shaft C6 is rotatable relative to the outer link a1 about the Y-axis direction.

Referring to fig. 1, a spring driver 9 is installed at the bottom of the inner link 2 to drive the extension coil spring 8 to extend or contract. The two tension coil springs 8 are installed on both sides of the transition rod 10 in a direction inclined from the vertical direction, and the two tension coil springs 8 are installed on both sides of the transition rod.

Claims

1. A three-degree-of-freedom robot special neck joint structure is characterized in that: the robot comprises an outer connecting piece B (3) for mounting a robot head, an inner connecting piece (2) which is arranged on the outer connecting piece B (3) by adopting a cylindrical hinge (14), an outer connecting piece A (1) connected with a robot body, a gear shaft C (6) which is arranged on the outer connecting piece A (1) and can freely rotate, a gear shaft D (7) which is in meshing transmission with the gear shaft C (6), a motor C (13) which is fixedly arranged on the outer connecting piece A (1) through a motor C frame (12), a gear shaft B (5) and a motor B (11) which are arranged on the inner connecting piece (2), and a gear shaft A (4) which is arranged on the outer connecting piece B (3) and is in meshing transmission with the gear shaft B (5);

a tension coil spring (8) is arranged between the inner connecting piece (2) and the gear shaft C (6); the lower end of the transition rod (10) is fixedly arranged at the upper end of the gear shaft C (6), and the other end of the transition rod is hinged on the inner connecting piece (2);

the outer connecting piece B (3) can rotate around the X-axis direction relative to the inner connecting piece (2); the inner connecting piece (2) can rotate around the Z-axis direction relative to the gear shaft C (6); the gear shaft C (6) can rotate around the Y-axis direction relative to the outer connecting piece A (1);

the spring driver (9) is arranged at the bottom of the inner connecting piece (2) and can drive the extension spiral spring (8) to extend or contract; the number of the extension spiral springs (8) is two, and the two extension spiral springs (8) are arranged on two sides of the transition rod (10) in an inclined direction with the vertical direction.