CN108247672A - Robot shoulder joint steering mechanism - Google Patents
Robot shoulder joint steering mechanism Download PDFInfo
- Publication number
- CN108247672A CN108247672A CN201810129852.9A CN201810129852A CN108247672A CN 108247672 A CN108247672 A CN 108247672A CN 201810129852 A CN201810129852 A CN 201810129852A CN 108247672 A CN108247672 A CN 108247672A
- Authority
- CN
- China
- Prior art keywords
- shoulder joint
- ball bowl
- bowl section
- spring
- bearing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot shoulder joint steering mechanism, including shoulder joint bearing sleeve, two joint steering ball bowl section headers, two turntables and decelerating motor, two joint steering ball bowl section headers are symmetrically disposed on shoulder joint bearing sleeve both ends, each joint steering ball bowl section header includes bulb arm and elastic device, bulb arm is connect with the elastic device being set in shoulder joint bearing sleeve, elastic device is connect by turntable with decelerating motor, and bulb arm can realize self-swinging or autorotation by elastic device, turntable and decelerating motor, be rotated.Robot shoulder joint steering mechanism of the present invention applies accompanies and attends to robot in small intelligent, and in single motor driving and manual actuation, it is laterally-opening to simulate arm, swing, reach ideal human-computer interaction effect, no security risk embodies intelligent feature.
Description
Technical field
The present invention relates to a kind of robot shoulder joint steering mechanism.
Background technology
With the development of science and technology the type of electronic product is more and more, wherein robot is exactly one of which.It is numerous in type
In more Information Mobile Service robots, in order to meet the efficient services of high autonomy-oriented, the arm energy of robot is generally required
Enough rotations are convenient for flexibly bending.However there are following points for existing robot：Existing service robot shoulder support, shoulder and hand
Connection, the arm rotation of arm, it is most that gearbox motor or steering engine are loaded by metal skeletal support frame, joint, by controlling electricity
Road drives its movement.More than motor-drive technique assembles and algorithm is complicated, and after a loss of power, arm does not have support force to servo driving,
Arm action cannot be kept (because steering engine is planetary reduction box and planet stent or parallel bracket, and be all straight-tooth or helical teeth, without certainly
Lock function does not find the steering engine with support force after power-off temporarily at present), in small intelligent early education robot (highly less than 20cm),
By motor and steering engine volume, cost limitation, it appears less adapt to.
Invention content
The object of the present invention is to provide robot shoulder joint steering mechanism, and the present invention in order to achieve the above object is using such as
Lower technical solution：
A kind of robot shoulder joint steering mechanism, including shoulder joint bearing sleeve, two joint steering ball bowl section headers, two
Turntable and decelerating motor, two joint steering ball bowl section headers are symmetrically disposed on shoulder joint bearing sleeve both ends, and pass through two respectively
A turntable is connect with decelerating motor, each joint steering ball bowl section header includes bulb arm and elastic device, bulb arm
It is connect with the elastic device being set in shoulder joint bearing sleeve, elastic device is connect by turntable with decelerating motor, bulb hand
Arm can realize self-swinging or autorotation by elastic device, turntable and decelerating motor, be rotated.
Further, the elastic device includes ball bowl section header, the first spring, steel ball and contact pin, and the first spring is set to
It is distributed in ball bowl section header in triangular form, steel ball is positioned over the first outer spring end face, forms flexible triangular form spherical support knot
Structure, the bulb arm are hinged by contact pin and ball bowl section header, elastic in the bulb compressing ball bowl section header of bulb arm
Triangular form spherical support structure makes bulb arm that can arbitrarily be swung around contact pin.
Further, the elastic device further includes clutch shaft bearing and the first clamp spring, and clutch shaft bearing is determined by the first clamp spring
On the ball bowl section header, clutch shaft bearing is set in the shoulder joint bearing sleeve.
Further, the elastic device further includes second spring, serration spline, connecting rod and second bearing, the second bullet
Spring one end is set in ball bowl section header, and the other end is connect with serration spline, and serration spline is with being set in second bearing
The helical teeth engagement of connecting rod one end disconnects, and the connecting rod other end is connect by the turntable with the decelerating motor, second bearing setting
In in the shoulder joint bearing sleeve.
Further, the ball bowl section header is provided with ears and three the first pogo barrels, and the first pogo barrel is in triangle
Type is distributed, and the first spring one-to-one correspondence is divided into three the first pogo barrels, and the bulb arm is set by contact pin
In in the pin holes on ears.
Further, the ball bowl section header is provided with bearing neck, and clamp spring limit buckle, the first axle are provided with outside bearing neck
It holds and is set on bearing neck and by the first clamp spring positioning jump ring limit buckle.
Further, second spring casing, the second spring, triangular form flower are provided in the ball bowl section header bearing neck
Key is set in second spring casing.
Beneficial effects of the present invention：Robot shoulder joint steering mechanism of the present invention applies accompanies and attends to robot in small intelligent,
In single motor driving and manual actuation, it is laterally-opening to simulate arm, swing, reaches ideal man-machine mutual
Dynamic effect, no security risk embody intelligent feature.
Description of the drawings
Fig. 1 is robot shoulder joint steering mechanism of the present invention assembling structure schematic diagram；
Fig. 2 is robot shoulder joint steering mechanism of the present invention schematic cross-sectional view；
Fig. 3 is robot shoulder joint steering mechanism of the present invention configuration schematic diagram；
Fig. 4 is the ball bowl section header schematic cross-sectional view of robot shoulder joint steering mechanism of the present invention.
Wherein, 1- shoulder joint bearing sleeve, 2,3- second bearings, 4,5- connecting rods, 6,7- ball bowl section headers, 8, the first bullets of 9-
Spring, 10,11- steel balls, 12,13- bulb arms, 14,15- contact pins, 16,17- clutch shaft bearings, 18, the first clamp springs of 19-, 20,21-
Second spring, 22,23- serration splines, 24,25- turntables, 26- decelerating motors, 27- ears, the first pogo barrels of 28-, 29-
Bearing neck, 30- second spring casings, 31- clamp spring limit buckles.
Specific embodiment
As shown in Figures 1 to 4, a kind of robot shoulder joint steering mechanism, including 1, two joint of shoulder joint bearing sleeve
Steering ball bowl section header, two turntables 24 (25) and decelerating motor 26, two joint steering ball bowl section headers are symmetrically disposed on shoulder joint
1 both ends of bearing sleeve, and connect respectively by two turntables 24 (25) with decelerating motor 26, two joint steering balls of the present embodiment
Bowl section header structure is consistent, two turntable 24 (25) structures are consistent, each joint steering ball bowl section header includes bulb arm 12
(13) it is connect with elastic device, bulb arm 12 (13) with the elastic device being set in shoulder joint bearing sleeve 1, elastic device
It is connect by turntable 24 (25) with decelerating motor 26, bulb arm 12 (13) passes through elastic device, turntable 24 (25) and the electricity that slows down
Machine 26 can realize self-swinging or autorotation, be rotated.
In the present embodiment, elastic device includes ball bowl section header 6 (7), the first spring 8 (9), steel ball 10 (11) and contact pin 14
(15), the first spring 8 (9) is set in ball bowl section header 6 (7) and is distributed in triangular form, and steel ball 10 (11) is positioned over the first spring 8
(9) outer end face, forms flexible triangular form spherical support structure, and bulb arm 12 (13) passes through contact pin 14 (15) and ball bowl section
First 6 (7) are hinged, elastic triangular form spherical support knot in the bulb compressing ball bowl section header 6 (7) of bulb arm 12 (13)
Structure makes bulb arm 12 (13) that can arbitrarily be swung around contact pin 14 (15).
In the present embodiment, elastic device further includes clutch shaft bearing 16 (17) and the first clamp spring 18 (19), clutch shaft bearing 16
(17) it is positioned on ball bowl section header 6 (7) by the first clamp spring 18 (19), clutch shaft bearing 16 (17) is set to shoulder joint bearing sleeve
In 1.
In the present embodiment, elastic device further includes second spring 20 (21), serration spline 22 (23), connecting rod 4 (5) and
Two bearings 2 (3), second spring 20 (21) one end are set in ball bowl section header 6 (7), and the other end connects with serration spline 22 (23)
It connects, serration spline 22 (23) is engaged or disconnected with connecting rod 4 (5) one end helical teeth being set in second bearing 2 (3), connecting rod 4
(5) other end is connect by turntable 24 (25) with decelerating motor 26, and second bearing 2 (3) is set in shoulder joint bearing sleeve 1.
In the present embodiment, ball bowl section header 6 (7) is provided with 27, three the first pogo barrels 28 of ears, bearing neck 29 and setting
In being provided with clamp spring limit buckle 31 outside the second spring casing 30 in bearing neck 29, bearing neck 29, the first pogo barrel 28 is in three
Angle-style is distributed, and the first spring 8 (9) one-to-one correspondence is divided into three the first pogo barrels 28, and bulb arm 12 (13) is by inserting
Needle 14 (15) is set in the pin holes on ears 27, and clutch shaft bearing 16 (17) is set on bearing neck 29 and passes through the first card
In spring 18 (19) positioning jump ring limit buckle 31, second spring 20 (21), triangular form spline serration spline 22 (23) are set to
In two pogo barrels 30.
Robot shoulder joint steering mechanism of the present invention, refer to by engineering material (including but not limited to metal material,
High molecular material, composite material etc.) molding mechanical structured member.The main body frame of the present invention is shoulder joint bearing sleeve, ball bowl
Section header, bulb arm.With jig second bearing 2 (3) press-in shoulder joint bearing sleeve 1, connecting rod 4 (5) one end is from shoulder joint nodal axisn
Cartridge 1 penetrates, and is pierced by from tie rod holes, and the other end is stayed in shoulder joint bearing sleeve 1, and connecting rod 4 (5) journal end is pressed into
Second bearing 2 (3) inner ring, the other end " helical teeth " is towards sleeve-port.Clutch shaft bearing 16 (17) is pressed into the axis of ball bowl section header 6 (7)
It holds neck 29, and with first clamp spring 18 (19) clamping clutch shaft bearing 16 (17), second spring 20 (21) is put into the " interior of bearing neck 29
It in pipe " i.e. second spring casing 30, then puts triangular form spline 22 (23) into, makes triangular form spline side wall " keyway " and inner tube side wall
" key teeth " is engaged, and spline end face " helical teeth " is held towards nozzle, and the other end withstands second spring 20 (21).With jig mounted
Ball bowl section header 6 (7) is pressed into shoulder joint bearing sleeve 1, makes connecting-rod inclined increment into inner tube (the i.e. second spring casing of goal bowl section header
30) it and with triangular form spline helical teeth 22 (23) engages.Three group of first spring 8 (9) is put into three of 6 (7) both ends of ball bowl section header
First pogo barrel 28, then put three groups of steel balls 10 (11) into, the first spring 8 (9) circle is made to hold steel ball 10 (11), the shape in ball bowl
Into flexible triangular form spherical support structure.Bulb arm 12 (13) is fixed on ball bowl section header 6 (7) with contact pin 14 (15)
Pin holes are integrally formed bulb arm 12 (13) and ball bowl section header 6 (7), or so turntable 24 (25) be pressed into decelerating motor
Axis 26, and disk shaft is packed into the ring-like hole of connecting rod, component installation is completed, the component installed is screwed on stent i.e.
It can.The bulb arm 12 (13) installed can arbitrarily be swung around contact pin 14 (15), elastic triangular form in bulb compressing ball bowl
Spherical support structure, the compressing load of the first spring 8 (9) react on bulb by ball bowl, make arm in arbitrary angle swinging
After have a support force, keep the state after arm action；And serration spline 22 (23) is under spring force, holding and connecting rod
4 (5) helical teeth ends keep meshing state, steering ball bowl and arm are pushed to be rotated by axial line, when arm is stopped by external force, then
It can be converted by " engagement-disconnection ", not damage motor, human body will not be injured, safety is secure.
Advantageous effect of the present invention：
1st, external force (hand push) pushes arm sideshake, external force to keep swing state (degree of freedom 2) after swinging stopping.
2nd, external force (motor driving) pushes connecting rod, and is transmitted to " serration spline ", pushes ball bowl section header and rolls over.
External force keeps rotary state (degree of freedom 1) after stopping.
3rd, external force (hand push) pushes arm, and is transmitted to the rotation of ball bowl section header, " serration spline " rotation is pushed, in spring
" serration spline " under the action of power, is made to recycle " engaging-disconnection " state of completion at " in casing " with " connecting rod " helical teeth matched,
Arm can be lifted during " engagement " state, rotatable arm during "off" state.External force keeps rotary state (degree of freedom after stopping
1)。
4th, external force (motor driving) while connecting rod and arm (hand push) are pushed, " serration spline " exists with pairing " connecting rod "
There is " engagement-disconnection " state in " in casing " cycle, avoids motor rotation blockage and clamp hand, guarantees safety.
It should be noted that above example is only used for technical scheme of the present invention, its object is to allow be familiar with this skill
The personage of art can understand the content of present invention and implement according to this, and it is not intended to limit the scope of the present invention, all to this hair
Bright technical solution carries out various variations and equivalence replacement, without departing from the principle and range of technical solution of the present invention, this field
Ordinary person makes all variations and modifications to technical scheme of the present invention, should all cover the claims in the present invention range it
In, the claimed technology contents of the present invention have all been recorded in detail in the claims.
Claims (7)
1. robot shoulder joint steering mechanism, it is characterised in that：Including shoulder joint bearing sleeve, two joint steering ball bowl sections
Head, two turntables and decelerating motor, two joint steering ball bowl section headers are symmetrically disposed on shoulder joint bearing sleeve both ends, and respectively
It is connect by two turntables with decelerating motor, each joint steering ball bowl section header includes bulb arm and elastic device, ball
Head arm is connect with the elastic device being set in shoulder joint bearing sleeve, and elastic device is connect by turntable with decelerating motor,
Bulb arm can realize self-swinging or autorotation by elastic device, turntable and decelerating motor, be rotated.
2. robot shoulder joint steering mechanism according to claim 1, it is characterised in that：The elastic device includes ball bowl
Section header, the first spring, steel ball and contact pin, the first spring is set in ball bowl section header to be distributed in triangular form, and steel ball is positioned over first
Outer spring end face forms flexible triangular form spherical support structure, and the bulb arm is hinged by contact pin and ball bowl section header,
Elastic triangular form spherical support structure in the bulb compressing ball bowl section header of bulb arm, makes bulb arm that can appoint around contact pin
Meaning is swung.
3. robot shoulder joint steering mechanism according to claim 2, it is characterised in that：The elastic device further includes
One bearing and the first clamp spring, clutch shaft bearing are positioned at by the first clamp spring on the ball bowl section header, and clutch shaft bearing is set to described
In shoulder joint bearing sleeve.
4. robot shoulder joint steering mechanism according to claim 3, it is characterised in that：The elastic device further includes
Two springs, serration spline, connecting rod and second bearing, second spring one end are set in ball bowl section header, the other end and triangle
Spline connects, and serration spline is engaged or disconnected with the connecting rod one end helical teeth being set in second bearing, and the connecting rod other end passes through
The turntable is connect with the decelerating motor, and second bearing is set in the shoulder joint bearing sleeve.
5. robot shoulder joint steering mechanism according to claim 4, it is characterised in that：The ball bowl section header is provided with double
Ear and three the first pogo barrels, the first pogo barrel are distributed in triangular form, and the first spring one-to-one correspondence is divided into three
In first pogo barrel, the bulb arm is set to by contact pin in the pin holes on ears.
6. robot shoulder joint steering mechanism according to claim 5, it is characterised in that：The ball bowl section header is provided with axis
Neck is held, is provided with clamp spring limit buckle outside bearing neck, the clutch shaft bearing, which is set on bearing neck and passes through first clamp spring, to be determined
In clamp spring limit buckle.
7. robot shoulder joint steering mechanism according to claim 6, it is characterised in that：The bearing neck of the ball bowl section header
Second spring casing is inside provided with, the second spring, triangular form spline are set in second spring casing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810129852.9A CN108247672B (en) | 2018-02-08 | 2018-02-08 | Robot shoulder joint steering mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810129852.9A CN108247672B (en) | 2018-02-08 | 2018-02-08 | Robot shoulder joint steering mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108247672A true CN108247672A (en) | 2018-07-06 |
| CN108247672B CN108247672B (en) | 2023-09-22 |
Family
ID=62744854
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810129852.9A Active CN108247672B (en) | 2018-02-08 | 2018-02-08 | Robot shoulder joint steering mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108247672B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110881913A (en) * | 2019-11-29 | 2020-03-17 | 湖北工业大学 | Multi-working-surface crawler-type sunlight room energy-saving cleaning device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007009975A (en) * | 2005-06-29 | 2007-01-18 | Jtekt Corp | Turn energizing device |
| CN101376247A (en) * | 2007-08-29 | 2009-03-04 | 株式会社东芝 | Robot and control method thereof |
| US20110067517A1 (en) * | 2009-09-22 | 2011-03-24 | Gm Global Technology Operations,Inc. | Rotary series elastic actuator |
| CN104175311A (en) * | 2013-05-27 | 2014-12-03 | 北京理工大学 | Flexible massaging robot |
| CN204893945U (en) * | 2015-09-11 | 2015-12-23 | 哈尔滨理工大学 | Imitative articular housekeeping robot of human arm |
| CN207888684U (en) * | 2018-02-08 | 2018-09-21 | 河源市勇艺达科技有限公司 | robot shoulder joint steering mechanism |
-
2018
- 2018-02-08 CN CN201810129852.9A patent/CN108247672B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007009975A (en) * | 2005-06-29 | 2007-01-18 | Jtekt Corp | Turn energizing device |
| CN101376247A (en) * | 2007-08-29 | 2009-03-04 | 株式会社东芝 | Robot and control method thereof |
| US20110067517A1 (en) * | 2009-09-22 | 2011-03-24 | Gm Global Technology Operations,Inc. | Rotary series elastic actuator |
| CN104175311A (en) * | 2013-05-27 | 2014-12-03 | 北京理工大学 | Flexible massaging robot |
| CN204893945U (en) * | 2015-09-11 | 2015-12-23 | 哈尔滨理工大学 | Imitative articular housekeeping robot of human arm |
| CN207888684U (en) * | 2018-02-08 | 2018-09-21 | 河源市勇艺达科技有限公司 | robot shoulder joint steering mechanism |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110881913A (en) * | 2019-11-29 | 2020-03-17 | 湖北工业大学 | Multi-working-surface crawler-type sunlight room energy-saving cleaning device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108247672B (en) | 2023-09-22 |
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