CN108705557B

CN108705557B - Micro robot joint

Info

Publication number: CN108705557B
Application number: CN201810562464.XA
Authority: CN
Inventors: 刘超; 郭嘉辉
Original assignee: Individual
Current assignee: Liu Chao
Priority date: 2018-06-04
Filing date: 2018-06-04
Publication date: 2021-09-07
Anticipated expiration: 2038-06-04
Also published as: CN108705557A

Abstract

The invention provides a micro robot joint, which comprises a first movable joint, a second movable joint, a unit motor, a driving member and a cam, wherein the first movable joint is connected with the second movable joint through the unit motor; the unit motor is fixedly arranged in the first movable joint, and the upper part of the unit motor is in transmission connection with a driving component; the front side and the rear side of the driving component are provided with driving parts which protrude outwards; the front side and the rear side of the cam are respectively provided with a first guide rail and a second guide rail, the first guide rail on one side is in an upper arch shape with the middle part arched upwards and the left side and the right side protruded downwards, the second guide rail on the other side is in a lower arch shape with the middle part arched downwards and the left side and the right side sunken upwards, and the two driving parts are respectively in contact transmission with the two guide rails; the cam is fixedly arranged at the tail part of the second movable joint and is hinged with the first movable joint, so that the cam can swing in a left-right rotating mode based on the first movable joint, and the first movable joint and the second movable joint are hinged together. The invention realizes the joint swing with small volume and high load by the cam.

Description

Micro robot joint

Technical Field

The invention relates to the field of mechanical equipment, in particular to a micro robot joint.

Background

An industrial robot is a mechanical device with high degree of freedom and powerful functions, and is widely applied to industrial production. Most of mechanical arms are provided with a plurality of mechanical joints, and the mechanical arms can rotate and swing to realize various actions according to the general conditions of human arms.

The movable joint of the industrial robot in the prior art has higher degree of freedom for multiple attention, so that the swing amplitude is larger. However, the joint is controlled by a servo motor with a large volume, and in order to realize large load capacity, the reduction transmission gear train is relatively heavy, so that the volume cannot be reduced. Once a micro-motor is used to reduce the size, the load capacity is greatly reduced.

It is obvious that the prior art has certain defects.

Disclosure of Invention

The invention aims to solve the technical problem of providing a micro robot joint, which realizes joint swing with small volume and high load by a cam.

In order to achieve the purpose, the invention adopts the following technical scheme:

a micro robot joint includes a first movable joint, a second movable joint, a unit motor, a driving member, and a cam; the unit motor is fixedly arranged in the first movable joint, and the upper part of the unit motor is in transmission connection with a driving component; the front side and the rear side of the driving component are provided with driving parts which protrude outwards; the front side and the rear side of the cam are respectively provided with a first guide rail and a second guide rail, the first guide rail on one side is in an upper arch shape with the middle part arched upwards and the left side and the right side protruded downwards, the second guide rail on the other side is in a lower arch shape with the middle part arched downwards and the left side and the right side sunken upwards, and the two driving parts are respectively in contact transmission with the two guide rails, so that the driving parts drive the cam to rotate left and right to swing when the driving member rotates left or right; the cam is fixedly arranged at the tail part of the second movable joint and is hinged with the first movable joint, so that the cam can swing in a left-right rotating mode based on the first movable joint, and the first movable joint and the second movable joint are hinged together.

Further, the cam is mounted on the driving member; the hinge point of the cam and the first movable joint is positioned above the middle parts of the first guide rail and the second guide rail; the direction of the articulated shaft is orthogonal to the first guide rail and the second guide rail.

Further, the drive portion includes a roller cantilevered by a roller shaft extending outwardly from the drive member, the roller being free to roll in contact with the surface of the guide rail.

Furthermore, the head of the first movable joint is provided with a hinge part which protrudes and extends towards the second movable joint, and the first movable joint is hinged with a hinge point of the cam through the hinge part so as to be mutually linked with the tail of the second movable joint.

Furthermore, two sides of the tail part of the second movable joint are provided with baffle parts which protrude and extend towards the first movable joint, and the baffle parts are matched and meshed with the hinged parts, so that two sides of the hinged parts are shielded.

Furthermore, the peripheral both sides of cam are equipped with the location separation blade that outside protrusion extends, the afterbody both sides of second movable festival are equipped with sunken positioning groove, and positioning groove matches with the location separation blade, and the interlock is fixed within positioning groove is located to the location separation blade card.

Furthermore, the bottom of the first guide rail and the bottom of the second guide rail are provided with an insertion installation groove extending to the bottom end of the cam.

The micro robot joint provided by the invention has the following advantages:

the cam structure is adopted, so that the joint is driven to swing when the driving component rotates, and the large load capacity is realized on the premise of small volume;

the hinge part and the blocking piece part which are mutually meshed are arranged, so that the shielding performance between joints is better, the internal structure is protected, and the appearance is more attractive;

the combination of the components fully considers the assembly convenience, and the combination between the cam and the second movable joint is firm.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic view showing the overall structure of the joint of the micro robot of the present invention.

Fig. 2 is a schematic view of the internal structure of fig. 1 in an assembled state.

Fig. 3 is a schematic view of the inner structure of the opposite side combination state of fig. 2.

Description of reference numerals:

1. a first movable joint 2 and a second movable joint

3. Unit motor 4, drive member

5. Cam 6 and articulated shaft

7. Drive unit 8, roller

9. First guide rail 10, second guide rail

11. Hinge part 12 and blocking piece part

13. Insertion mounting groove

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention and the accompanying drawings. It should be noted that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example one

Referring to fig. 1 to 3, the present invention discloses a micro robot joint, including a first movable joint 1, a second movable joint 2, a unit motor 3, a driving member 4 and a cam 5; the unit motor 3 is fixedly arranged inside the first movable joint 1, and the upper part of the unit motor 3 is in transmission connection with a driving component 4; the front side and the rear side of the driving component 4 are provided with driving parts 7 which protrude outwards; a first guide rail 9 and a second guide rail 10 are respectively arranged on the front side and the rear side of the cam 5, the first guide rail 9 on one side is in an upper arch shape with the middle part arched upwards and the left side and the right side protruded downwards, the second guide rail 10 on the other side is in a lower arch shape with the middle part arched downwards and the left side and the right side sunken upwards, and the two driving parts 7 are respectively in contact transmission with the two guide rails, so that the driving parts 7 drive the cam 5 to rotate left and right to swing when the driving component 4 rotates left or right; the cam 5 is fixedly arranged at the tail part of the second movable joint 2, and the cam 5 is hinged with the first movable joint 1, so that the cam 5 can swing in a left-right rotating mode based on the first movable joint 1, and the first movable joint 1 and the second movable joint 2 are hinged together.

In the invention, the swing control of the joint formed by the first movable joint 1 and the second movable joint 2 is realized by the transmission between the cam 5 and the driving member 4. Not only has small volume, but also has higher load capacity. Although the swing amplitude is limited to a certain extent, the method is particularly suitable for narrow environments.

When the driving member 4 is rotated by the unit motor 3, the driving portion 7 is also rotated accordingly. The first guide rail 9 and the second guide rail 10 of the cam 5 are respectively matched with the two driving parts 7, so that the two driving parts 7 can drive the cam 5 to swing towards two sides. The tracks of the first guide rail 9 and the second guide rail 10 are mutually matched and different, so that when the two driving parts 7 respectively act on the first guide rail 9 and the second guide rail 10, one side of the cam 5 is lifted and the other side is lowered, and the swinging action is realized. Moreover, the driving member 4, the cam 5 and the second movable joint 2 can be installed in sequence during installation, and the assembly is very convenient. Further, for convenience of assembly, referring to fig. 2 to 3, preferably, the bottom of the first guide rail 9 and the second guide rail 10 is provided with an insertion installation groove 13 extending to the bottom end of the cam 5, and when the cam 5 is sleeved on the driving member 4, only the two driving portions 7 need to extend into the first guide rail 9 and the second guide rail 10 along the insertion installation groove 13, respectively.

As for the cam 5, preferably, the cam 5 is mounted on the driving member 4; the hinge point of the cam 5 and the first movable joint 1 is positioned above the middle parts of the first guide rail 9 and the second guide rail 10; the hinge shaft 6 is oriented orthogonally to the first guide rail 9 and the second guide rail 10. More specifically, the driving part 7 comprises a roller 8, the roller 8 is mounted in a cantilever manner by a roller 8 shaft extending from the driving member 4 in a protruding manner, and the roller 8 freely rolls in contact with the surface of the guide rail.

The roller 8 can make the operation smoother because the cam 5 has a certain friction with the driving part 7. The specific roller 8 can directly adopt a small-size bearing to save the volume, so that the whole robot joint can be conveniently made to be smaller.

Then, in order to ensure that the cam 5 is firmly connected with the second movable joint 2 and is beneficial to stress, positioning blocking pieces which are outwards protruded and extended are arranged on two peripheral sides of the cam 5, two sides of the tail of the second movable joint 2 are provided with sunken positioning clamping grooves, the positioning clamping grooves are matched with the positioning blocking pieces, and the positioning blocking pieces are clamped and arranged in the positioning clamping grooves to be occluded and fixed, so that the assembly of the second movable joint 2 and the combined debugging of the unit motor 3, the cam 5 and the driving member 4 are further facilitated.

As for the specific structure of the first movable joint 1 and the second movable joint 2, it is preferable that the head portion of the first movable joint 1 is provided with a hinge portion 11 which protrudes and extends toward the second movable joint 2, and the first movable joint 1 is hinged to the hinge point of the cam 5 through the hinge portion 11 to be linked to the tail portion of the second movable joint 2. Two sides of the tail part of the second movable joint 2 are provided with baffle parts 12 which protrude and extend towards the first movable joint 1, and the baffle parts 12 are engaged with the hinge parts 11 in a matching way, so that two sides of the hinge parts 11 are shielded.

The protruding articulated portion 11 that sets up specifically can articulate with cam 5, and protruding separation blade portion 12 specifically can be installed with cam 5 fixed connection, has improved the cooperation degree between two sections movable joint. And this structure makes the cam 5 right face to the inner side of the hinge part 11 and the catch part 12 on one hand, which is convenient for arranging the cam 5; meanwhile, the cam 5, the unit motor 3 and other parts are shielded to the maximum extent to avoid exposure, the appearance of the product is improved while dust is prevented, the safety of the product is improved, and external objects are prevented from being clamped in joints.

The invention provides a micro robot joint, which adopts a cam 5 structure and drives the joint to swing when a driving member 4 rotates. And under this kind of structure, all parts all set up in the thin first movable festival 1 of volume inside, realized great load capacity under the thin prerequisite of volume. The structure with the mutually meshed hinge part 11 and the blocking piece part 12 ensures that the shielding performance between joints is better, not only protects the internal structure, but also is more beautiful. The combination of the components fully considers the assembly convenience, and the combination between the cam 5 and the second movable joint 2 is firm.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A micro-robotic joint, comprising: comprises a first movable joint, a second movable joint, a unit motor, a driving member and a cam; the unit motor is fixedly arranged in the first movable joint, and the upper part of the unit motor is in transmission connection with a driving component; the front side and the rear side of the driving component are provided with driving parts which protrude outwards; the front side and the rear side of the cam are respectively provided with a first guide rail and a second guide rail, the first guide rail on one side is in an upper arch shape with the middle part arched upwards and the left side and the right side protruded downwards, the second guide rail on the other side is in a lower arch shape with the middle part arched downwards and the left side and the right side sunken upwards, and the two driving parts are respectively in contact transmission with the two guide rails, so that the driving parts drive the cam to rotate left and right to swing when the driving member rotates left or right; the cam is fixedly arranged at the tail part of the second movable joint and is hinged with the first movable joint, so that the cam can rotate and swing left and right based on the first movable joint, and the first movable joint and the second movable joint are hinged together;

and the bottoms of the first guide rail and the second guide rail are provided with an insertion installation groove extending to the bottom end of the cam.

2. The micro robotic joint of claim 1, wherein: the cam is arranged on the driving component; the hinge point of the cam and the first movable joint is positioned above the middle parts of the first guide rail and the second guide rail; the direction of the articulated shaft is orthogonal to the first guide rail and the second guide rail.

3. The micro robotic joint of claim 2, wherein: the drive portion includes a roller mounted in cantilever relationship by a roller shaft extending outwardly from the drive member, the roller being free to roll in contact with the surface of the guide rail.

4. The micro robotic joint of claim 2, wherein: the head of the first movable joint is provided with a hinged part which protrudes and extends towards the second movable joint, and the first movable joint is hinged with a hinged point of the cam through the hinged part so as to be mutually linked with the tail part of the second movable joint.

5. The micro robotic joint of claim 4, wherein: and two sides of the tail part of the second movable joint are provided with baffle parts which protrude and extend towards the first movable joint, and the baffle parts are matched and meshed with the hinged parts, so that two sides of the hinged parts are shielded.

6. The micro robotic joint of claim 1, wherein: the peripheral both sides of cam are equipped with the outside location separation blade that extends that protrudes, the afterbody both sides of second movable festival are equipped with sunken positioning groove, and positioning groove matches with the location separation blade, and the interlock is fixed within positioning groove is located to the location separation blade card.