CN112720563A - Mechanical joint and driving device thereof - Google Patents
Mechanical joint and driving device thereof Download PDFInfo
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- CN112720563A CN112720563A CN201910975093.2A CN201910975093A CN112720563A CN 112720563 A CN112720563 A CN 112720563A CN 201910975093 A CN201910975093 A CN 201910975093A CN 112720563 A CN112720563 A CN 112720563A
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- connecting rod
- hinge
- seat
- transmission connecting
- hinged
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- 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
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Chairs For Special Purposes, Such As Reclining Chairs (AREA)
Abstract
The invention belongs to the technical field of mechanical joints, and particularly relates to a mechanical joint and a driving device thereof, wherein when the device is used, a first hinge seat and a second hinge seat are respectively hinged on two joint bodies of the mechanical joint, when the device is expanded, a motor rotates clockwise, the motor seat is in rotation stopping fit with the first hinge seat, a rotating arm pulls a driving connecting rod to do inward-contraction circumference and centripetal mixed motion, the driving connecting rod pulls a middle hinge seat to contract radially towards the rotating arm, the included angle between a first transmission connecting rod and a second transmission connecting rod hinged on the middle hinge seat is gradually increased, the motor seat can be guided to be far away from the first hinge seat along the stretching direction, and meanwhile, the first hinge seat and the second hinge seat are far away from each other, so that the device is expanded axially; the device is retracted and moves in a reverse direction to that of the device when expanded; the mode that adopts the motor directly to drive has been avoided, has reduced use cost, and the mechanical transmission between the articulated connecting rod moreover for drive arrangement response speed is fast and the action is more accurate errorless.
Description
Technical Field
The invention belongs to the technical field of mechanical joints, and particularly relates to a mechanical shutdown device and a driving device thereof.
Background
The current mechanical joint is mostly driven by a servo motor directly, so that the servo motor has high torque requirements, and the cost of the servo motor is high; besides the direct drive mode of the servo motor, some mechanical joints are driven pneumatically or hydraulically, elastic media such as compressed air or hydraulic oil are needed, and when the elastic media capable of buffering are used for driving the mechanical joints, the problems that the mechanical joints are slow in response speed, untimely in movement and inaccurate in positioning can be caused.
Disclosure of Invention
The invention aims to provide a telescopic driving device for a mechanical joint, which aims to solve the technical problems that the servo motor direct-drive mode in the prior art is high in cost, and the pneumatic or hydraulic drive mode is low in response speed and inaccurate in positioning; the invention also provides a mechanical joint using the driving device.
In order to achieve the purpose, the technical scheme of the telescopic driving device for the mechanical joint is as follows:
the telescopic driving device for the mechanical joint comprises a first hinge seat, a first transmission connecting rod, a middle hinge seat, a second transmission connecting rod and a second hinge seat, wherein all the parts are sequentially arranged along the telescopic direction of the telescopic driving device for the mechanical joint; the first hinge seat and the second hinge seat are respectively hinged with the two joint bodies of the mechanical joint along an axis perpendicular to the telescopic direction so as to drive the two joint bodies of the mechanical joint to swing relatively when the first hinge seat and the second hinge seat are close to or far away from each other; the number of the first transmission connecting rods and the number of the second transmission connecting rods are more than two, the first transmission connecting rods are uniformly distributed around the circumferential direction, and the second transmission connecting rods are uniformly distributed around the circumferential direction; the middle hinge seat is provided with a first hinge part and a second hinge part which are positioned at two sides in the telescopic direction; one end of the first transmission connecting rod is hinged on the first hinge seat, and the other end of the first transmission connecting rod is hinged on the first hinge part; one end of the second transmission connecting rod is hinged on the second hinge seat, the other end of the second transmission connecting rod is hinged on the second hinge part, and the first transmission connecting rod and the second transmission connecting rod are the same in length; the hinge axes at the two ends of the first transmission connecting rod are parallel to each other and are perpendicular to the telescopic direction, and the hinge axes at the two ends of the second transmission connecting rod are parallel to each other and are perpendicular to the telescopic direction; a motor base is assembled on the first hinge base in a guiding mode along the telescopic direction, the first hinge base is in rotation stopping fit with the motor base, a motor is fixedly installed on the motor base, and the axis of a rotating shaft of the motor is parallel to the telescopic direction; the motor rotating shaft is connected with a rotating arm, and each middle hinge seat is arranged around the rotating arm; a driving connecting rod is respectively hinged between the rotating arm and each middle hinged seat; each middle hinge seat is also provided with a third hinge part which is positioned between the first hinge part and the second hinge part along the telescopic direction; one end of the driving connecting rod is hinged to the rotating arm, and the other end of the driving connecting rod is hinged to the third hinged part; the hinge axis at the two ends of each driving connecting rod is parallel to the telescopic direction, and the driving connecting rods are used for driving the middle hinge seats to move towards the direction close to or far away from the rotating arm when the rotating arm rotates.
The invention has the beneficial effects that: when the driving device is used, the first hinge seat and the second hinge seat are respectively hinged on two joint bodies of the mechanical joint, and the first hinge seat and the second hinge seat are in the telescopic direction of the mutual movement direction; when the driving device needs to be expanded, the motor is controlled to rotate clockwise, and due to the fact that the motor base and the first hinge base are in rotation stopping fit with each other, the motor rotating shaft can drive the rotating arm to rotate relative to the first hinge base, the rotating arm pulls the driving connecting rod to do inward contraction circumferential and centripetal mixed motion, the driving connecting rod pulls the middle hinge base to contract radially towards the rotating arm, the included angle between the corresponding first transmission connecting rod and the corresponding second transmission connecting rod which are hinged on the middle hinge base is gradually increased, at the moment, the middle hinge base can be far away from the first hinge base, the motor base can conduct guiding motion on the first hinge base along the expansion direction, the motor can move towards the direction far away from the first hinge base, meanwhile, the first hinge base and the second hinge base are far away from each other, and axial expansion motion of the driving device is achieved; when the driving device is contracted, the driving device moves in a way opposite to that when the device is expanded, so that the contraction movement of the driving device is realized; whole drive arrangement turns into the rotary motion of motor the radial concertina movement of the articulated seat in middle into, turning into the axial concertina movement of the articulated seat of first articulated seat and second at the radial concertina movement that utilizes the articulated seat in middle of the transmission connecting rod, for the mode that adopts the motor to directly drive, this drive arrangement utilizes the mode greatly reduced use cost of motor with the connecting rod, and for adopting pneumatics, the mode that surges, this drive arrangement's response speed is faster, be favorable to the accurate action of drive arrangement more.
Further, be equipped with the guide bar on one of them of first articulated seat and motor cabinet, be equipped with the uide bushing on the other, guide bar and uide bushing are followed flexible direction cooperation.
Has the advantages that: the mutual guide cooperation of guide bar and uide bushing guarantees that the motor on the motor cabinet can follow the accurate guide motion for first articulated seat of the direction of stretching out and drawing back.
Furthermore, one of the guide rod and the guide sleeve is provided with a stop block, the other guide rod and the guide sleeve is provided with a long hole, the stop block is guided to move in the long hole along the telescopic direction, and the long hole is used for preventing the guide sleeve from being separated from the guide rod.
Has the advantages that: the stop block is guided in the long hole to move, and is used for preventing the guide sleeve from being separated from the guide rod, so that the whole device is out of work.
Furthermore, the stop block is a limit pin which can be detachably arranged on the guide rod or the guide sleeve.
Has the advantages that: the motor base is provided with a detachable limiting pin, so that the motor base and the first hinge base can be conveniently installed and assembled.
Furthermore, the guide rod is a square rod with a square cross section, and the guide sleeve is provided with a square hole matched with the square rod in a guide mode.
Has the advantages that: the direction cooperation that square bar and square hole can stall each other to realize the cooperation of stalling between motor and the first articulated seat.
Further, the first transmission connecting rod and the second transmission connecting rod are symmetrically arranged relative to the middle hinge seat along the extending and contracting direction.
Further, each of the rotating arms is an integral structure, and each of the rotating arms forms a driving disk at the center of the middle hinge seat.
Has the advantages that: the rotor arm of integrative structure forms the driving-disc structure for the rotor arm has better overall structure intensity.
The technical scheme of the mechanical joint is as follows:
the mechanical joint comprises two joint bodies and a driving device, wherein the driving device comprises a first hinging seat and a second hinging seat which are respectively hinged with the two joint bodies so as to drive the two joint bodies of the mechanical joint to swing relatively when the first hinging seat and the second hinging seat are close to or far away from each other; the driving device comprises a first hinge seat, a first transmission connecting rod, a middle hinge seat, a second transmission connecting rod and a second hinge seat, and all the parts are sequentially arranged along the telescopic direction of the mechanical joint telescopic driving device; the first hinge seat and the second hinge seat are respectively hinged with two joint bodies of the mechanical joint along an axis perpendicular to the telescopic direction, more than two first transmission connecting rods and more than two second transmission connecting rods are arranged, the first transmission connecting rods are uniformly distributed around the circumferential direction, and the second transmission connecting rods are uniformly distributed around the circumferential direction; the middle hinge seat is provided with a first hinge part and a second hinge part which are positioned at two sides in the telescopic direction; one end of the first transmission connecting rod is hinged on the first hinge seat, and the other end of the first transmission connecting rod is hinged on the first hinge part; one end of the second transmission connecting rod is hinged on the second hinge seat, the other end of the second transmission connecting rod is hinged on the second hinge part, and the first transmission connecting rod and the second transmission connecting rod are the same in length; the hinge axes at the two ends of the first transmission connecting rod are parallel to each other and are perpendicular to the telescopic direction, and the hinge axes at the two ends of the second transmission connecting rod are parallel to each other and are perpendicular to the telescopic direction; a motor base is assembled on the first hinge base in a guiding mode along the telescopic direction, the first hinge base is in rotation stopping fit with the motor base, a motor is fixedly installed on the motor base, and the axis of a rotating shaft of the motor is parallel to the telescopic direction; the motor rotating shaft is connected with a rotating arm, and each middle hinge seat is arranged around the rotating arm; a driving connecting rod is respectively hinged between the rotating arm and each middle hinged seat; each middle hinge seat is also provided with a third hinge part which is positioned between the first hinge part and the second hinge part along the telescopic direction; one end of the driving connecting rod is hinged to the rotating arm, and the other end of the driving connecting rod is hinged to the third hinged part; the hinge axis at the two ends of each driving connecting rod is parallel to the telescopic direction, and the driving connecting rods are used for driving the middle hinge seats to move towards the direction close to or far away from the rotating arm when the rotating arm rotates.
The invention has the beneficial effects that: when the driving device is applied to the mechanical joint, the first hinge seat and the second hinge seat are respectively hinged on two joint bodies of the mechanical joint, and the first hinge seat and the second hinge seat are in the telescopic direction of the mutual movement direction; when the mechanical joint needs to be expanded, the motor is controlled to rotate clockwise, and due to the fact that the motor base and the first hinge base are in mutual rotation stopping fit, the motor rotating shaft can drive the rotating arm to rotate relative to the first hinge base, the rotating arm pulls the driving connecting rod to do inward contraction circumferential and centripetal mixed motion, the driving connecting rod pulls the middle hinge base to contract radially towards the rotating arm, the included angle between the corresponding first transmission connecting rod and the corresponding second transmission connecting rod which are hinged on the middle hinge base is gradually increased, at the moment, the middle hinge base can be far away from the first hinge base, the motor base can conduct guide motion on the first hinge base along the extension direction, the motor can move towards the direction far away from the first hinge base, meanwhile, the first hinge base and the second hinge base are far away from each other, and axial extension motion of the driving device is achieved; when the mechanical joint is contracted, the driving device moves reversely to the expanding device, so that the contraction motion of the driving device is realized; whole drive arrangement turns into the rotary motion of motor the radial concertina movement of articulated seat in the middle of, utilize the radial concertina movement of transmission connecting rod with articulated seat in the middle of turn into the axial concertina movement of first articulated seat and the articulated seat of second, for the mode that adopts the motor to directly drive, greatly reduced whole mechanical joint's cost, and for adopting pneumatics, the mode that surges for whole mechanical joint has faster response speed, and then more be favorable to the accurate nature of mechanical joint's action.
Further, be equipped with the guide bar on one of them of first articulated seat and motor cabinet, be equipped with the uide bushing on the other, guide bar and uide bushing are followed flexible direction cooperation.
Has the advantages that: the mutual guide cooperation of guide bar and uide bushing guarantees that the motor on the motor cabinet can follow the accurate guide motion for first articulated seat of the direction of stretching out and drawing back.
Furthermore, one of the guide rod and the guide sleeve is provided with a stop block, the other guide rod and the guide sleeve is provided with a long hole, the stop block is guided to move in the long hole along the telescopic direction, and the long hole is used for preventing the guide sleeve from being separated from the guide rod.
Has the advantages that: the stop block is guided in the long hole to move, and is used for preventing the guide sleeve from being separated from the guide rod, so that the whole device is out of work.
Furthermore, the stop block is a limit pin which can be detachably arranged on the guide rod or the guide sleeve.
Has the advantages that: the motor base is provided with a detachable limiting pin, so that the motor base and the first hinge base can be conveniently installed and assembled.
Furthermore, the guide rod is a square rod with a square cross section, and the guide sleeve is provided with a square hole matched with the square rod in a guide mode.
Has the advantages that: the direction cooperation that square bar and square hole can stall each other to realize the cooperation of stalling between motor and the first articulated seat.
Further, the first transmission connecting rod and the second transmission connecting rod are symmetrically arranged relative to the middle hinge seat along the extending and contracting direction.
Further, each of the rotating arms is an integral structure, and each of the rotating arms forms a driving disk at the center of the middle hinge seat.
Has the advantages that: the rotor arm of integrative structure forms the driving-disc structure for the rotor arm has better overall structure intensity.
Drawings
Fig. 1 is a perspective view of a telescopic driving apparatus for a mechanical joint in the present invention;
FIG. 2 is a perspective view of the first hinge mount of FIG. 1;
FIG. 3 is a perspective view of the motor mount of FIG. 1;
FIG. 4 is a perspective view of the intermediate hinge mount of FIG. 1;
FIG. 5 is a perspective view of the swivel arm of FIG. 1;
fig. 6 is a perspective view of the second hinge base of fig. 1;
FIG. 7 is a schematic view of the radial retraction of the pivoting arm power-driven intermediate hinge mount;
FIG. 8 is a schematic view of the drive device expanded axially;
FIG. 9 is a schematic view of the driving device under axial contraction;
description of reference numerals:
1-a first hinge seat, 2-a first transmission connecting rod, 3-a limit pin, 4-a motor seat, 5-a motor, 6-a hinge pin, 7-a rotating arm, 8-a driving connecting rod, 9-a middle hinge seat, 10-a second transmission connecting rod, 11-a second hinge seat, 12-a guide rod, 13-a limit pin mounting hole, 41-a guide sleeve, 42-a long hole, 71-a motor rotating shaft mounting hole, 72-a driving connecting rod hinge part, 73-a threaded hole, 91-a first hinge part, 92-a second hinge part and 93-a third hinge part.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
The invention provides a specific embodiment of a telescopic driving device for a mechanical joint, which comprises the following steps:
as shown in fig. 1 to 9, the telescopic driving device for a mechanical joint comprises a first articulated seat 1, a first transmission link 2, a middle articulated seat 9, a second transmission link 10 and a second articulated seat 11, which are sequentially arranged along the telescopic direction of the telescopic driving device for a mechanical joint; the first articulated seat 1 and the second articulated seat 11 are used for being respectively articulated with two joint bodies of the mechanical joint, so that the two joint bodies are driven to swing relatively when the first articulated seat 1 and the second articulated seat 11 approach or depart from each other.
As shown in fig. 1, four first transmission connecting rods 2 are uniformly distributed around the circumference of the first hinge seat 1, one end of each first transmission connecting rod 2 is hinged on the first hinge seat 1, the other end of each first transmission connecting rod 2 is hinged on the first hinge portion 91 of the middle hinge seat 9, the hinge axes of the first transmission connecting rods 2 and the first hinge seat 1 are parallel to the hinge axes of the first transmission connecting rods 2 and the middle hinge seat 9, and the two hinge axes on the first transmission connecting rods 2 are perpendicular to the telescopic direction of the device.
Four second transmission connecting rods 10 are uniformly distributed around the circumference of the second hinge seat 11, one end of each second transmission connecting rod 10 is hinged on the second hinge seat 11, the other end of each second transmission connecting rod is hinged on a second hinge part 92 of the middle hinge seat 9, as shown in fig. 4, the hinge axis of the second transmission connecting rod 10 and the second hinge seat 11 is parallel to the hinge axis of the second transmission connecting rod 10 and the middle hinge seat 9, and the two hinge axes on the second transmission connecting rod 11 are perpendicular to the telescopic direction of the device. The first transmission link 2 and the second transmission link 10 are the same in length, and the first transmission link 2 and the second transmission link 10 are symmetrically arranged in the telescopic direction with respect to the intermediate hinge base 9.
As shown in fig. 2 and 3, a motor base 4 is assembled on the first hinge base 1 in a guiding manner along the extending direction, a guide rod 12 is arranged on the first hinge base 1, the guide rod 12 is a square rod, a guide sleeve 41 is arranged on the motor base 4, a square hole matched with the square rod is formed in the guide sleeve 41, the square hole and the square rod can be mutually in rotation stopping fit, so that the motor base 4 can only be in guiding fit along the extending direction relative to the first hinge base 1, and the motor base 4 and the first hinge base 1 cannot rotate mutually; be equipped with spacing pin mounting hole 13 on guide bar 12, removable installation has spacing pin 3 in spacing pin mounting hole 13, be equipped with the slot hole 42 of long circle on uide bushing 41, spacing pin 3 is arranged in slot hole 42, spacing pin 3 can slide in slot hole 42 along flexible direction, wherein the length of slot hole 42 slightly is greater than drive arrangement's the ascending activity limit in flexible direction, thereby make slot hole 42 and spacing pin 3's cooperation can not block the flexible activity of dead drive arrangement's axial, drive arrangement's concertina movement can not receive slot hole 42 and spacing pin 3's influence promptly, and spacing pin 3 and slot hole 42 cooperation can be used for preventing that the uide bushing on the motor cabinet 4 from following the guide bar on the articulated seat 1 roll-off, and make the direction between motor cabinet 4 and the articulated seat 1 inefficacy, and then the condition of the whole device inefficacy that causes.
A motor 5 is fixedly arranged on the motor base 4, the motor 5 is a servo motor, and the axis of a rotating shaft of the motor is parallel to the telescopic direction of the device; as shown in fig. 5, the rotating arm 7 is an integral structure, the rotating arm 7 includes two cross plates and a hollow shaft sleeve located between the two cross plates, four ends of the cross plates are respectively provided with a driving connecting rod hinge portion 72 for connecting with the driving connecting rod 8 through a hinge pin, a motor rotating shaft mounting hole 71 is arranged in the hollow shaft sleeve at the center of the cross plates, a threaded hole 73 is arranged on the circumferential surface of the hollow shaft sleeve, one radial side of the motor rotating shaft is provided with a rotation stopping plane formed by local milling, after the motor rotating shaft passes through the motor rotating shaft mounting hole 71, the rotation stopping plane on the motor rotating shaft aligns with the threaded hole 73 on the hollow shaft sleeve, and then a set screw is screwed into the threaded hole 73, so that the motor rotating shaft and the rotating arm 7 are fixed. A driving connecting rod 8 is respectively arranged between the rotating arm 7 and the four middle hinged seats 9, one end of the driving connecting rod 8 is hinged on a driving connecting rod hinged part 72 on the rotating arm 7, the other end of the driving connecting rod 8 is hinged on a third hinged part 93 of the middle hinged seat 9, the hinged axes of the driving connecting rod 8 and the rotating arm 7 and the hinged axes of the driving connecting rod 8 and the middle hinged seat 9 are both parallel to the telescopic direction of the device, and the rotating arm 7 drives the middle hinged seat 9 to move towards the direction close to or far away from the rotating arm through the driving connecting rod 8 when rotating.
When the driving device is expanded, as shown in fig. 7 and 8, the motor 5 drives the rotating arm 7 to rotate clockwise, because the motor seat 4 and the first hinge seat 1 are in a rotation stopping matching structure of a square rod and a square hole, the rotating shaft of the motor can drive the rotating arm 7 to rotate clockwise relative to the first hinge seat 1, the rotating arm 7 pulls the driving connecting rod 8 to do a mixed motion of inward contraction circumference and centripetal direction, the driving connecting rod 8 pulls the middle hinge seat 9 to contract radially towards the rotating arm, this results in a gradually increasing angle between the first rotation link 2 and the second transmission link 11 articulated on the intermediate articulation seat 9, so that the motor 5 and the motor base 4 are gradually guided away from the first hinge base 1 along the telescopic direction of the device, meanwhile, the second hinged seat and the first hinged seat are far away from each other, and axial expansion of the mechanical joint driving device is achieved.
When the driving device is contracted, the motor 5 drives the rotating arm 7 to rotate anticlockwise, the rotating arm 7 pushes the driving connecting rod 8 to do outward expansion circumference and centripetal mixed motion, the driving connecting rod 8 pushes the middle hinged seat 9 to expand radially towards the direction far away from the rotating arm 7, the included angle between the first rotating connecting rod 2 hinged on the middle hinged seat 9 and the second transmission connecting rod 11 is gradually reduced, the motor 5 and the motor seat 4 are gradually close to the first hinged seat 1 along the telescopic direction of the driving device, meanwhile, the second hinged seat and the first hinged seat are close to each other, and axial contraction of the mechanical joint driving device is realized.
This drive arrangement turns into the rotary motion of motor the radial concertina movement of articulated seat in the middle of, utilize with the articulated connecting rod of articulated seat in the middle of turn into the telescopic motion of first articulated seat and the articulated seat of second in flexible orientation with its radial concertina movement, not only avoided adopting the mode that the motor directly drives and the cost is reduced, make drive arrangement response speed faster and move more accurately moreover.
As shown in fig. 9, when the driving device is contracted, the middle hinge seat 9 is subjected to a force F1 expanding radially outwards, the second hinge seat 11 is subjected to a force F2 pointing axially in the direction of the first hinge seat, and the angle between the second transmission link and the expansion direction is α, wherein the mechanical relationship is as follows: f2= F1/tan α, it can be seen that the smaller the α angle, the greater the retracting drive force of F2, thus enabling the motor to provide a smaller force F1 to enable the drive to output a larger drive force of F2.
In this embodiment, there are four first transmission connecting rods around the first articulated seat equipartition, and corresponding second transmission connecting rod, middle articulated seat and drive connecting rod are four, in other embodiments, also can be around first articulated seat equipartition two, three, five first transmission connecting rods of quantity such as, and the quantity of corresponding second transmission connecting rod, middle articulated seat and drive connecting rod equals with the quantity of first transmission connecting rod.
In other embodiments, the guide rod may be provided with an outward-turning edge, the guide sleeve is provided with an inward-turning edge, and the guide sleeve is prevented from sliding out of the guide rod to cause guide failure of the guide sleeve and the guide sleeve through stop matching of the outward-turning edge and the inward-turning edge.
In the present embodiment, the guide rod is a square rod, and the guide sleeve has a square hole in guiding fit with the square rod; the guide bar also can be circular rod, has the complex circular port with it on the uide bushing, at this moment, is equipped with spacing pin on circular shape guide bar, be equipped with on the uide bushing with spacing pin complex slot hole, spacing pin and slot hole can play the effect of splining between guide bar and the uide bushing, can also prevent that the uide bushing from breaking away from the guide bar simultaneously.
In this embodiment, the first transmission link and the second transmission link are symmetrically arranged relative to the extending direction of the middle hinge seat, and in other embodiments, the first transmission link and the second transmission link may also be arranged alternately in the circumferential direction, and only one transmission link is connected to each middle hinge seat.
In this embodiment the rotating arm is formed by a cross-shaped disc, in other embodiments the rotating arm may also be a circular disc.
In the present embodiment, the rotating arms are of an integral structure, in other embodiments, the rotating arms hinged to the driving connecting rods are of a split type, the rotating arms are respectively and fixedly connected with the rotating shaft of the motor, and the driving connecting rod hinged parts on the rotating arms are all located in a plane perpendicular to the stretching direction.
The invention provides a specific embodiment of a mechanical joint, which comprises the following components in parts by weight:
the mechanical joint comprises two joint bodies and a driving device, wherein the driving device comprises a first hinging seat and a second hinging seat which are respectively hinged with the two joint bodies so as to drive the two joint bodies of the mechanical joint to swing relatively when the first hinging seat and the second hinging seat are close to or far away from each other; the structure of the driving device in the mechanical joint is the same as that in the above-mentioned specific embodiment of the telescopic driving device for the mechanical joint, and is not described herein again.
Claims (8)
1. A telescopic drive for a mechanical joint, characterized in that: the mechanical joint telescopic driving device comprises a first hinge seat, a first transmission connecting rod, a middle hinge seat, a second transmission connecting rod and a second hinge seat, wherein all the parts are sequentially arranged along the telescopic direction of the mechanical joint telescopic driving device;
the first hinge seat and the second hinge seat are respectively hinged with the two joint bodies of the mechanical joint along an axis perpendicular to the telescopic direction so as to drive the two joint bodies of the mechanical joint to swing relatively when the first hinge seat and the second hinge seat are close to or far away from each other;
the number of the first transmission connecting rods and the number of the second transmission connecting rods are more than two, the first transmission connecting rods are uniformly distributed around the circumferential direction, and the second transmission connecting rods are uniformly distributed around the circumferential direction;
the middle hinge seat is provided with a first hinge part and a second hinge part which are positioned at two sides in the telescopic direction;
one end of the first transmission connecting rod is hinged on the first hinge seat, and the other end of the first transmission connecting rod is hinged on the first hinge part; one end of the second transmission connecting rod is hinged on the second hinge seat, the other end of the second transmission connecting rod is hinged on the second hinge part, and the first transmission connecting rod and the second transmission connecting rod are the same in length;
the hinge axes at the two ends of the first transmission connecting rod are parallel to each other and are perpendicular to the telescopic direction, and the hinge axes at the two ends of the second transmission connecting rod are parallel to each other and are perpendicular to the telescopic direction;
a motor base is assembled on the first hinge base in a guiding mode along the telescopic direction, the first hinge base is in rotation stopping fit with the motor base, a motor is fixedly installed on the motor base, and the axis of a rotating shaft of the motor is parallel to the telescopic direction;
the motor rotating shaft is connected with a rotating arm, and each middle hinge seat is arranged around the rotating arm; a driving connecting rod is respectively hinged between the rotating arm and each middle hinged seat;
each middle hinge seat is also provided with a third hinge part which is positioned between the first hinge part and the second hinge part along the telescopic direction;
one end of the driving connecting rod is hinged to the rotating arm, and the other end of the driving connecting rod is hinged to the third hinged part; the hinge axis at the two ends of each driving connecting rod is parallel to the telescopic direction, and the driving connecting rods are used for driving the middle hinge seats to move towards the direction close to or far away from the rotating arm when the rotating arm rotates.
2. The telescopic drive device for a mechanical joint according to claim 1, characterized in that: one of them of first articulated seat and motor cabinet is equipped with the guide bar, is equipped with the uide bushing on the other, guide bar and uide bushing are followed flexible direction cooperation.
3. The telescopic drive device for a mechanical joint according to claim 2, characterized in that: one of the guide rod and the guide sleeve is provided with a stop block, and the other guide rod and the guide sleeve are provided with a long hole; the stop block is guided in the telescopic direction in a slot, which is used to prevent the guide sleeve from being pulled out of the guide rod.
4. The telescopic drive device for a mechanical joint according to claim 3, characterized in that: the stop block is a limit pin which is detachably arranged on the guide rod or the guide sleeve.
5. The telescopic drive device for a mechanical joint according to claim 2, characterized in that: the guide rod is a square rod with a square cross section, and the guide sleeve is provided with a square hole matched with the square rod in a guide mode.
6. A telescopic drive for a mechanical joint according to any of claims 1-5, characterized in that: the first transmission connecting rod and the second transmission connecting rod are symmetrically arranged relative to the middle hinged seat along the extending and contracting direction.
7. A telescopic drive for a mechanical joint according to any of claims 1-5, characterized in that: each rotating arm is of an integral structure, and a driving disc is formed at the center of the middle hinge seat by each rotating arm.
8. Mechanical joint, its characterized in that: the driving device comprises a first hinging seat and a second hinging seat which are respectively hinged with the two joint bodies, so that the two joint bodies of the mechanical joint can be driven to swing relatively when the first hinging seat and the second hinging seat are close to or far away from each other; the driving device is a telescopic driving device for a mechanical joint as claimed in any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910975093.2A CN112720563B (en) | 2019-10-14 | 2019-10-14 | Mechanical joint and driving device thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910975093.2A CN112720563B (en) | 2019-10-14 | 2019-10-14 | Mechanical joint and driving device thereof |
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| CN112720563A true CN112720563A (en) | 2021-04-30 |
| CN112720563B CN112720563B (en) | 2022-07-26 |
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| CN201910975093.2A Active CN112720563B (en) | 2019-10-14 | 2019-10-14 | Mechanical joint and driving device thereof |
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Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012007014A1 (en) * | 2010-07-13 | 2012-01-19 | Abdallah Ezzat Abdallah Abozaied | Joint |
| CN102476383A (en) * | 2010-11-30 | 2012-05-30 | 沈阳新松机器人自动化股份有限公司 | Planar articulated robot arm mechanism |
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| CN108608458A (en) * | 2018-07-26 | 2018-10-02 | 中国石油大学(华东) | A kind of submissive joint of mechanical arm of tandem drive |
| CN108894974A (en) * | 2018-06-29 | 2018-11-27 | 四川杰特机器有限公司 | A kind of pressurization pump drive assembly and symmetrical pulse reciprocating booster pump |
| CN109623870A (en) * | 2019-02-22 | 2019-04-16 | 江苏钧微动力科技有限公司 | A kind of novel vector controlled rotary joint |
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2019
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|---|---|---|---|---|
| WO2012007014A1 (en) * | 2010-07-13 | 2012-01-19 | Abdallah Ezzat Abdallah Abozaied | Joint |
| CN102476383A (en) * | 2010-11-30 | 2012-05-30 | 沈阳新松机器人自动化股份有限公司 | Planar articulated robot arm mechanism |
| CN203413008U (en) * | 2013-08-23 | 2014-01-29 | 深圳市许继自动化技术有限公司 | Locking mechanism |
| CN104120928A (en) * | 2014-08-11 | 2014-10-29 | 南京军理智能科技股份有限公司 | Civil air defense protective door locking device |
| CN105329412A (en) * | 2015-11-26 | 2016-02-17 | 哈尔滨工程大学 | Articulated extension ladder for ships |
| CN207902646U (en) * | 2017-12-28 | 2018-09-25 | 江苏金彭车业有限公司 | Lockable mechanism and electric vehicle for electric vehicle |
| CN108894974A (en) * | 2018-06-29 | 2018-11-27 | 四川杰特机器有限公司 | A kind of pressurization pump drive assembly and symmetrical pulse reciprocating booster pump |
| CN108608458A (en) * | 2018-07-26 | 2018-10-02 | 中国石油大学(华东) | A kind of submissive joint of mechanical arm of tandem drive |
| CN109623870A (en) * | 2019-02-22 | 2019-04-16 | 江苏钧微动力科技有限公司 | A kind of novel vector controlled rotary joint |
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| CN112720563B (en) | 2022-07-26 |
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