CN207997321U - A kind of arrangement joint structure - Google Patents
A kind of arrangement joint structure Download PDFInfo
- Publication number
- CN207997321U CN207997321U CN201820398874.0U CN201820398874U CN207997321U CN 207997321 U CN207997321 U CN 207997321U CN 201820398874 U CN201820398874 U CN 201820398874U CN 207997321 U CN207997321 U CN 207997321U
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- China
- Prior art keywords
- axis
- disc
- joint structure
- arrangement joint
- top bottom
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Abstract
The utility model discloses a kind of arrangement joint structures, it is related to manipulator field, it includes upper axis, axis and lower axle, the upper axis excircle is installed with concentric top bottom-disc, the axis excircle is installed with concentric telophragma, being equipped between the telophragma and top bottom-disc can make top bottom-disc to the inclined pendulous device of all directions, and the lower axle is equipped with the rotating device for driving 360 ° of rotations of the axis, and the axis is connected with upper axis.The utility model has transmission simple, and job stability is high, advantage with long service life.
Description
Technical field
The utility model is related to manipulator fields, and in particular to a kind of arrangement joint structure.
Background technology
With the development of modern science and technology, robot technology increasingly receives significant attention, increasingly existing in industrial production
The use of today of generationization, robot become more and more popular.Therefore the research of robot technology is also become increasingly to compel
It cuts.Traditional mechanical wrist joint is made of complicated revolute pair and gear drive, and all leads to structure using rigidity driving
Heavy, volume is greatly, control accumulated error is big, output compliance is poor, is unfavorable for the safety of human-computer interaction.
Utility model content
In order to overcome the shortcomings of background technology, a kind of transmission of the utility model offer is simple, and job stability is high, uses the longevity
Order long arrangement joint structure.
Technical solution used by the utility model:A kind of arrangement joint structure comprising upper axis, axis and lower axle,
The upper axis excircle is installed with concentric top bottom-disc, and the axis excircle is installed with concentric telophragma, in described
Being equipped between disk and top bottom-disc can make top bottom-disc to the inclined pendulous device of all directions, and the lower axle is equipped with described in drive
The rotating device of 360 ° of rotations of axis, the axis are connected with upper axis.
The upper axis lower end is with the axis upper end by the way of universal connection.
The pendulous device uses several lifters being uniformly arranged around axle center decile, the lifters both ends solid respectively
Dingan County is on top bottom-disc and telophragma.
The lifters use cylinder.
The rotating device include the low bottom-disc for being fixedly mounted on the lower axle upper end, sun gear, planetary gear, ring gear,
Swing rod and dynamical element, the low bottom-disc are installed with for the rotatably mounted holder of the sun gear and planetary gear, in described
Axis is fixedly connected with the sun gear, and the ring gear is rotatably mounted on the low bottom-disc, and the swing rod is rotatable
On the low bottom-disc and center of rotation is corresponding with the sun gear center of circle, and described swing rod one end is engaged with the ring gear
Cooperation, and the other end is connected with the dynamical element.
The dynamical element is using the cylinder lain in a horizontal plane on the low bottom-disc.
The utility model has the beneficial effects that:This structure is put to control joint toward all directions by the flexible of extensible member
It is dynamic, realize 360 degree rotation using the gear drive of rotating device, can be more flexible after realizing this rotation, it levels off to
Various accurate operations are completed in the action of our human hands, better control, have transmission simple, and easy to maintain, service life is long,
There are enough strength and stiffness, deformation is small, ensures that each moving parts position is correct, works well, the small advantage of vibration noise.
Description of the drawings
Fig. 1 is the structural schematic diagram that the utility model embodiment arranges joint structure.
Fig. 2 is the structural schematic diagram of rotating device.
Fig. 3 is the vertical view that rotating device removes sun gear and planetary gear.
Specific implementation mode
The utility model embodiment is described further below in conjunction with the accompanying drawings:
As shown, a kind of arrangement joint structure comprising upper axis 1, axis 2 and lower axle 3,1 excircle of upper axis
It is installed with concentric top bottom-disc 4,2 excircle of the axis is installed with concentric telophragma 5, the telophragma 5 and upper bottom
Being equipped between disk 4 can make top bottom-disc 4 to the inclined pendulous device of all directions, and the lower axle 3, which is equipped with, drives the axis
The rotating device 8 of 2360 ° of rotations, the axis 2 are connected with upper axis 1, this structure is closed by the flexible of extensible member to control
It saves and is swung toward all directions, 360 degree rotation is realized using the gear drive of rotating device, it, can be with after realizing this rotation
It is more flexible, level off to the actions of our human hands, various accurate operations are completed in better control, have that transmission is simple, maintenance side
Just, service life is long, there is enough strength and stiffness, and deformation is small, ensures that each moving parts position is correct, works well, and vibrates
The small advantage of noise.
By the way of universal connection, the base of upper axis rotation is driven in axis with 2 upper end of the axis for 1 lower end of upper axis
Realized on plinth upper axis can omnibearing tilt effect.
The pendulous device uses several lifters 6 being uniformly arranged around axle center decile, 6 both ends of lifters difference
It is fixedly mounted on top bottom-disc 4 and telophragma 5, the lifters 6 use cylinder, real by the lifting of each cylinder of electric control
The wallowing motion of existing top bottom-disc.
The rotating device 8 include be fixedly mounted on the low bottom-disc 7 of 3 upper end of the lower axle, sun gear 81, planetary gear 82,
Ring gear 83, swing rod 84 and dynamical element 85, the low bottom-disc 7 are installed with rotatable for the sun gear 81 and planetary gear 82
The holder 86 of installation, the axis 2 are fixedly connected with the sun gear 81, the ring gear 83 rotatably be mounted on it is described under
On chassis 7, the swing rod 84 is rotatably mounted on the low bottom-disc 7 and center of rotation and 81 center of circle pair of the sun gear
It answers, 84 one end of the swing rod engages cooperation with the ring gear 83, and the other end is connected with the dynamical element 85, the power
Element 85 is a four-bar mechanism using the cylinder lain in a horizontal plane on the low bottom-disc 7, entire rotating device, is carried by cylinder
The power of confession makes swing rod drive ring gear rotation, ring gear that planetary gear rotation, planetary gear is driven only to rotate, do not move
Dynamic, so driving sun gear rotation, sun gear drives central axis again.
The dynamical element and lifters being carried out in example are not limited to use cylinder, can also use other functions and cylinder
Similar element, such as screw pair etc..
Embodiment is not construed as the limitation to utility model, but any spiritual improvements introduced based on the utility model,
It should all be within the protection scope of the utility model.
Claims (6)
1. a kind of arrangement joint structure, it is characterised in that:It includes upper axis(1), axis(2)And lower axle(3), the upper axis
(1)Excircle is installed with concentric top bottom-disc(4), the axis(2)Excircle is installed with concentric telophragma(5), institute
State telophragma(5)With top bottom-disc(4)Between be equipped with can make top bottom-disc(4)To the inclined pendulous device of all directions, the lower axle
(3)It is equipped with and drives the axis(2)The rotating device of 360 ° of rotations(8), the axis(2)With upper axis(1)It is connected.
2. arrangement joint structure according to claim 1, it is characterised in that:The upper axis(1)Lower end and the axis(2)
Upper end is by the way of universal connection.
3. arrangement joint structure according to claim 1, it is characterised in that:The pendulous device is using several around axle center
The lifters that decile is uniformly arranged(6), the lifters(6)Both ends are respectively and fixedly installed to top bottom-disc(4)And telophragma(5)
On.
4. arrangement joint structure according to claim 3, it is characterised in that:The lifters(6)Using cylinder.
5. arrangement joint structure according to claim 1, it is characterised in that:The rotating device(8)Including being fixedly mounted
In the lower axle(3)The low bottom-disc of upper end(7), sun gear(81), planetary gear(82), ring gear(83), swing rod(84)And it is dynamic
Power element(85), the low bottom-disc(7)It is installed with for the sun gear(81)And planetary gear(82)Rotatably mounted holder
(86), the axis(2)With the sun gear(81)It is fixedly connected, the ring gear(83)Rotatably it is mounted on the bottom
Disk(7)On, the swing rod(84)Rotatably it is mounted on the low bottom-disc(7)Upper and center of rotation and the sun gear(81)Circle
The heart corresponds to, the swing rod(84)One end and the ring gear(83)Engagement cooperation, and the other end and the dynamical element(85)Phase
Even.
6. arrangement joint structure according to claim 5, it is characterised in that:The dynamical element(85)Using horizontal positioned
In the low bottom-disc(7)On cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820398874.0U CN207997321U (en) | 2018-03-23 | 2018-03-23 | A kind of arrangement joint structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820398874.0U CN207997321U (en) | 2018-03-23 | 2018-03-23 | A kind of arrangement joint structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207997321U true CN207997321U (en) | 2018-10-23 |
Family
ID=63839102
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820398874.0U Expired - Fee Related CN207997321U (en) | 2018-03-23 | 2018-03-23 | A kind of arrangement joint structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207997321U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112536793A (en) * | 2020-12-16 | 2021-03-23 | 黑龙江职业学院(黑龙江省经济管理干部学院) | Multi-degree-of-freedom modular industrial robot |
| CN114871035A (en) * | 2022-05-20 | 2022-08-09 | 如皋市通城冲压机械制造有限公司 | Spraying device for processing stamping parts |
-
2018
- 2018-03-23 CN CN201820398874.0U patent/CN207997321U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112536793A (en) * | 2020-12-16 | 2021-03-23 | 黑龙江职业学院(黑龙江省经济管理干部学院) | Multi-degree-of-freedom modular industrial robot |
| CN112536793B (en) * | 2020-12-16 | 2021-10-22 | 黑龙江职业学院(黑龙江省经济管理干部学院) | Multi-degree-of-freedom modular industrial robot |
| CN114871035A (en) * | 2022-05-20 | 2022-08-09 | 如皋市通城冲压机械制造有限公司 | Spraying device for processing stamping parts |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181023 Termination date: 20190323 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |