CN100537159C - Spherical hinge type joint electric locking device - Google Patents
Spherical hinge type joint electric locking device Download PDFInfo
- Publication number
- CN100537159C CN100537159C CNB2008100558366A CN200810055836A CN100537159C CN 100537159 C CN100537159 C CN 100537159C CN B2008100558366 A CNB2008100558366 A CN B2008100558366A CN 200810055836 A CN200810055836 A CN 200810055836A CN 100537159 C CN100537159 C CN 100537159C
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- ball
- joint seat
- motor
- spherical
- seat
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Abstract
The present invention relates to an electric locking device of a spherical hinge type joint, which comprises a ball rod, a spherical joint seat, a ball-thrusting tile, a threaded shaft, a ball support ring, an antithrust end closure, a key ring, a motor seat, a direct current speed-down motor, etc. The ball rod is installed on the bottom of the spherical joint seat, the ball-thrusting tile is intalled in the spherical joint seat and press the ball head of the ball rod, a ball is installed in a cylindrical hole formed by the semicircular groove of the ball-thrusting tile and the semicircular groove of the spherical joint seat, the threaded shaft is suitably installed in the ball-thrusting tile via a triangular external thread, the ball support ring is installed on the threaded shaft, the antithrust end closure fastens the threaded shaft and the ball support ring on the spherical joint seat, the key ring is fastened in the key slot of the threaded shaft, the direct current speed-down motor is installed on the motor seat by motor-fixing bolts, the motor seat is tightly connected with the spherical joint seat by trip bolts, and then key ring bolts are installed on the key ring. Widely applicable to mechanical arms and robots, the device has the advantages of good flexibility, simple structure, reliable unlocking and locking and great brake torque.
Description
(1) technical field:
The invention provides a kind of spherical hinge type joint electric locking device, be particularly useful for man-computer cooperation formula (claiming passive type again) mechanical arm, joint of robot design, belong to robot architecture's design field.
(2) background technology:
Man-computer cooperation formula (claiming passive type again) mechanical arm, refer to the mechanical arm that does not possess the active movement ability, be that each joint of mechanical arm does not have driving element, its athletic posture, position are determined by the operator fully, when reaching demand attitude or position, can keep also bearing certain external force according to instruction locking.
Spherical hinge type joint has 3 frees degree, thereby its flexibility is very good, be a very good selection for the man-computer cooperation mechanical arm that requires high flexibility, but spherical hinge type joint all is to realize locking by manually tightening screw in general the application, can not realize automatic control.Therefore spherical hinge type joint is generally more common in auxiliary apparatus, is not applied in the passive type mechanical arm.
(3) summary of the invention:
The electric locking device that the purpose of this invention is to provide a kind of spherical hinge type joint, especially a kind of have an articulation structure that reliably loosens locking, to solve the problem of need manual locking in ball dumpling type joint in the prior art, give full play to the characteristics of spherical hinge type joint high flexibility.
The electric locking device of a kind of spherical hinge type joint of the present invention comprises:
One ball rod, one end are spherical round end, and an end is a cylindrical bar;
One ball-joint seat is the round-meshed cylinder in centre; The one end is the Internal Spherical Surface shape, cooperates with the spherical round end of ball rod; Its inwall upside has the half slot (not shown) of circumference uniform distribution;
One pushes ball watt is the cylinder that an end digs the sphere of indent, and its outer rim has the half slot of circumference uniform distribution, cooperates with the half slot of ball-joint seat inwall to form circular hole so that ball to be installed;
One thread spindle is the protruding cylinder that an annulus is arranged in a middle part; Its top is drilled with circular hole and has keyway; The bottom is processed with the triangle external screw thread;
One ball support ring;
One thrust end cap;
One key ring is the annular cylinder, and its inwall is provided with the rectangle boss, and the boss opposite is drilled with a screwed hole and is used to locate fastening;
One motor cabinet is interior hollow round column structure, is drilled with the raised platforms of through hole in the middle of having;
One deceleration direct current generator;
Trip bolt; And
The motor hold-down screw.
This ball rod is installed in ball-joint seat bottom, pushes ball watt is installed in the ball-joint seat and is pressed on the ball rod bulb, ball is installed in the cylindrical hole that the half slot of the half slot of pushes ball watt and ball-joint seat forms, thread spindle watt cooperates installation by triangle external screw thread and pushes ball, ball support ring is installed on the thread spindle, the thrust end cap is with thread spindle, ball support latch closure is to the ball-joint seat, the key latch closure is gone in the thread spindle keyway, the deceleration direct current generator is installed on the motor cabinet by the motor hold-down screw, motor cabinet is connected with the ball-joint seat by trip bolt and realizes fasteningly, key ring screw is installed on the key ring again.
These accessory sizes and motor model can be determined according to demand braking force and user's designing requirement.
The electric locking device of a kind of spherical hinge type joint of the present invention, its advantage and effect are: good, simple in structure, the light weight of this device flexibility, loosen reliable lock, braking moment is big; In mechanical arm, robot product, be with a wide range of applications.
(4) description of drawings:
Fig. 1 is apparatus of the present invention profiles.
Fig. 2 is apparatus of the present invention stereograms.
Fig. 3 is apparatus of the present invention structure exploded perspective view.
Fig. 4 is the stereogram of thread spindle in apparatus of the present invention.
Fig. 5 is the stereogram of key ring in apparatus of the present invention.
Number in the figure is as follows:
1, ball rod 2, ball-joint seat 3, pushes ball watts 31, half slot
4, thread spindle 41, annulus 42, circular hole 43, keyway
5, ball support ring 6, thrust end cap 7, key ring screw
8, key ring 81, boss 82, screwed hole
9, motor cabinet 91, through hole 92, raised platforms
10, trip bolt 11, deceleration direct current generator 12, motor hold-down screw 13, ball
(5) specific embodiment:
A kind of spherical hinge type joint electric locking device of the present invention sees also Fig. 1 to shown in Figure 5, and it comprises:
One ball rod 1, one end are spherical round end, and an end is a cylindrical bar;
One ball-joint seat 2 is the round-meshed cylinder in centre; The one end is the Internal Spherical Surface shape, cooperates with the spherical round end of ball rod; Its inwall upside has the half slot (not shown) of circumference uniform distribution;
One pushes ball watts 3 is the cylinder that an end digs the sphere of indent, and its outer rim has the half slot 31 of circumference uniform distribution, cooperates with the half slot of ball-joint seat inwall to form circular hole so that ball to be installed;
One thread spindle 4 is the protruding cylinder that an annulus 41 is arranged in a middle part; Its top is drilled with circular hole 42 and has keyway 43; The bottom is processed with the triangle external screw thread;
One ball support ring 5;
One thrust end cap 6;
One key ring 8 is the annular cylinder, and its inwall is provided with rectangle boss 81, and boss 81 opposites are drilled with a screwed hole 82 and are used to locate fastening;
One motor cabinet 9 is interior hollow round column structure, is drilled with the raised platforms 92 of through hole 91 in the middle of having;
One deceleration direct current generator 11;
Motor hold-down screw 12.
This ball rod 1 is installed in ball-joint seat 2 bottoms, pushes ball watts 3 is installed in the ball-joint seat 2 and is pressed on ball rod 1 bulb, ball 13 is installed in the cylindrical hole that the half slot of the half slot 31 of pushes ball watts 3 and ball-joint seat 2 forms, thread spindle 4 cooperates installation by triangle external screw thread and pushes ball watts 3, ball support ring 5 is installed on the thread spindle 4, thrust end cap 6 is with thread spindle 4, ball support ring 5 is anchored on the ball-joint seat 2, key ring 8 buckles in the keyway 43 of thread spindle 4, deceleration direct current generator 11 is installed on the motor cabinet 9 by motor hold-down screw 12, motor cabinet 9 is connected with ball-joint seat 2 by trip bolt 10 and realizes fasteningly, key ring screw 7 is installed on the key ring 8 again.
These accessory sizes and motor model can be determined according to demand braking force and user's designing requirement.
A kind of spherical hinge type joint electric locking device of the present invention, the course of work that its locking is loosened is: behind the deceleration direct current generator 11 logical direct currents, drive thread spindle 4 rotations by key ring 8, thread spindle 4 drives pushes ball watt 3 rotations by its screw thread, because ball 13 has limited the rotation of pushes ball watts 3, make that pushes ball watts 3 can only rectilinear motion, ball support ring 5 on the thread spindle 4 will rely on thrust end cap 6 to bear the pressure of pushes ball watt 3 linear movement directions simultaneously, pushes ball watts 3 moves downward the bulb that compresses ball rod 1, realizes braking and locking; After the direct current direction that changes deceleration direct current generator 11, thread spindle 4 rotate in the opposite direction, moves upward thereby drive pushes ball watts 3, and pushes ball watts 3 is separated with ball rod 1, i.e. realization is loosened.
Claims (1)
1, a kind of spherical hinge type joint electric locking device is characterized in that: this device comprises:
One ball rod, one end are spherical round end, and an end is a cylindrical bar;
One ball-joint seat is the round-meshed cylinder in centre; The one end is the Internal Spherical Surface shape, cooperates with the spherical round end of ball rod; Its other end cylinder inwall upside has the half slot of circumference uniform distribution;
One pushes ball watt is the cylinder that an end digs the sphere of indent, and its outer rim has the half slot of circumference uniform distribution, cooperates with the half slot of ball-joint seat inwall to form circular hole so that ball to be installed;
One thread spindle is the protruding cylinder that an annulus is arranged in a middle part; Its top is drilled with circular hole and has keyway; The bottom is processed with the triangle external screw thread;
One ball support ring;
One thrust end cap;
One key ring is the annular cylinder, and its inwall is provided with the rectangle boss, and the boss opposite is drilled with a screwed hole and is used to locate fastening;
One motor cabinet is interior hollow round column structure, is drilled with the raised platforms of through hole in the middle of having;
One deceleration direct current generator;
Trip bolt; And
The motor hold-down screw;
This ball rod is installed in ball-joint seat bottom, pushes ball watt is installed in the ball-joint seat and is pressed on the ball rod bulb, ball is installed in the cylindrical hole that the half slot of the half slot of pushes ball watt and ball-joint seat forms, thread spindle watt cooperates installation by triangle external screw thread and pushes ball, ball support ring is installed on the thread spindle, the thrust end cap is with thread spindle, ball support latch closure is to the ball-joint seat, the key latch closure is gone in the thread spindle keyway, the deceleration direct current generator is installed on the motor cabinet by the motor hold-down screw, motor cabinet is connected with the ball-joint seat by trip bolt and realizes fasteningly, key ring screw is installed on the key ring again.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2008100558366A CN100537159C (en) | 2008-01-09 | 2008-01-09 | Spherical hinge type joint electric locking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2008100558366A CN100537159C (en) | 2008-01-09 | 2008-01-09 | Spherical hinge type joint electric locking device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101214662A CN101214662A (en) | 2008-07-09 |
| CN100537159C true CN100537159C (en) | 2009-09-09 |
Family
ID=39621201
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2008100558366A Expired - Fee Related CN100537159C (en) | 2008-01-09 | 2008-01-09 | Spherical hinge type joint electric locking device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100537159C (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102366955B (en) * | 2011-10-21 | 2013-12-18 | 奇瑞汽车股份有限公司 | Gear rack type locking device used for mechanical arm |
| CN108214481B (en) * | 2018-03-06 | 2020-10-16 | 北京石油化工学院 | Seven-degree-of-freedom active and passive mechanical arm capable of realizing simultaneous locking of multiple joints |
| CN111365362B (en) * | 2018-12-25 | 2020-10-16 | 哈尔滨工业大学 | Ball joint locking and rigidity enhancing device |
| CN110202557A (en) * | 2019-06-15 | 2019-09-06 | 江苏华兮网络科技工程有限公司 | A kind of mechanical arm of intelligent robot universal rotational |
| CN110479649B (en) * | 2019-08-21 | 2021-09-14 | 嘉兴久珥科技有限公司 | Improved double-guide-rail sorting device based on gantry manipulator |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4236844A (en) * | 1977-04-21 | 1980-12-02 | Gebr. Berchtold | Joint support structure |
-
2008
- 2008-01-09 CN CNB2008100558366A patent/CN100537159C/en not_active Expired - Fee Related
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4236844A (en) * | 1977-04-21 | 1980-12-02 | Gebr. Berchtold | Joint support structure |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101214662A (en) | 2008-07-09 |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090909 Termination date: 20110109 |