CN101502964B - Rotary type joint of robot - Google Patents
Rotary type joint of robot Download PDFInfo
- Publication number
- CN101502964B CN101502964B CN2009100477842A CN200910047784A CN101502964B CN 101502964 B CN101502964 B CN 101502964B CN 2009100477842 A CN2009100477842 A CN 2009100477842A CN 200910047784 A CN200910047784 A CN 200910047784A CN 101502964 B CN101502964 B CN 101502964B
- Authority
- CN
- China
- Prior art keywords
- steel wire
- robot
- panoramic table
- rotary type
- type joint
- 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.)
- Expired - Fee Related
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention relates to a robot rotary joint, belonging to the mechanical technical field. In the invention, a screw rod is installed on a fixing frame. A nut is fixed on a moving block. A guide rod is also installed on the fixing frame and penetrates the moving block. A tilting table is installed on a fixing bottom base. Certain distance is maintained between the fixing bottom base and the fixing frame for the fixing installation. The distance is equal to the radius of the tilting table. A steel wire couple comprises a pair of steel wires. One end of the steel wire is fixed on a lateral wall of the tilting table and, the steel wire winds in semicycle along the lateral wall of the tilting table and then winds to the moving block. The other end is fixed on the moving block and maintains the tension state. The winding directions of the pair of the steel wires of the steel wire couple are opposite. A robot is fixed on an upper plane of the tilting table. The steel wires drive the tilting table to rotate. Thus, the positive and negative rotary action of the rotary joint of the external robot is formed. The robot rotary joint can realize the non-clearance transmission and has the advantages of high precision, low price, easy purchase application, large transmission torque, high transmission stiffness and large reduction ratio.
Description
Technical field
What the present invention relates to is a kind of device of field of mechanical technique, and specifically, what relate to is a kind of rotary type joint of robot.
Background technology
Rotary type joint of robot is the key element of decision robot spatial movement ability size.The transmission mechanism of rotary type joint has then determined the size of transmission torque of corresponding joint and the height of drive gap and transmission accuracy.Rotary type joint of robot, for example robot waist revolute joint is not to turn round continuously but the interior reciprocating rotating motion of certain angle scope usually.In order to realize the especially requirement of terminal precision such as mechanical arm of robot, the series system of the many decelerators by high accuracy, high pulling torque, high rigidity of the transmission mechanism of its rotary type joint is realized.
Find through literature search prior art, G.Hirzinger etc. ICRA (robot and automation) international conference collection of thesis (2000, publish thesis on pp.46-54) " A mechatronics approach tothe design of light-weight arms and multifingered hands " (a kind of dynamo-electric method for designing of light weight mechanical arm and multifinger mechanical hand).Set forth the R﹠D process of light weight mechanical arm in this article, used the planet wheel decelerator of special light weight harmonic speed reducer replacement big retarding ratio, obtained the high accuracy and the high dynamic performance of end by the transmission scheme of high rigidity high pulling torque.Yet similar above-mentioned technology, involves great expense at harmonic speed reducer or the RV decelerator cost of manufacture height that uses the robot field, is difficult to obtain to use widely having certain required precision but value more in the environment of economic benefit.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, a kind of rotary type joint of robot is provided, solve the especially problem of rotary type joint cost performance of existence in the transmission mechanism design of mechanical arm of existing robot, when guaranteeing driving torque and precision, reduce and realize cost.
The present invention is achieved through the following technical solutions, the present invention includes: fixed mount, screw mandrel, nut, guide rod, movable block, firm banking, panoramic table, steel wire idol.Screw mandrel is installed on the fixed mount, can freely rotate with respect to fixed mount along self axis, and the tip side that is connected to screw mandrel by external drive component carries out transmission.Nut is fixedly mounted on the movable block.Guide rod also is installed on the fixed mount, and passes movable block.Panoramic table is installed on the firm banking, can freely rotate with respect to firm banking along the axis of panoramic table self.Firm banking and fixed mount keep the certain distance fixed installation, and this distance is identical with the radius of panoramic table.Outside robot is fixedly mounted on the last plane of panoramic table, rotates with panoramic table.
Described steel wire idol has two up and down, and is just the same.Each steel wire idol is made up of a pair of steel wire.One end of steel wire is fixed on the sidewall of panoramic table, and the sidewall winding half-turn along panoramic table is wound on the movable block immediately, and the other end is fixed on the movable block and keeps tensioning state.The winding direction of a pair of steel wire of steel wire idol is opposite.
Among the present invention, the straight line that the rotation of screw mandrel is converted to nut moves, and drives movable block thus and moves, and guide rod restriction movable block only has the free degree that straight line moves, and guarantees the rigidity of structure.Because both forward and reverse directions is twining the steel wire idol between movable block and panoramic table, the movable block move left and right all can make panoramic table rotate by steel wire traction, has constituted the positive and negative revolution action of the rotary type joint of outside robot thus.Rotary type joint of robot revolution action of the present invention can be near positive and negative 180 degree.
Compared with prior art, the present invention adopts the traction of steel wire idol to realize the positive and negative revolution action of joint of robot, under the prerequisite of the tensile force that guarantees the steel wire idol, can realize not having the gap transmission, obtains higher precision.All use simultaneously common components and parts, price is low to be purchased easily, makes that design of the present invention is easy to realize.In addition, suitably increase the number of steel wire idol, can obtain bigger driving torque, improve transmission stiffness.The steel wire that steel wire idol among the present invention is used can use other flexible members to replace, and such as steel band, belt etc., concrete mode that installs and fixes and using method and steel wire are identical, do not change effect of the present invention.
Another one feature of the present invention is to realize bigger transmission speed reducing ratio.The helical pitch of screw mandrel is L among the present invention, and the radius of panoramic table is R, and therefore speed reducing ratio of the present invention is 2 π R/L.Because the panoramic table radius R is bigger usually, the helical pitch L of screw mandrel is less usually, and therefore after specializing relevant parameter, the speed reducing ratio of rotary type joint of the present invention can reach more than 100.
Description of drawings
Fig. 1 is a perspective view of the present invention;
Fig. 2 is a steel wire idol transmission schematic diagram of the present invention;
Fig. 3 is that steel wire idol of the present invention transmission is at the post exercise schematic diagram;
Fig. 4 is a rotary type joint of robot motion schematic diagram of the present invention;
Fig. 5 is another motion schematic diagram of rotary type joint of robot of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is to be to implement under the prerequisite with the technical solution of the present invention; provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As Fig. 1, Fig. 4 and shown in Figure 5, present embodiment comprises: fixed mount 1, screw mandrel 2, nut 3, guide rod 41 and 42, movable block 5, waist firm banking 6, waist turntable 7, steel wire idol 9.Screw mandrel 2 is installed on the fixed mount 1, can freely rotate with respect to fixed mount 1 along self axis, and the tip side 21 that is connected to screw mandrel 2 by external drive component carries out transmission.Nut 3 is fixedly mounted on the movable block 5. Guide rod 41 and 42 also is installed on the fixed mount 1, and passes movable block 5.Panoramic table 7 is installed on the firm banking 6, can freely rotate with respect to firm banking along the axis of panoramic table self.Firm banking 6 keeps the certain distance fixed installation with fixed mount 1, and this distance is identical with the radius of panoramic table 7.Outside robot 8 is fixedly mounted on the last plane 71 of panoramic table 7, rotates with panoramic table 7.
As Fig. 1, Fig. 2 and Fig. 3, described steel wire idol 9 has two up and down, and is just the same.Each steel wire idol 9 is made up of a pair of steel wire 91 and 92.Steel wire 91 and an end 94 of 92 are fixed on the sidewall of panoramic table 7, twine half-turn along the sidewall of panoramic table 7, are wound into immediately on the movable block 5, and the other end 93 is fixed on the movable block 5 and keeps tensioning state.The a pair of steel wire 91 of steel wire idol 9 is opposite with 92 winding direction.
The straight line that the rotation of screw mandrel 2 is converted to nut 3 moves, and drives movable block 5 thus and moves, and guide rod 41 and 42 5 of movable blocks of restriction have the free degree that straight line moves, and guarantee the rigidity of structure.Because both forward and reverse directions is twining two steel wire idols 9 between movable block 5 and panoramic table 7, movable block 5 move left and right all can make panoramic table 7 rotate by steel wire 91 and 92 tractions, have constituted the positive and negative revolution action of the rotary type joint of outside robot 8 thus.The rotary type joint of robot of present embodiment can obtain the revolution action near positive and negative 180 degree.
Present embodiment adopts the traction of two steel wire idols 9 to realize the positive and negative revolution action of joint of robot, under the prerequisite of the tensile force that guarantees steel wire idol 9, can realize not having the gap transmission, obtains higher precision.All use simultaneously common components and parts, price is low to be purchased easily, makes the design of present embodiment be easy to realize.In addition,, also can suitably increase the number of steel wire idol 9,, improve transmission stiffness to obtain bigger driving torque though present embodiment adopts two steel wire idols 9.The steel wire 91 and 92 that steel wire idol 9 in the present embodiment is used, can use other flexible members to replace, such as steel band 91 and 92 or belt 91 and 92 etc., the concrete mode that installs and fixes, using method and steel wire 91 and 92 are identical, do not change effect of the present invention, can be with reference to figure 1, Fig. 2 and Fig. 3.
The another one feature of present embodiment is to realize bigger transmission speed reducing ratio.The helical pitch L of screw mandrel 2 is 6 millimeters in the present embodiment, and the radius R of panoramic table 7 is 120 millimeters, so the speed reducing ratio of present embodiment is 2 π R/L, is about 126.Because the radius R of panoramic table 7 is bigger usually, the helical pitch L of screw mandrel 2 is less usually, so the speed reducing ratio of rotary type joint of the present invention can reach bigger.
Claims (5)
1. rotary type joint of robot, it is characterized in that comprising: fixed mount, screw mandrel, nut, guide rod, movable block, firm banking, panoramic table, steel wire idol, wherein: screw mandrel is arranged on the fixed mount, be connected to the tip side of screw mandrel by external drive component, nut is fixed on the movable block, guide rod also is arranged on the fixed mount and passes movable block, panoramic table is arranged on the firm banking, firm banking and fixed mount fixedly install, the spacing of firm banking and fixed mount is identical with the radius of panoramic table, on the last plane of panoramic table robot is set;
Described steel wire idol has two up and down, each steel wire idol is made up of a pair of steel wire, one end of steel wire is fixed on the sidewall of panoramic table, sidewall along panoramic table twines half-turn, be wound on the movable block immediately, the other end is fixed on the movable block and keeps tensioning state, and the winding direction of a pair of steel wire of steel wire idol is opposite.
2. rotary type joint of robot according to claim 1 is characterized in that, described screw mandrel freely rotates with respect to fixed mount along self axis.
3. rotary type joint of robot according to claim 1 is characterized in that described panoramic table freely rotates with respect to firm banking along the axis of panoramic table self.
4. rotary type joint of robot according to claim 1 is characterized in that, described rotary type joint of robot, and its angle of revolution reaches positive and negative 180 degree.
5. rotary type joint of robot according to claim 1 is characterized in that, the steel wire in the described steel wire idol can also be steel band or belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100477842A CN101502964B (en) | 2009-03-19 | 2009-03-19 | Rotary type joint of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100477842A CN101502964B (en) | 2009-03-19 | 2009-03-19 | Rotary type joint of robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101502964A CN101502964A (en) | 2009-08-12 |
| CN101502964B true CN101502964B (en) | 2010-11-03 |
Family
ID=40975398
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009100477842A Expired - Fee Related CN101502964B (en) | 2009-03-19 | 2009-03-19 | Rotary type joint of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101502964B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102751813B (en) * | 2012-07-06 | 2015-01-14 | 科瑞自动化技术（苏州）有限公司 | Rotation and linear motion integrated integration mechanism |
-
2009
- 2009-03-19 CN CN2009100477842A patent/CN101502964B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN101502964A (en) | 2009-08-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101733743B (en) | Drawing wire type serial mechanical arm | |
| CN105856191B (en) | The more body mechanisms of high speed of rope parallel drive | |
| CN2594225Y (en) | Automatic metal wire winder | |
| CN102452076A (en) | Wire rope drive mechanism | |
| CN107639649B (en) | Permanent magnet variable-rigidity flexible joint for robot | |
| CN102601783A (en) | Intelligent manipulator device capable of automatically placing glass fiber strand barrel | |
| US4534697A (en) | Transfer device for robots | |
| CN108512116A (en) | The process equipment of curved line device and cable | |
| CN108687789A (en) | A kind of robot hand connection head | |
| CN202702238U (en) | Parallel sorting robot | |
| CN201824353U (en) | Tie-line type serial manipulator | |
| CN101502964B (en) | Rotary type joint of robot | |
| CN102092044A (en) | Substrate processing system and mechanical arm device thereof | |
| CN201785587U (en) | Loom selvage twisting device | |
| CN103302678A (en) | Robot wrist joint | |
| CN210193097U (en) | Flexible cable transmission precision module | |
| CN202169266U (en) | Device for cleaning inner wall of charging basket | |
| CN200967690Y (en) | Steel cord wire arranging device | |
| CN111002297A (en) | Ball spline robot | |
| CN202334197U (en) | Drive device for driving crochet needle of cable tie machine to move vertically | |
| CN211590110U (en) | Ball spline robot | |
| CN105397840A (en) | Uniaxial joint type mechanical arm | |
| CN108656097A (en) | A kind of robot actuating mechanism | |
| CN209506753U (en) | A kind of large space rope driven Parallel Kinematic Manipulator for warehousing system | |
| CN212156414U (en) | Mining machinery adjusting device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20101103 Termination date: 20130319 |