CN102452078B

CN102452078B - Robot joint

Info

Publication number: CN102452078B
Application number: CN201010528412.4A
Authority: CN
Inventors: 李昇军; 梁献全; 许寿国
Original assignee: Hongfujin Precision Industry Shenzhen Co Ltd; Hon Hai Precision Industry Co Ltd
Current assignee: Shihe Intelligent Technology Group Co.,Ltd.
Priority date: 2010-11-01
Filing date: 2010-11-01
Publication date: 2014-04-23
Anticipated expiration: 2030-11-01
Also published as: CN102452078A

Abstract

A robot joint comprises a base, a first drive motor and a second drive motor which are arranged in the base, and an adapter which can rotate relative to the base, the robot joint also comprises a slide block and a gear which are fixedly connected with the second drive motor, the second drive motor is provided with a second power-output shaft, the second power-output shaft is equipped through the slide block, and the gear are fixedly sleeved on the second power-output shaft, the adapter is provided with a gear teeth slot and a guide slot parallel to the gear teeth slot, the gear is meshed with the gear teeth slot, and the slide block is slidably arranged in the guide slot; and the base is also provided with a guide limit assembly, the adapter is positioned on the base in a rolling way with the guide limit assembly, the first drive motor is provided with a first power-output shaft, the robot joint also comprises a connecting piece, and the first power-output shaft is fixedly connected with the slide block through the connecting piece.

Description

Joint of robot

Technical field

The present invention relates to a kind of joint of robot being applied in robot.

Background technology

Robot can imitate some action of staff and arm, in order to the automatic pilot that captures, carries object or operation tool by fixed routine.Robot comprises hand, arm and joint of robot, and joint of robot is in order to by this hand and arm interconnects so that hand can be realized multifreedom motion with respect to arm.Joint of robot generally comprises pedestal, the first drive motors and the second drive motors in order to drive hand to swing with respect to arm in order to drive hand to rotate with respect to arm, yet the first drive motors and the second drive motors are generally located at the outside of this pedestal, thereby make the volume of joint of robot larger, and cause joint of robot action underaction in use.

Summary of the invention

In view of foregoing, be necessary to provide the joint of robot of a kind of small volume and flexible movements.

A kind of joint of robot, comprise pedestal, be installed on the first drive motors on this pedestal, the second drive motors and the relatively adapter of this base motion, this joint of robot also comprises slide block and the gear being fixed on this second drive motors, this second drive motors is provided with the second power output shaft, this second power output shaft is arranged on slide block, this geared sleeve is located at the second power output shaft, this adapter is provided with wheel teeth groove and takes turns the parallel guide groove of teeth groove with this, this gear and this are taken turns teeth groove engagement, this slide block is placed in this guide groove slidably, on this pedestal, be also provided with guide and limit assembly, this guide and limit assembly is rollably positioned this adapter for this pedestal, this first drive motors is provided with the first power output shaft, this joint of robot also comprises connector, this first power output shaft is affixed by connector and this slide block, while starting this first drive motors, this adapter will rotate around this first power output shaft under the driving of this first power output shaft, while starting this second drive motors, this adapter will be along this spur roller gear under the driving of this second power output shaft.

Above-mentioned joint of robot, when starting respectively the first drive motors and the second drive motors, can be realized the multi-angle motion of the relative pedestal of adapter.Adapter passes through the clamping position of the first lead arm and the second lead arm on pedestal, so can save other complicated detent mechanisms just can be positioned adapter on pedestal, and the first drive motors and the second drive motors all install with pedestal in, thereby make that the volume of above-mentioned joint of robot is less and structure is simpler.

Accompanying drawing explanation

Fig. 1 is the three-dimensional exploded view of better embodiment joint of robot of the present invention;

Fig. 2 is another visual angle exploded view of joint of robot shown in Fig. 1;

Fig. 3 is the assembly drawing of joint of robot shown in Fig. 1;

Fig. 4 is the partial assembly drawing of joint of robot shown in Fig. 1;

Fig. 5 is that joint of robot shown in Fig. 3 is along the cutaway view of V-V line.

Main element symbol description

Joint of robot 100

Pedestal 10

The first drive motors 20

Adapter 30

Gear 40

The second drive motors 50

Slide block 60

Connector 70

Body 12

Guide and limit assembly 14

Installing hole 122

The first lead arm 142

The second lead arm 144

Affixed section 1442

Boot segment 1444

Linkage section 1446

The first power output shaft 22

Follower 32

Connecting portion 34

Wheel teeth groove 322

Guide groove 324

The second power output shaft 52

Through hole 62

The first Fixed Division 64

The second Fixed Division 66

Installing hole 662

The specific embodiment

See also Fig. 1 and Fig. 2, the joint of robot 100 disclosing in the present embodiment comprises a pedestal 10, one the first drive motors 20, adapter 30, gear 40, two the second drive motors 50 and two slide blocks 60.On the first drive motors 20 and the second drive motors 50, be respectively equipped with the first power output shaft 22 and the second power output shaft 52.Joint of robot 100 also comprises that a connection piece 70, the first drive motors 20 are installed in pedestal 10, and the first drive motors 20 is affixed by connector 70 and slide block 60.

Pedestal 10 comprises body 12 and is located at the guide and limit assembly 14 on body 12.The middle part of body 12 offers installing hole 122, the first drive motors 20 and is installed in installing hole 122.In the present embodiment, guide and limit assembly 14 comprises the first lead arm 142 and relative separable two the second lead arm 144 of body 12 that two one end by body 12 are extended away from the other end and are oppositely arranged, and above-mentioned the first lead arm 142 and the second lead arm 144 match to guide adapter 30 rotate and adapter 30 be positioned on pedestal 10 simultaneously.The second lead arm 144 comprises affixed section 1442, boot segment 1444 and connects the linkage section 1446 of affixed section 1442 and boot segment 1444.Be fixed on connector 70 for affixed section 1442.The first lead arm 142 and boot segment 1444 are spherical calotte with the face that adapter 30 contacts, boot segment 1444 is in order to guide adapter 30 to rotate around the second power output shaft 52 of the second drive motors 50, and boot segment 1444 and the first lead arm 142 are held on middle in case spline joint 30 departs from pedestals 10 by adapter 30 simultaneously.

Adapter 30 is roughly a spheroid, and the height of above-mentioned spheroid is more than or equal to its radius, and in this enforcement, the height of spheroid is preferably greater than its radius.The connecting portion 34 that adapter 30 comprises follower 32 and extended by follower 32.Adapter 30 is roughly a hemisphere, on the sphere of adapter 30, along longitudinal, is provided with wheel teeth groove 322 and two guide grooves 324, and wheel teeth groove 322 be arranged in parallel with guide groove 324.Wheel teeth groove 322 and gear 40 engagements, so that adapter 30 pedestal 10 swings relatively under the drive of gear 40.Slide block 60 is placed in guide groove 324 slidably, in order to guide adapter 30 to swing.For slide block 60 is slided more smoothly in guide groove 324, in the present embodiment, preferably slide block 60 supporting surface 61 relative with guide groove 324 designed to arcwall face or spheres.Connecting portion 34 is affixed in order to the hand (not shown) with robot.

Gear 40 is sheathed on the second power output shaft 52 of the second drive motors 50 regularly.On each slide block 60, all offering through hole 62, the second power output shafts 52 is arranged on slide block 60 by through hole 62.On each slide block 60, be also provided with the first Fixed Division 64 and the second Fixed Division 66.One side of each second Fixed Division 66 contiguous the first drive motors 20 offers an installing hole 662.One side of connector 70 convexes with two steady pins 72, and steady pin 72 is individually fixed in installing hole 662.The first power output shaft 22 that another opposite side of connector 70 offers coupling hole 74, the first drive motors 20 is installed in coupling hole 74 by friction tight mode.

See also Fig. 3, Fig. 4 and Fig. 5, during mounter person joint 100, can carry out as follows:

First, the first drive motors 20 is provided with to one end that one end of the first power output shaft 22 is provided with the first lead arm 142 by pedestal 10 and is placed in installing hole 122, and the first drive motors 20 is fixing.Then, connector 70 is sheathed on the first power output shaft 22 of the first drive motors 20 regularly by its coupling hole 74.Then, affixed section 1442 of the second lead arm 144 is oppositely arranged, and above-mentioned affixed section 1442 is fixed on connector 70.Rotate above-mentioned the second lead arm 144, make the second lead arm 144 and the first lead arm 142 overlapping.

Afterwards, gear 40 is sheathed on to the middle part of the second power output shaft 52 by friction tight mode, and the through hole 62 of slide block 60 is passed respectively in the two ends of the second power output shaft 52, then the two ends of the second power output shaft 52 are installed on respectively in the second drive motors 50 so that the second drive motors 50 can drive the second power output shaft 52 rotations.Then, above-mentioned two slide blocks 60 are placed in respectively in the guide groove 324 of adapter 30, gear 40 is also by 322 engagements of the wheel teeth groove with adapter 30 simultaneously.

Finally, above-mentioned assembling all-in-one-piece adapter 30, gear 40, the second drive motors 50 and slide block 60 are placed in pedestal 10, and by the second Fixed Division 66 of slide block 60 by installing hole 662 respectively affixed be sheathed on the steady pin 72 of connector 70.Joint of robot 100 is just assembled complete.

While using joint of robot 100, when starting the first drive motors 20, the first power output shaft 22 of the first drive motors 20 rotates and passes through connector 70 and drives second lead arm 144 affixed with it and slide block 60 to rotate around the first power output shaft 22, and slide block 60 drives the second power output shaft 52 and the second drive motors 50 that wear in the inner to rotate in the lump when rotating.Because slide block 60 is placed in the guide groove 324 of adapter 30, slide block 60 supports and promotes adapter 30 by the sidewall with forming guide groove 324 while rotating and rotates in the lump along the first lead arm 142 of pedestal 10.

When starting the second drive motors 50, the second power output shaft 52 rotations of the second drive motors 50 are rotated the gear 40 that is sheathed on the second power output shaft 52 thereupon.During gear 40 rotation, will drive the wheel teeth groove 322 with its engagement to rotate, because thereby the effect of guide and limit assembly 14 makes adapter 30 roll along the second lead arm 144 along slide block 60, and the final relative pedestal 10 of the robot hand being fixed on adapter 30 that drives swings.

Joint of robot 100 of the present invention, when starting respectively the first drive motors 20 and the second drive motors 50, can be realized the multi-angle motion of adapter 30 relative pedestals 10.The clamping position that adapter 30 passes through the first lead arm 142 and the second lead arm 144 is on pedestal 10, so can save other complicated detent mechanisms just can be positioned adapter 30 on pedestal, and the first drive motors 20 and the second drive motors 50 all install with pedestal 10 in, thereby make that the volume of joint of robot 100 of the present invention is less and structure is simpler.

The quantity that is appreciated that the second drive motors 50 is not limited to two.As from the foregoing, the effect of the second drive motors 50 is to drive adapter 30 to roll along the second lead arm 144 in guide and limit assembly 14 is interior, yet can achieve the above object too when 50 of the second drive motors arrange one.Therefore, the quantity of the second drive motors 50 can be also only one.

Be appreciated that, on pedestal 10, the effect of guide and limit assembly 14 is in order to adapter 30 is held on pedestal 10 swingably, and in guide and limit assembly 14, the effect of the second lead arm 144 is to coordinate the first lead arm 142 so that adapter 30 is held on pedestal 10 swingably.Therefore, as long as can realize above-mentioned purpose, the quantity of the first lead arm 142 and the second lead arm 144 is all not limited to two, and the quantity of the first lead arm 142 and the second lead arm 144 can be for making adapter 30 be held on swingably any amount on pedestal 10.Simultaneously, because the change of the first lead arm 142 and the second lead arm 144 quantity may be given the assembling of joint of robot 100 and be brought certain difficulty, therefore, for making the assembling of joint of robot 100, cross easy realization, pedestal 10 can be designed to detachable structure, also the second lead arm 144 directly can be installed with pedestal 10 on.

Claims

1. a joint of robot, comprise pedestal, be installed on the first drive motors on this pedestal, the second drive motors and the relatively adapter of this base motion, it is characterized in that: this joint of robot also comprises slide block and the gear being fixed on this second drive motors, this second drive motors is provided with the second power output shaft, this second power output shaft is arranged on slide block, this geared sleeve is located at the second power output shaft, this adapter is provided with wheel teeth groove and takes turns the parallel guide groove of teeth groove with this, this gear and this are taken turns teeth groove engagement, this slide block is placed in this guide groove slidably, on this pedestal, be also provided with guide and limit assembly, this guide and limit assembly is rollably positioned this adapter for this pedestal, this first drive motors is provided with the first power output shaft, this joint of robot also comprises connector, this first power output shaft is affixed by connector and this slide block, while starting this first drive motors, this adapter will rotate around this first power output shaft under the driving of this first power output shaft, while starting this second drive motors, this adapter will be along this spur roller gear under the driving of this second power output shaft.

2. joint of robot as claimed in claim 1, is characterized in that: one end of this connector offers coupling hole, and this first power output shaft is fixed in this coupling hole, and the other end of this connector and this slide block are affixed.

3. joint of robot as claimed in claim 2, is characterized in that: the described other end of this connector convexes with steady pin, on this slide block, offers installing hole, and this steady pin is fixed in this installing hole so that this connector and this slide block is affixed.

4. joint of robot as claimed in claim 2, it is characterized in that: this guide and limit assembly comprises to be located at the first lead arm on this pedestal and to be installed on the second lead arm on this connector, and this adapter is rollably held between described the first lead arm and described the second lead arm.

5. joint of robot as claimed in claim 4, is characterized in that: described the first lead arm and described the second lead arm are all spherical calotte with the face that this adapter clamping contacts.

6. joint of robot as claimed in claim 1, it is characterized in that: this guide and limit assembly comprises is located at two on this pedestal the first lead arm that are oppositely arranged and two the second lead arm that are oppositely arranged, and this adapter is rollably held between described the first lead arm and described the second lead arm.

7. joint of robot as claimed in claim 1, is characterized in that: on this pedestal, offer installing hole, this first drive motors is installed in this installing hole.

8. joint of robot as claimed in claim 1, is characterized in that: this adapter is a spheroid that is highly greater than its radius.

9. joint of robot as claimed in claim 8, is characterized in that: this adapter comprises follower and the connecting portion being extended by follower, and this is taken turns teeth groove and is located on the surface of this follower.

10. joint of robot as claimed in claim 9, is characterized in that: this follower is a hemisphere.