CN104669297A - Artificial joint of automatic machine - Google Patents
Artificial joint of automatic machine Download PDFInfo
- Publication number
- CN104669297A CN104669297A CN201510106131.2A CN201510106131A CN104669297A CN 104669297 A CN104669297 A CN 104669297A CN 201510106131 A CN201510106131 A CN 201510106131A CN 104669297 A CN104669297 A CN 104669297A
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- Prior art keywords
- joint arm
- stay cord
- push
- joint
- pull
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Abstract
The invention discloses an artificial joint of an automatic machine. The artificial joint comprises a first joint arm and a second joint arm pivoted with the first joint arm through an articulated shaft. The technical scheme adopted by the invention is that the first joint arm is provided with a push-pull device of which the extension direction is vertical to the axial direction of the articulated shaft; a plurality of stay cords which are respectively distributed at two sides of the axial direction of the articulated shaft and are capable of respectively pulling the second joint arm to rotate along the articulated shaft are arranged between the push-pull device and the second joint arm; the push-pull device is driven by hydraulic pressure or air pressure or a motor. According to the artificial joint of the automatic machine, provided by the invention, by utilizing the push-pull device and the stay cords on the first joint arm, the second joint arm pivoted with the first joint arm is driven to rotate; the artificial joint of the automatic machine has the advantages that the design is compact, the size of the joint is greatly reduced, and the equipment space is saved; the artificial joint of the automatic machine is suitable for various operating conditions.
Description
[technical field]
The present invention relates to a kind of automation joint prosthesis.
[background technology]
Along with cost of labor constantly increases, the demand that automated job substitutes manual work is very urgent, manipulator is the main composition in this automation field, how imitation joint prosthesis rapidly and efficiently, complete some high strength, high pollution, low energy consumption, than the operation required, is the direction that technical staff studies for a long period of time.The manual imitation joint of automation is the core design of manipulator, existing design adopts gear or rotating shaft transmission more, joint is thick, manipulator volume is caused to become large, be not easy to assembling, be unsuitable for angular turn among a small circle, substantially all adopt driven by servomotor, energy consumption and manufacturing cost are all higher, directly cause applying with the ability to accept in market of robot limited.
[summary of the invention]
The present invention seeks to overcome deficiency of the prior art, a kind of automation joint prosthesis is provided, utilize the push-pull device at fixed on the first joint arm and stay cord, the second joint arm hinged with it is driven to rotate, design small and exquisite, significantly reduce the volume of joint prosthesis, save the device space, be applicable to several work condition.
The present invention is achieved by the following technical solutions:
A kind of automation joint prosthesis, comprise the first joint arm and with described first joint arm by the hinged second joint arm of jointed shaft, it is characterized in that described first joint arm is provided with the telescopic direction push-pull device at fixed axially vertical with described jointed shaft, be provided with the stay cord that many axial both sides being distributed in described jointed shaft also can pull described second joint arm to rotate along described jointed shaft respectively between described push-pull device at fixed and described second joint arm, described push-pull device at fixed adopts hydraulic pressure or air pressure or motor to drive.
A kind of automation joint prosthesis as above, it is characterized in that described push-pull device at fixed comprises the first push-pull mechanism being located at described first joint arm inside, described first push-pull mechanism is provided with to be released or the first pull bar of retracting by it, and the end of described first pull bar is provided with the first movable pulley of stay cord described in the axially parallel and stretchy of axial and described jointed shaft.
A kind of automation joint prosthesis as above, it is characterized in that described push-pull device at fixed also comprises to be located on described first joint arm and second push-pull mechanism contrary with described first push-pull mechanism telescopic direction, described second push-pull mechanism is provided with the second pull bar being advanced by it or retracted, the end of described second pull bar is provided with axial and described jointed shaft axially parallel second movable pulley, described stay cord comprises the second stay cord driving the first stay cord of slip by described first push-pull mechanism push-and-pull and driven by described second push-pull mechanism push-and-pull, described first stay cord and the second stay cord are positioned at the axial both sides of described jointed shaft.
A kind of automation joint prosthesis as above, it is characterized in that being respectively equipped with inside described first joint arm and second joint arm and be sheathed on described first stay cord periphery and guide its first forward guide channel slided and the second forward guide channel, be also respectively equipped with inside described first joint arm and second joint arm and be sheathed on described second stay cord periphery and guide its first reverse pilot groove slided and the second reverse pilot groove.
A kind of automation joint prosthesis as above, it is characterized in that described first joint arm is also provided with the described first stay cord position of restriction to be positioned at inside described first joint arm and the first forward fixed pulley sliding with described first stay cord and rotate, described second joint arm is also provided with the described first stay cord position of restriction and is positioned at inside described second joint arm and slides with described first stay cord and rotate the second forward fixed pulley.
A kind of automation joint prosthesis as above, it is characterized in that side contrary with described first forward fixed pulley position on described first joint arm is provided with the position limiting described second stay cord and is positioned at inside described first joint arm and the first reverse fixed pulley sliding with described second stay cord and rotate, side contrary with described second forward fixed pulley position on described second joint arm is provided with the position limiting described second stay cord and is positioned at inside described second joint arm and the second reverse fixed pulley sliding with described second stay cord and rotate.
A kind of automation joint prosthesis as above, it is characterized in that opposite side hinged with described second joint arm on described first joint arm near described first push-pull mechanism other be provided with limit described first stay cord position to be positioned at inside described first joint arm and institute slide with described first stay cord and rotate first extend fixed pulley, described first extension fixed pulley is guided described first stay cord and is slided to described first joint arm and the hinged opposite side of described second joint arm along described first forward guide channel.
A kind of automation joint prosthesis as above, it is characterized in that opposite side hinged with described second joint arm on described first joint arm limit described second stay cord position and to be positioned at inside described first joint arm near described second push-pull mechanism other being provided with and slides with described second stay cord and rotate second to extend fixed pulley, described second extension fixed pulley is guided described second stay cord and is slided to described first joint arm and the hinged opposite side of described second joint arm.
A kind of automation joint prosthesis as above, is characterized in that being provided with bearing in described hinge, can be recessed into inside described first joint arm after described first pull bar shrinks, and can be recessed into inside described first joint arm after described second pull bar shrinks.
A kind of automation joint prosthesis as above, is characterized in that described second joint arm and the described first joint arm place of being hinged are rounding.
Compared with prior art, the present invention has the following advantages:
A kind of automation joint prosthesis of the present invention, utilize the push-pull device at fixed on the first joint arm and stay cord, the second joint arm hinged with it is driven to rotate, stay cord utilizes multiple fixed pulley to be hidden in inside the first joint arm and second joint arm, second joint arm can be pulled to rotate, joint arm design is small and exquisite, reduce the volume of manipulator, save the device space, be applicable to multi-joint and connect expansion action, multiple passes internode can control joint action by flexible push-pull device at fixed respectively, and same stay cord or many stay cords can be used, realize interlock, meet angular turn among a small circle, can drive by Some substitute high-energy equipment.
[accompanying drawing explanation]
Fig. 1 is generalized section of the present invention;
Fig. 2 is front elevational schematic of the present invention;
Fig. 3 is elevational schematic view of the present invention;
Fig. 4 is that schematic diagram is looked on the right side of the present invention.
[detailed description of the invention]
A kind of automation joint prosthesis, comprise the first joint arm 1 and with described first joint arm 1 by the hinged second joint arm 2 of jointed shaft 10, be provided with the first stay cord 121 and the second stay cord 122 being located at described jointed shaft 10 both sides respectively between described first joint arm 1 and described second joint arm 2, described first joint arm 1 is provided with for the first stay cord 121 described in stretch-draw and the second stay cord 122 and drives the flexible push-pull device at fixed 11 that described second joint arm 2 rotates around described jointed shaft 10.First joint arm is distributed in the first stay cord and second stay cord of jointed shaft both sides, the arm push-pull device at fixed that stretches drives, and drives second joint arm to rotate to both direction along jointed shaft respectively, realizes the rotation in joint.
The telescopic direction of described flexible push-pull device at fixed 11 is axially vertical with described jointed shaft 2, and described flexible push-pull device at fixed 11 adopts hydraulic pressure or air pressure or motor to drive.The flexible telescopic direction of push-pull device at fixed and the axial vertical of jointed shaft, can shorten the length of the first stay cord and the second stay cord, and be applicable to intrinsic articulation among a small circle and rotate, flexible push-pull device at fixed can be driven by various ways.
Described flexible push-pull device at fixed 11 comprises the first push-pull mechanism 110 and second push-pull mechanism 13 contrary with described first push-pull mechanism 110 telescopic direction of being located at described first joint arm 1 inside, the first pull bar 112 that described first push-pull mechanism 110 comprises the first push-and-pull base 111 and released by described first push-and-pull base 111 or retracted, it is axially parallel and can drive the first movable pulley 113 that described first stay cord 121 slides that the end of described first pull bar 112 is provided with axial and described jointed shaft 10, the second pull bar 132 that described second push-pull mechanism 13 comprises the second push-and-pull base 131 and released by described second push-and-pull base 131 or retracted, it is axially parallel and can drive the second movable pulley 133 that described second stay cord 122 slides that the end of described second pull bar 132 is provided with axial and described jointed shaft 10.Flexible push-pull device at fixed comprises the first contrary push-pull mechanism of telescopic direction and the second push-pull mechanism, and the first stay cord and the second stay cord can be pulled respectively to slide, and then drives relatively rotating of the first joint arm and second joint arm.
Be respectively equipped with inside described first joint arm 1 and second joint arm 2 and be sheathed on described first stay cord 121 periphery and guide its first forward guide channel 114 and the second forward guide channel 21 slided, be also respectively equipped with inside described first joint arm 1 and second joint arm 2 and be sheathed on described second stay cord 122 periphery and guide its first reverse pilot groove 115 and the second reverse pilot groove 22 slided.First stay cord is arranged in the first forward guide channel and the second forward guide channel, relative first joint arm of second joint arm is driven to rotate forward when pulled, second stay cord is arranged in the first reverse pilot groove and the second reverse pilot groove, drive relative first joint arm of second joint arm to rotate backward when pulled, the first stay cord and the second stay cord are limited at inside the first joint arm and second joint arm.
Described first joint arm 1 is also provided with described first stay cord 121 position of restriction to be positioned at and to slide inside described first joint arm 1 and with described first stay cord 121 and the first forward fixed pulley 116 of rotating, described second joint arm 2 is also provided with described first stay cord 121 position of restriction and is positioned at inside described second joint arm 2 and slides with described first stay cord 121 and rotate the second forward fixed pulley 23.In the corner of the first joint arm and second joint arm, fixed pulley is installed, the sliding path of the first stay cord can be limited, ensure that its push-pull device at fixed that stretched drives the very short distance of stretch-draw can control second joint arm and rotates.
Side contrary with described first forward fixed pulley 116 position on described first joint arm 1 is provided with the position limiting described second stay cord 122 and is positioned at and slides inside described first joint arm 1 and with described second stay cord 122 and the first reverse fixed pulley 117 of rotating, and side contrary with described second forward fixed pulley 23 position on described second joint arm 2 is provided with the position limiting described second stay cord 122 and is positioned at and slides inside described second joint arm 2 and with described second stay cord 122 and the second reverse fixed pulley 24 of rotating.In the corner of the first joint arm and second joint arm, fixed pulley is installed, the sliding path of the second stay cord can be limited, ensure that its push-pull device at fixed that stretched drives the very short distance of stretch-draw can control second joint arm and rotates.
Opposite side hinged with described second joint arm 2 on described first joint arm 1 near described first push-pull mechanism 11 other be provided with limit described first stay cord 121 position be positioned to slide inside described first joint arm 1 and with described first stay cord 121 and rotate first extends fixed pulley 118, described first extension fixed pulley 118 is guided described first stay cord 121 and is slided to described first joint arm 1 and the hinged opposite side of described second joint arm 2 along described first forward guide channel 114.First joint arm or second joint arm are along the opposite side of hinged place, also extensible and assemble identical flexible push-pull device at fixed and new joint arm, still use the first stay cord as transmission medium, the rotating effect of multi-joint or multi-angle can be reached, make mechanical arm functional diversities.
Opposite side hinged with described second joint arm 2 on described first joint arm 1 near described second push-pull mechanism 13 other be provided with limit described second stay cord 122 position be positioned to slide inside described first joint arm 1 and with described second stay cord 122 and rotate second extends fixed pulley 119, described second extension fixed pulley 119 is guided described second stay cord 122 and is slided to described first joint arm 1 and the hinged opposite side of described second joint arm 2.First joint arm or second joint arm are along the opposite side of hinged place, also extensible and assemble identical flexible push-pull device at fixed and new joint arm, still use the second stay cord as transmission medium, the rotating effect of multi-joint or multi-angle can be reached, make mechanical arm functional diversities.
Bearing is provided with in described hinge 10, can be recessed into inside described first joint arm 1 after described first pull bar 112 shrinks, can be recessed into inside described first joint arm 1 after described second pull bar 132 shrinks, described second joint arm 2 is rounding with described first joint arm 1 place of being hinged.
Claims (10)
1. an automation joint prosthesis, comprise the first joint arm (1) and with described first joint arm (1) by the hinged second joint arm (2) of jointed shaft (10), it is characterized in that described first joint arm (1) is provided with the telescopic direction push-pull device at fixed (11) axially vertical with described jointed shaft (2), the stay cord (12) that many axial both sides being distributed in described jointed shaft (10) also can pull described second joint arm (2) to rotate along described jointed shaft (10) is respectively provided with between described push-pull device at fixed (11) and described second joint arm (2), described push-pull device at fixed (11) adopts hydraulic pressure or air pressure or motor to drive.
2. a kind of automation joint prosthesis according to claim 1, it is characterized in that described push-pull device at fixed (11) comprises and be located at inner the first push-pull mechanism (111) of described first joint arm (1), described first push-pull mechanism (111) is provided with to be released or the first pull bar (112) of retracting by it, and the end of described first pull bar (112) is provided with first movable pulley (113) of stay cord (12) described in the axially parallel and stretchy of axial and described jointed shaft (10).
3. a kind of automation joint prosthesis according to claim 1, it is characterized in that described push-pull device at fixed (11) also comprises and be located at upper and contrary with described first push-pull mechanism (111) telescopic direction the second push-pull mechanism (13) of described first joint arm (1), described second push-pull mechanism (13) is provided with the second pull bar (132) being advanced by it or retracted, the end of described second pull bar (132) is provided with axial and described jointed shaft (10) axially parallel second movable pulley (133), described stay cord (12) comprises the second stay cord (122) driving first stay cord (121) of slip by described first push-pull mechanism push-and-pull and driven by described second push-pull mechanism (13) push-and-pull, described first stay cord (121) and the second stay cord (122) are positioned at the axial both sides of described jointed shaft (10).
4. a kind of automation joint prosthesis according to claim 3, it is characterized in that described first joint arm (1) and second joint arm (2) inner side are respectively equipped be sheathed on described first stay cord (121) periphery and guide its first forward guide channel (114) slided and the second forward guide channel (21), described first joint arm (1) and second joint arm (2) inner side are also respectively equipped with and are sheathed on described second stay cord (122) periphery and guide its first reverse pilot groove (115) slided and the second reverse pilot groove (22).
5. a kind of automation joint prosthesis according to claim 3, it is characterized in that described first joint arm (1) being also provided with described first stay cord (121) position of restriction is positioned at described first joint arm (1) inner side and the first forward fixed pulley (116) sliding with described first stay cord (121) and rotate, and described second joint arm (2) is also provided with described first stay cord (121) position of restriction and is positioned at described second joint arm (2) inner side and slides with described first stay cord (121) and rotate the second forward fixed pulley (23).
6. a kind of automation joint prosthesis according to claim 3, it is characterized in that the upper side contrary with described first forward fixed pulley (116) position of described first joint arm (1) is provided with the position limiting described second stay cord (122) and is positioned at described first joint arm (1) inner side and the first reverse fixed pulley (117) slided with described second stay cord (122) and rotate, the upper side contrary with described second forward fixed pulley (23) position of described second joint arm (2) is provided with the position limiting described second stay cord (122) and is positioned at described second joint arm (2) inner side and the second reverse fixed pulley (24) slided with described second stay cord (122) and rotate.
7. a kind of automation joint prosthesis according to claim 3, it is characterized in that described first joint arm (1) is upper and described second joint arm (2) is hinged opposite side near described first push-pull mechanism (111) other be provided with limit described first stay cord (121) position be positioned at described first joint arm (1) inner side and institute slide with described first stay cord (121) and rotate first extend fixed pulley (118), described first extension fixed pulley (118) is guided described first stay cord (121) and is slided to described first joint arm (1) and the hinged opposite side of described second joint arm (2) along described first forward guide channel (114).
8. a kind of automation joint prosthesis according to claim 3, it is characterized in that described first joint arm (1) is upper and described second joint arm (2) is hinged opposite side limit described second stay cord (122) position and is positioned at described first joint arm (1) inner side near described second push-pull mechanism (13) other being provided with and slides with described second stay cord (122) and rotate second extends fixed pulley (119), described second extension fixed pulley (119) is guided described second stay cord (122) and is slided to described first joint arm (1) and the hinged opposite side of described second joint arm (2).
9. a kind of automation joint prosthesis according to claim 1, it is characterized in that being provided with bearing in described hinge (10), described first pull bar (112) can be recessed into described first joint arm (1) inner side after shrinking, described second pull bar (132) can be recessed into described first joint arm (1) inner side after shrinking.
10. a kind of automation joint prosthesis according to claim 1, is characterized in that described second joint arm (2) and described first joint arm (1) place of being hinged are rounding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510106131.2A CN104669297B (en) | 2015-03-11 | 2015-03-11 | A kind of automation joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510106131.2A CN104669297B (en) | 2015-03-11 | 2015-03-11 | A kind of automation joint |
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| Publication Number | Publication Date |
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| CN104669297A true CN104669297A (en) | 2015-06-03 |
| CN104669297B CN104669297B (en) | 2016-09-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510106131.2A Expired - Fee Related CN104669297B (en) | 2015-03-11 | 2015-03-11 | A kind of automation joint |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109465816A (en) * | 2019-01-02 | 2019-03-15 | 赵郑松 | A kind of architectural engineering multi-gear gearing hand |
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| CN102941579A (en) * | 2012-10-23 | 2013-02-27 | 中国科学院合肥物质科学研究院 | Steel wire rope transmission mechanism of rotary mechanical arm |
| CN203077275U (en) * | 2013-01-29 | 2013-07-24 | 东华大学 | Line pipe rope drive system applicable to robot joint driving |
| US20130197492A1 (en) * | 2010-09-30 | 2013-08-01 | Olympus Corporation | Bending Joint Mechanism, Surgical Instrument Having This Bending Joint Mechanism, and Manipulator Having This Bending Joint Mechanism |
| CN204525511U (en) * | 2015-03-11 | 2015-08-05 | 中山市奥斯精工机械科技有限公司 | A kind of automation joint |
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2015
- 2015-03-11 CN CN201510106131.2A patent/CN104669297B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03111194A (en) * | 1989-09-21 | 1991-05-10 | Agency Of Ind Science & Technol | Wire inductive mechanism in wire driving arm |
| US20130197492A1 (en) * | 2010-09-30 | 2013-08-01 | Olympus Corporation | Bending Joint Mechanism, Surgical Instrument Having This Bending Joint Mechanism, and Manipulator Having This Bending Joint Mechanism |
| CN102452076A (en) * | 2010-11-02 | 2012-05-16 | 曹晶晶 | Wire rope drive mechanism |
| CN102814821A (en) * | 2012-09-14 | 2012-12-12 | 中国科学院合肥物质科学研究院 | Mechanical arm high-angle controllable rotary joint device driven by two steel wire ropes |
| CN102941579A (en) * | 2012-10-23 | 2013-02-27 | 中国科学院合肥物质科学研究院 | Steel wire rope transmission mechanism of rotary mechanical arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109465816A (en) * | 2019-01-02 | 2019-03-15 | 赵郑松 | A kind of architectural engineering multi-gear gearing hand |
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| CN104669297B (en) | 2016-09-14 |
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Effective date of registration: 20180326 Address after: 528400 Guangdong city in Zhongshan province Fu Weimin Town Village Ju Fu Street No. 1 (Natural Science and Technology Industrial Park) Patentee after: Zhongshan Xin Zhi Robot Technology Co., Ltd. Address before: 528400 Guangdong province Zhongshan Torch Development Zone No. 50 Gong Hua Cun Huan Cun Lu -10 Patentee before: Zhongshan Aosi Fine Machinery Technology Co., Ltd. |
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