CN104669297B - A kind of automation joint - Google Patents
A kind of automation joint Download PDFInfo
- Publication number
- CN104669297B CN104669297B CN201510106131.2A CN201510106131A CN104669297B CN 104669297 B CN104669297 B CN 104669297B CN 201510106131 A CN201510106131 A CN 201510106131A CN 104669297 B CN104669297 B CN 104669297B
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- China
- Prior art keywords
- joint arm
- push
- stay cord
- joint
- pull
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Abstract
The invention discloses a kind of automation artificial joint, the second joint arm that jointed shaft is hinged is passed through including the first joint arm with described first joint arm, its technical scheme is characterized by described first joint arm and is provided with the push-pull device at fixed that telescopic direction is axially vertical with described jointed shaft, being provided with a plurality of axial both sides being distributed in described jointed shaft the stay cord that described second joint arm can be pulled respectively to rotate along described jointed shaft between described push-pull device at fixed and described second joint arm, described push-pull device at fixed uses hydraulic pressure or air pressure or motor to drive.The present invention provides a kind of automation artificial joint, utilizes the push-pull device at fixed on the first joint arm and stay cord, drives the second joint arm hinged with it to rotate, design small and exquisite, significantly reduce the volume in joint, save the device space, is suitable for several work condition.
Description
[technical field]
This utility model relates to a kind of automation joint.
[background technology]
Along with cost of labor is continuously increased, the demand that automated job substitutes manual work is the most urgent
Cutting, mechanical hand is mainly comprising of this automation field, imitation people the most rapidly and efficiently
Work joint, completes some high intensity, high pollution, and low energy consumption, than the operation required, is technology people
The direction that member studies for a long period of time.The manual imitation joint of automation is the core design of mechanical hand, existing
Having design many employings gear or rotating shaft transmission, joint is thick, causes mechanical hand volume to become big, no
It is easy to assembling, is unsuitable for the angular turn of little scope, the most all uses driven by servomotor,
Energy consumption and manufacturing cost are the most higher, directly result in the popularization and application of robot and the acceptance energy in market
Power is limited.
[summary of the invention]
This utility model purpose is to overcome deficiency of the prior art, it is provided that a kind of automation closes
Joint, utilizes the push-pull device at fixed on the first joint arm and stay cord, drives the second joint hinged with it
Arm rotates, and designs small and exquisite, significantly reduces the volume in joint, save the device space, is suitable for many
Plant operating condition.
This utility model is achieved through the following technical solutions:
A kind of automation joint, passes through hinge including the first joint arm with described first joint arm
The second joint arm that spindle is hinged, it is characterised in that described first joint arm is provided with telescopic direction
The push-pull device at fixed axially vertical with described jointed shaft, described push-pull device at fixed and described second joint arm
Between be provided with a plurality of axial both sides being distributed in described jointed shaft and can pull respectively described second close
The stay cord that joint arm rotates along described jointed shaft, described push-pull device at fixed uses hydraulic pressure or air pressure or motor
Drive.
A kind of automation joint as above, it is characterised in that described push-pull device at fixed includes setting
In the first push-pull mechanism within described first joint arm, described first push-pull mechanism be provided with by
Its first push-pull bar released or retract, the end of described first push-pull bar is provided with axial and described
Jointed shaft is axially in parallel and the first movable pulley of stay cord described in stretchy.
A kind of automation joint as above, it is characterised in that described push-pull device at fixed also includes
It is located on described first joint arm and contrary with described first push-pull mechanism telescopic direction second
Push-pull mechanism, described second push-pull mechanism is provided with the second push-pull bar being advanced by it or retracting,
The end of described second push-pull bar is provided with axial and axially in parallel second movable pulley of described jointed shaft,
The first stay cord that described stay cord includes being driven slip by described first push-pull mechanism push-and-pull and by
Described second push-pull mechanism push-and-pull and the second stay cord of driving, described first stay cord and the second stay cord
It is positioned at the axial both sides of described jointed shaft.
Automation joint as above a kind of, it is characterised in that described first joint arm and the
Be sheathed on described first stay cord periphery and guide that it slides the it is respectively equipped with inside two joint arms
One forward guide channel and the second forward guide channel, inside described first joint arm and second joint arm
Further respectively have and be sheathed on described second stay cord periphery and guide its first reverse pilot slided
Groove and the second reverse pilot groove.
A kind of automation joint as above, it is characterised in that on described first joint arm also
It is provided with the described first stay cord position of restriction to be positioned at inside described first joint arm and with described first
The first forward fixed pulley that stay cord slides and rotates, described second joint arm is additionally provided with restriction institute
State the first stay cord position to be positioned at inside described second joint arm and with described first stay cord slip
Rotate the second forward fixed pulley.
Automation joint as above a kind of, it is characterised in that on described first joint arm with
Contrary side, described first forward fixed pulley position is provided with the position limiting described second stay cord
It is positioned at first rotated inside described first joint arm and with described second stay cord slip reverse
Fixed pulley, side contrary with described second forward fixed pulley position on described second joint arm sets
The position of restricted described second stay cord is positioned at inside described second joint arm and with described second
The second reverse fixed pulley that stay cord slides and rotates.
Automation joint as above a kind of, it is characterised in that on described first joint arm with
The hinged opposite side of described second joint arm is provided with restriction institute by described first push-pull mechanism
State the first stay cord position to be positioned at inside described first joint arm and institute slides with described first stay cord
And the first extension fixed pulley rotated, described first extends fixed pulley guides described first stay cord edge
It is hinged with described second joint arm that described first forward guide channel slides to described first joint arm
Opposite side.
Automation joint as above a kind of, it is characterised in that on described first joint arm with
The hinged opposite side of described second joint arm is provided with restriction institute by described second push-pull mechanism
State the second stay cord position to be positioned at inside described first joint arm and with described second stay cord slip
The the second extension fixed pulley rotated, described second extends fixed pulley described second stay cord of guiding slides to
The opposite side that described first joint arm is hinged with described second joint arm.
A kind of automation joint as above, it is characterised in that be provided with axle in described jointed shaft
Holding, after described first push-pull bar contraction inside recessed described first joint arm of energy, described second pushes away
After pull bar contraction inside recessed described first joint arm of energy.
A kind of automation joint as above, it is characterised in that described second joint arm and institute
State the first joint arm place of being hinged for rounding.
Compared with prior art, this utility model has the following advantages:
A kind of automation joint of the present utility model, utilizes the push-pull device at fixed on the first joint arm
And stay cord, drive the second joint arm hinged with it to rotate, stay cord utilizes multiple fixed pulley to hide
Inside the first joint arm and second joint arm, second joint arm can be pulled to rotate, joint
Arm design is small and exquisite, reduces the volume of mechanical hand, saves the device space, is suitable for multi-joint
Connecting extension action, multiple passes internode can be controlled joint action by flexible push-pull device at fixed respectively,
And same stay cord or a plurality of stay cord can be used, it is achieved and linkage, meet little field angle and rotate,
Reduce energy consumption and manufacturing cost.
[accompanying drawing explanation]
Fig. 1 is this utility model generalized section；
Fig. 2 is this utility model front view；
Fig. 3 is this utility model upward view；
Fig. 4 is this utility model right view.
[detailed description of the invention]
A kind of automation joint, leads to including the first joint arm 1 with described first joint arm 1
Crossing the second joint arm 2 that jointed shaft 10 is hinged, described first joint arm 1 is with described second
The first stay cord 121 He being respectively arranged on described jointed shaft 10 both sides it is provided with between joint arm 2
Second stay cord 122, described first joint arm 1 is provided with for the first stay cord 121 described in stretch-draw
With the second stay cord 122 drive described second joint arm 2 around stretching that described jointed shaft 10 rotates
Contracting push-pull device at fixed 11.First stay cord and second of jointed shaft both sides it is distributed on first joint arm
Stay cord, arm stretch push-pull device at fixed drive, respectively drive second joint arm along hinged axial two sides
To rotation, it is achieved the rotation of mechanical joint.
The telescopic direction of described flexible push-pull device at fixed 11 is axially vertical with described jointed shaft 2, institute
Stating flexible push-pull device at fixed 11 uses hydraulic pressure or air pressure or motor to drive.Stretching of flexible push-pull device at fixed
Contracting direction is axially vertical with jointed shaft, can shorten the first stay cord and the length of the second stay cord, suitable
Closing articulation in little scope, flexible push-pull device at fixed can be driven by various ways.
Described flexible push-pull device at fixed 11 includes that being located at first within described first joint arm 1 pushes away
Drawing mechanism 110 and second push-pull mechanism contrary with described first push-pull mechanism 110 telescopic direction
13, described first push-pull mechanism 110 includes the first push-and-pull base 111 and by described first push-and-pull
The first push-pull bar 112 that base 111 is released or retracted, the end of described first push-pull bar 112
It is provided with axial and described jointed shaft 10 axially in parallel and described first stay cord 121 can be driven to slide
The first movable pulley 113, described second push-pull mechanism 13 includes the second push-and-pull base 131 He
The second push-pull bar 132 released by described second push-and-pull base 131 or retracted, described second pushes away
The end of pull bar 132 is provided with axial axially in parallel with described jointed shaft 10 and can drive described the
The second movable pulley 133 that two stay cords 122 slide.Flexible push-pull device at fixed includes that telescopic direction is contrary
The first push-pull mechanism and the second push-pull mechanism, the first stay cord and the second stay cord can be pulled respectively sliding
Dynamic, and then drive relatively rotating of the first joint arm and second joint arm.
It is respectively equipped with inside described first joint arm 1 and second joint arm 2 and is sheathed on described first
Stay cord 121 periphery also guides its first forward guide channel 114 and the second forward guide channel slided
21, further respectively have inside described first joint arm 1 and second joint arm 2 and be sheathed on described
Two stay cord 122 peripheries also guide its first reverse pilot groove 115 and the second reverse pilot slided
Groove 22.First stay cord is arranged in the first forward guide channel and the second forward guide channel, is drawn
Driving second joint arm to rotate forward relative to the first joint arm time dynamic, the second stay cord is arranged in first
In reverse pilot groove and the second reverse pilot groove, drive second joint arm relative to first when pulled
Joint arm rotates backward, and the first stay cord and the second stay cord are limited at the first joint arm and second and close
Inside joint arm.
It is additionally provided with described first stay cord 121 position of restriction on described first joint arm 1 and is positioned at described
The first forward slided inside first joint arm 1 and with described first stay cord 121 and rotate is slided surely
Wheel 116, described second joint arm 2 is additionally provided with described first stay cord 121 position of restriction and is positioned at
Slide inside described second joint arm 2 and with described first stay cord 121 and to rotate the second forward fixed
Pulley 23.Fixed pulley is installed in the corner of the first joint arm and second joint arm, can limit
The sliding path of the first stay cord, it is ensured that its distance being driven stretch-draw the shortest by the push-pull device at fixed that stretches is
Second joint arm can be controlled rotate.
Side contrary with described first forward fixed pulley 116 position on described first joint arm 1
It is provided with and limits the position of described second stay cord 122 and be positioned at inside described first joint arm 1 and with institute
State the second stay cord 122 to slide and the first reverse fixed pulley 117 of rotating, described second joint arm
Side contrary with described second forward fixed pulley 23 position on 2 is provided with restriction described second and draws
The position of rope 122 is positioned at inside described second joint arm 2 and slides with described second stay cord 122
And the second reverse fixed pulley 24 rotated.In the first joint arm and the corner of second joint arm
Fixed pulley is installed, the sliding path of the second stay cord can be limited, it is ensured that its push-pull device at fixed band that stretched
The shortest distance of dynamic stretch-draw can control second joint arm and rotate.
Opposite side hinged with described second joint arm 2 on described first joint arm 1 is near described
Other described first stay cord 121 position of restriction that is provided with of first push-pull mechanism 11 is positioned at described first pass
The the first extension fixed pulley 118 slided inside joint arm 1 and with described first stay cord 121 and rotate,
Described first extends fixed pulley 118 guides described first stay cord 121 along described first forward guiding
Groove 114 slides to the opposite side that described first joint arm 1 is hinged with described second joint arm 2.The
One joint arm or second joint arm are along the opposite side of hinged place, the most extensible and assemble identical stretching
Contracting push-pull device at fixed and new joint arm, still use the first stay cord as transmission medium, can reach many
Joint or the rotating effect of multi-angle, make mechanical arm functional diversities.
Opposite side hinged with described second joint arm 2 on described first joint arm 1 is near described
Other described second stay cord 122 position of restriction that is provided with of second push-pull mechanism 13 is positioned at described first pass
The the second extension fixed pulley 119 slided inside joint arm 1 and with described second stay cord 122 and rotate,
Described second extension fixed pulley 119 guides described second stay cord 122 and slides to described first joint arm
1 opposite side hinged with described second joint arm 2.First joint arm or second joint arm are along hinge
Connect the opposite side at place, the most extensible and assemble identical flexible push-pull device at fixed and new joint arm,
Still use the second stay cord as transmission medium, can reach the rotating effect of multi-joint or multi-angle,
Make mechanical arm functional diversities.
Being provided with bearing in described jointed shaft 10, described first push-pull bar 112 can be recessed after shrinking
Inside described first joint arm 1, energy recessed described first after described second push-pull bar 132 contraction
Inside joint arm 1, described second joint arm 2 and described first joint arm 1 place of being hinged are for falling
Fillet.
Claims (7)
1. an automation joint, closes including the first joint arm (1) with described first
Joint arm (1) passes through the second joint arm (2) that jointed shaft (10) is hinged, described first joint
Arm (1) is provided with the push-pull device at fixed (11) that telescopic direction is axially vertical with described jointed shaft (10),
It is provided with between described push-pull device at fixed (11) and described second joint arm (2) described in a plurality of being distributed in
The axial both sides of jointed shaft (10) also can pull described second joint arm (2) along described respectively
The stay cord that jointed shaft (10) rotates, described push-pull device at fixed (11) use hydraulic pressure or air pressure or
Motor drives, and it is internal that described push-pull device at fixed (11) includes being located at described first joint arm (1)
The first push-pull mechanism (111), described first push-pull mechanism (111) be provided with by its release
Or the first push-pull bar (112) retracted, the end of described first push-pull bar (112) is provided with axle
The first movable pulley to stay cord described in and stretchy axially in parallel with described jointed shaft (10)
(113), described push-pull device at fixed (11) also include being located at described first joint arm (1) upper and
Second push-pull mechanism (13) contrary with described first push-pull mechanism (111) telescopic direction,
Described second push-pull mechanism (13) is provided with the second push-pull bar (132) being advanced by it or retracting,
The end of described second push-pull bar (132) is provided with axial and described jointed shaft (10) and axially puts down
Row the second movable pulley (133), described stay cord includes being carried by described first push-pull mechanism push-and-pull
Move the first stay cord (121) slided and driven by described second push-pull mechanism (13) push-and-pull
The second stay cord (122), described first stay cord (121) and the second stay cord (122) are positioned at
The axial both sides of described jointed shaft (10), it is characterised in that: described first joint arm (1)
It is respectively equipped with second joint arm (2) inner side and is 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 further respectively have and are sheathed on institute
State the second stay cord (122) periphery and guide its slide first reverse pilot groove (115) and
Second reverse pilot groove (22).
A kind of automation joint the most according to claim 1, it is characterised in that described
It is additionally provided with described first stay cord (121) position of restriction on first joint arm (1) and is positioned at described
First rotated inside first joint arm (1) and with the slip of described first stay cord (121)
Forward fixed pulley (116), described second joint arm (2) is additionally provided with restriction described first and draws
Rope (121) position is positioned at described second joint arm (2) inner side and with described first stay cord (121)
Slide and rotate the second forward fixed pulley (23).
A kind of automation joint the most according to claim 2, it is characterised in that described
The upper side contrary with described first forward fixed pulley (116) position of first joint arm (1)
It is provided with and limits the position of described second stay cord (122) and be positioned at described first joint arm (1)
Side the first reverse fixed pulley (117) rotated with the slip of described second stay cord (122),
Described second joint arm (2) goes up the most contrary with described second forward fixed pulley (23) position
Side is provided with and limits the position of described second stay cord (122) and be positioned at described second joint arm (2)
Inner side the second reverse fixed pulley (24) rotated with the slip of described second stay cord (122).
A kind of automation joint the most according to claim 1, it is characterised in that described
The upper opposite side hinged with described second joint arm (2) of first joint arm (1) is near described
Other described first stay cord (121) position of restriction that is provided with of first push-pull mechanism (111) is positioned at institute
State the first joint arm (1) inner side and with described first stay cord (121) slip and rotate
First extends fixed pulley (118), and described first extends fixed pulley (118) guides described first
Stay cord (121) slides to described first joint arm (1) along described first forward guide channel (114)
The opposite side hinged with described second joint arm (2).
A kind of automation joint the most according to claim 1, it is characterised in that described
The upper opposite side hinged with described second joint arm (2) of first joint arm (1) is near described
Other described second stay cord (122) position of restriction that is provided with of second push-pull mechanism (13) is positioned at described
Second rotated inside first joint arm (1) and with the slip of described second stay cord (122)
Extending fixed pulley (119), described second extends fixed pulley (119) guides described second stay cord
(122) another hinged with described second joint arm (2) of described first joint arm (1) is slided to
Side.
A kind of automation joint the most according to claim 1, it is characterised in that described
Being provided with bearing in jointed shaft (10), described first push-pull bar (112) can recessed institute after shrinking
Stating the first joint arm (1) inner side, described second push-pull bar (132) can recessed institute after shrinking
State the first joint arm (1) inner side.
A kind of automation joint the most according to claim 1, it is characterised 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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104669297A CN104669297A (en) | 2015-06-03 |
| CN104669297B true CN104669297B (en) | 2016-09-14 |
Family
ID=53305140
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510106131.2A Expired - Fee Related CN104669297B (en) | 2015-03-11 | 2015-03-11 | A kind of automation joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104669297B (en) |
Families Citing this family (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 |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0677914B2 (en) * | 1989-09-21 | 1994-10-05 | 工業技術院長 | Wire guide mechanism in wire drive arm |
| JP5835906B2 (en) * | 2010-09-30 | 2015-12-24 | オリンパス株式会社 | Bending joint mechanism, surgical instrument having the bending joint mechanism, and manipulator having the bending joint mechanism |
| CN102452076A (en) * | 2010-11-02 | 2012-05-16 | 曹晶晶 | Wire rope drive mechanism |
| CN102814821B (en) * | 2012-09-14 | 2014-12-10 | 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 |
| CN102941579B (en) * | 2012-10-23 | 2014-12-24 | 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 |
| 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 |
-
2015
- 2015-03-11 CN CN201510106131.2A patent/CN104669297B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN104669297A (en) | 2015-06-03 |
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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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