CN105058373A - Mechanical arm flexible butt joint device based on double-hooke-joint mechanism - Google Patents
Mechanical arm flexible butt joint device based on double-hooke-joint mechanism Download PDFInfo
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- CN105058373A CN105058373A CN201510563632.3A CN201510563632A CN105058373A CN 105058373 A CN105058373 A CN 105058373A CN 201510563632 A CN201510563632 A CN 201510563632A CN 105058373 A CN105058373 A CN 105058373A
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- mechanical arm
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- joint mechanism
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Abstract
The invention relates to a hooke joint butt joint device, in particular to a mechanical arm flexible butt joint device based on a double-hooke-joint mechanism. The device aims at solving the problems that an existing butt joint device is complex in control and large in mechanism contact force and is not easily protected. A mechanical arm end effector is installed at the upper end of an end effector storage device, the upper end of a connecting piece (1) is connected with an external mechanical arm through a connecting hole (1-1), a first cross shaft (2) is installed at the upper portion of a joint connector (5), an inner ring (3) is installed on the inner side wall of the upper end of the tool joint (5), an outer ring (4) is installed on the outer side wall of the upper end of the tool joint (5), and the lower end of the connecting piece (1) is connected with the tool joint (5) through the outer ring (4). The end effector storage device comprises the hookie-joint mechanism and a buffering reset mechanism. The hooke-joint mechanism is installed on the buffering reset mechanism. The mechanical arm flexible butt joint device is suitable for butt joint of mechanical structures in space.
Description
Technical field
The present invention relates to a kind of two Hooke's hinge docking facilities, be specifically related to the submissive docking facilities of a kind of mechanical arm.
Background technology
Mechanical arm in the course of the work, inevitably relates to the docking problem of different institutions.Docking mechanism not only has a wide range of applications on the ground, also plays an important role under space flight weightlessness.Rigidity docking technique is very high to the required precision of mechanical arm, and due to reasons such as contact forces, very easily causes the damage of docking mechanism.Existing docking facilities requires that mechanical arm precision is high, and to connection function by control realization of taking the initiative to mechanical arm, control is complicated and mechanism contacts power is comparatively large, not easily protects docking facilities.
Summary of the invention
The object of the invention is to exist control complicated and mechanism contacts power is comparatively large to solve existing docking facilities, not easily protect the problem of docking facilities, and then provide a kind of mechanical arm based on two hook joint mechanism submissive docking facilities.
Technical scheme of the present invention is: the submissive docking facilities of a kind of mechanical arm based on two hook joint mechanism comprises robot arm end effector and end effector storing unit, and robot arm end effector is arranged on the upper end of end effector storing unit,
Robot arm end effector comprises connector, the first cross axle, inner ring, outer shroud and tool-joint, the upper end of connector is connected with external mechanical arm by connecting hole, first cross axle is arranged on the top of tool-joint, inner ring is arranged on the upper end madial wall of tool-joint, outer shroud is arranged on the upper end lateral wall of tool-joint, and the lower end of connector is connected with tool-joint by outer shroud;
End effector storing unit comprises hook joint mechanism and buffering resetting-mechanism, and hook joint mechanism is arranged on buffering resetting-mechanism,
Hook joint mechanism comprises Connection Block, the second cross axle, two the first pins and cross axial bases, and Connection Block is connected with the lower end of tool-joint, and cross axial base is arranged on the lower end of Connection Block, and the second cross axle is arranged on the upper end of cross axial base by two the first pins,
Buffering resetting-mechanism comprises buffer spring, back-moving spring and connection base, the lateral wall of connection base offers multiple shifting chute, connect base to be connected with the bottom of cross axial base by being arranged on the connector in multiple shifting chute, buffer spring is arranged on and connects in base, and the lower end of the upper end of buffer spring and cross axial base offsets, back-moving spring is sleeved on the lateral wall of cross axial base with on the lateral wall being connected base.
The present invention compared with prior art has following effect: 1. main body of the present invention adopts buffering resetting-mechanism and hook joint mechanism, and what realize end effector storing unit and end effector has tolerance to dock and safe storage.The present invention docks that two ends are hook joint mechanism, number of parts is few, simple with existing apparatus structure compared, and device can realize tolerance docking, and docking contact force is little, deposits process safety, reliable, does not have control element, low cost of manufacture in device.Be particularly suitable for robot arm end effector and need frequent replacing and the occasion of the direct monitoring of inconvenience, its docking principle is equally applicable to the docking of frame for movement in space.
Robot arm end effector and its storing unit, by hook joint mechanism transmission campaign, form two Hooke's hinge docking structure.Both are when docking, and due to the adaptivity of hook joint mechanism structure, docking end can Small-angle Rotation, completes docking mission smoothly, reduces docking contact force simultaneously, protection apparatus for work.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention; Fig. 2 is that the present invention completes the rear generalized section of docking; Fig. 3 is end effector structures schematic diagram; Fig. 4 is the structural representation that connector removed by end effector; Fig. 5 is end effector storing unit structural representation; Fig. 6 is end effector storing unit sectional view; Fig. 7 is the structural scheme of mechanism of cross axle.
Detailed description of the invention
Detailed description of the invention one: present embodiment is described in conjunction with 1 to Fig. 7, the submissive docking facilities of a kind of mechanical arm based on two hook joint mechanism of present embodiment comprises robot arm end effector and end effector storing unit, robot arm end effector is arranged on the upper end of end effector storing unit
Robot arm end effector comprises connector 1, first cross axle 2, inner ring 3, outer shroud 4 and tool-joint 5, the upper end of connector 1 is connected with external mechanical arm by connecting hole 1-1, first cross axle 2 is arranged on the top of tool-joint 5, inner ring 3 is arranged on the upper end madial wall of tool-joint 5, outer shroud 4 is arranged on the upper end lateral wall of tool-joint 5, and the lower end of connector 1 is connected with tool-joint 5 by outer shroud 4;
End effector storing unit comprises hook joint mechanism and buffering resetting-mechanism, and hook joint mechanism is arranged on buffering resetting-mechanism,
Hook joint mechanism comprises Connection Block 8, second cross axle 10, two the first pins 11 and cross axial base 12, Connection Block 8 is connected with the lower end of tool-joint 5, cross axial base 12 is arranged on the lower end of Connection Block 8, and the second cross axle 10 is arranged on the upper end of cross axial base 12 by two the first pins 11
Buffering resetting-mechanism comprises buffer spring 14, back-moving spring 15 and is connected base 16, the lateral wall of connection base 16 offers multiple shifting chute 16-2, connect base 16 to be connected with the bottom of cross axial base 12 by the connector be arranged in multiple shifting chute 16-2, buffer spring 14 is arranged on and connects in base 16, and the lower end of the upper end of buffer spring 14 and cross axial base 12 offsets, back-moving spring 15 is sleeved on the lateral wall of cross axial base 12 with on the lateral wall being connected base 16.
Connector 1 one end of described robot arm end effector is connected with mechanical arm by connecting hole 1-1, and the other end utilizes screw to be connected with cross axle outer shroud 4 by through hole 4-1.
Detailed description of the invention two: composition graphs 1 to Fig. 4 illustrates present embodiment, the tool-joint 5 of present embodiment comprises column and three linking arms, can place different instruments, realize difference in functionality in linking arm.Three uniform lower ends being connected to column of linking arm, the bottom dead center position place of three linking arm intersections is provided with spherical groove 5-2, the both sides end face of each linking arm is equipped with a groove 5-1.Groove 5-2 can realize coordinating of 8-1 protruding with Connection Block 8 top hemisphere, realizes the location of end effector; When mechanical arm and end effector depart from, groove 5-1 can realize the clamping with lock sleeve 6, facilitates mechanical arm and end effector to depart from.Other composition is identical with detailed description of the invention one with annexation.
Detailed description of the invention three: composition graphs 5 illustrates present embodiment, the hook joint mechanism of present embodiment also comprises 3 lock sleeves 6 and 3 the first screws, 7,3 the first screws 7 are arranged on Connection Block 8, and each first screw 7 is set with a lock sleeve 6.The lock sleeve 6 be attached thereto is fastened on Connection Block 8 by the first screw 7.When mechanical arm and end effector depart from, lock sleeve 6 can realize the clamping with groove 5-1, facilitates mechanical arm and end effector to depart from.Other composition is identical with detailed description of the invention two with annexation.
Detailed description of the invention four: composition graphs 5 illustrates present embodiment, the hook joint mechanism of present embodiment also comprises two the second screws, 9, two the second screws 9 and is arranged on the second cross axle 10, plays a part to connect Connection Block 8 and the second cross axle 10.Other composition is identical with detailed description of the invention two or three with annexation.
Detailed description of the invention five: composition graphs 5 illustrates present embodiment, the shifting chute 16-2 rectangle shifting chute of present embodiment.Other composition is identical with detailed description of the invention four with annexation.
Detailed description of the invention six: composition graphs 6 illustrates present embodiment, the upper end of the Connection Block 8 of present embodiment is with hemispherical projections 8-1.The protruding 8-1 of hemisphere can realize mating spherical surfaces with groove 5-2, realizes the axial location of end effector.Other composition is identical with detailed description of the invention five with annexation.
There are 3 circular holes Connection Block 8 upper end of described hook joint mechanism, and installation 3 interior hexagonal cylindrical head first screws, 7,3 interior hexagonal cylindrical head first screw 7 outsides are overlapped respectively and had lock sleeve 6 respectively.The bottom spherical groove 5-2 of the protruding 8-1 of Connection Block 8 top hemisphere and tool interface 5 forms spherical pair.Implementation tool interface 5 contacts instrument Connection Block 8 when then turning clockwise, and lock sleeve 6 clamps with the lateral grooves 5-1 of tool interface 5.
Connection base 16 side of described buffering resetting-mechanism is uniformly distributed 4 groove 16-2, connection base 16 and cross axial base 12 is fixed by hexagon socket cap head screw.Instrument connects base 16 and is fixed on ground by screw, realizes hook joint mechanism and can only to float and can not circular-rotation.
Cross axle 2 two ends in described end effector are realized and the coordinating of cross axle outer shroud 4 by two hexagon socket cap head screws, and two ends are inserted pin and matched with cross axle inner ring 3 in addition, formation hook joint mechanism.
To be cross axle 10 two ends realize its coordinating with instrument Connection Block by two hexagon socket cap head screws 9 for the hook joint mechanism of described end effector storing unit inside.Pin 11 is inserted at two ends in addition, realizes its coordinating with cross axial base 12, formation hook joint mechanism.
Buffer spring 14 upper end of described buffering resetting-mechanism contacts with cross axial base 12, and lower end and instrument connect base 16 and contact, and realize fluctuating of cross axial base, and protection end effector is injury-free.Described back-moving spring 15 upper end contacts with instrument Connection Block 8, and lower end and instrument connect base 16 and contact, and realizes when end effector leaves, to the reset of instrument Connection Block, facilitates depositing of end effector next time.Be with 8 and circular hole 16-1 outside described instrument connection base bottom, make it conveniently install, be positioned on ground.
The present invention is the two hook joint mechanism of a kind of utilization is master, be aided with dual spring mechanism, large tolerance can be realized to robot arm end effector to receive and the device steadily deposited, be applicable to robot arm end effector and need frequent replacing and the occasion of inconvenient directly monitoring, its docking principle is equally applicable to the docking of frame for movement in space.
There are hook joint mechanism, reset buffer gear in end effector storing unit inside.In hook joint mechanism wherein and end effector, hook joint mechanism forms two Hooke's hinge docking facilities, and in reset buffer gear, buffer spring realizes floating of storing unit, reduces docking contact force; Back-moving spring realizes end effector axis vertical, is convenient to mechanical arm and captures this actuator next time.
Composition graphs 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7 illustrate principle of the present invention.When depositing end effector, when robot arm end effector is delivered to the top of instrument Connection Block 8 and is come in contact with instrument Connection Block 8, due to the existence of two hook joint mechanism, adaptivity is adjusted pose by instrument Connection Block 8, clamps to facilitate the hexagon socket cap head screw on the lateral grooves 5-1 of tool interface 5 in robot arm end effector and instrument Connection Block 8.4 groove 16-2 that instrument connects base 16 make cross axial base 12 to fluctuate, and prevent the rotation of robot arm end effector horizontal direction from causing horizontally rotating of cross axial base 12.The form of back-moving spring 15 adjustable instrument Connection Block 8, buffer spring 14 fluctuates, and realizes the buffering for robot arm end effector, avoids robot arm end effector to be produced damage because impacting.Match with instrument Connection Block 8 in cross axle 10 two ends, pin is inserted at two ends in addition, forms hook joint mechanism, realizes the deflection of storing unit low-angle self adaptation.When robot arm end effector leaves, back-moving spring 15 can centralizing tool Connection Block 8, makes end effector axis vertical, facilitates mechanical arm again to capture this actuator.
Claims (6)
1. based on the submissive docking facilities of mechanical arm of two hook joint mechanism, it is characterized in that: it comprises robot arm end effector and end effector storing unit, and robot arm end effector is arranged on the upper end of end effector storing unit,
Robot arm end effector comprises connector (1), the first cross axle (2), inner ring (3), outer shroud (4) and tool-joint (5), the upper end of connector (1) is connected with external mechanical arm by connecting hole (1-1), first cross axle (2) is arranged on the top of tool-joint (5), inner ring (3) is arranged on the upper end madial wall of tool-joint (5), outer shroud (4) is arranged on the upper end lateral wall of tool-joint (5), and the lower end of connector (1) is connected with tool-joint (5) by outer shroud (4);
End effector storing unit comprises hook joint mechanism and buffering resetting-mechanism, and hook joint mechanism is arranged on buffering resetting-mechanism,
Hook joint mechanism comprises Connection Block (8), the second cross axle (10), two the first pins (11) and cross axial base (12), Connection Block (8) is connected with the lower end of tool-joint (5), cross axial base (12) is arranged on the lower end of Connection Block (8), second cross axle (10) is arranged on the upper end of cross axial base (12) by two the first pins (11)
Buffering resetting-mechanism comprises buffer spring (14), back-moving spring (15) be connected base (16), the lateral wall of connection base (16) offers multiple shifting chute (16-2), connect base (16) to be connected with the bottom of cross axial base (12) by the connector be arranged in multiple shifting chute (16-2), buffer spring (14) is arranged on and connects in base (16), and the lower end of the upper end of buffer spring (14) and cross axial base (12) offsets, back-moving spring (15) is sleeved on the lateral wall of cross axial base (12) with on the lateral wall being connected base (16).
2. the submissive docking facilities of a kind of mechanical arm based on two hook joint mechanism according to claim 1, it is characterized in that: tool-joint (5) comprises column and three linking arms, three uniform lower ends being connected to column of linking arm, the bottom dead center position place of three linking arm intersections is provided with spherical groove (5-2), the both sides end face of each linking arm is equipped with a groove (5-1).
3. the submissive docking facilities of a kind of mechanical arm based on two hook joint mechanism according to claim 2, it is characterized in that: hook joint mechanism also comprises multiple lock sleeve (6) and multiple first screw (7), multiple first screw (7) is arranged on Connection Block (8), each first screw (7) is set with a lock sleeve (6).
4. the submissive docking facilities of a kind of mechanical arm based on two hook joint mechanism according to claim 3, it is characterized in that: hook joint mechanism also comprises two the second screws (9), two the second screws (9) are arranged on the second cross axle (10).
5. the submissive docking facilities of a kind of mechanical arm based on two hook joint mechanism according to claim 4, is characterized in that: shifting chute (16-2) rectangle shifting chute.
6. the submissive docking facilities of a kind of mechanical arm based on two hook joint mechanism according to claim 5, is characterized in that: the upper end of Connection Block (8) is with hemispherical projections.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510563632.3A CN105058373B (en) | 2015-09-07 | 2015-09-07 | A kind of submissive docking facilities of mechanical arm based on double hook joint mechanism |
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| CN201510563632.3A CN105058373B (en) | 2015-09-07 | 2015-09-07 | A kind of submissive docking facilities of mechanical arm based on double hook joint mechanism |
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| CN105058373A true CN105058373A (en) | 2015-11-18 |
| CN105058373B CN105058373B (en) | 2016-10-19 |
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| CN201510563632.3A Active CN105058373B (en) | 2015-09-07 | 2015-09-07 | A kind of submissive docking facilities of mechanical arm based on double hook joint mechanism |
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Cited By (4)
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| CN106378774A (en) * | 2016-12-13 | 2017-02-08 | 东莞市创丰科技发展有限公司 | Rapid replacement assembly for manipulator |
| CN107953352A (en) * | 2016-10-16 | 2018-04-24 | 波音公司 | Multiaxis compliance end effector and its relevant method and computer program product |
| CN109050993A (en) * | 2018-09-19 | 2018-12-21 | 哈尔滨工业大学 | Flexible drive axle is used in a kind of docking of spacecraft |
| CN112377517A (en) * | 2020-12-03 | 2021-02-19 | 重庆工程职业技术学院 | Hooke joint for parallel manipulator |
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| CN112377517B (en) * | 2020-12-03 | 2021-07-02 | 重庆工程职业技术学院 | Hooke joint for parallel manipulator |
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| CN105058373B (en) | 2016-10-19 |
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