CN105904482B - A kind of mechanical arm bias articulation mechanism - Google Patents
A kind of mechanical arm bias articulation mechanism Download PDFInfo
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- CN105904482B CN105904482B CN201610437163.5A CN201610437163A CN105904482B CN 105904482 B CN105904482 B CN 105904482B CN 201610437163 A CN201610437163 A CN 201610437163A CN 105904482 B CN105904482 B CN 105904482B
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- China
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- inner ring
- mechanical arm
- outer shroud
- articulation mechanism
- ring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Pivots And Pivotal Connections (AREA)
Abstract
The invention discloses a kind of mechanical arm bias articulation mechanism, including two swivel assemblies and at least two contiguous blocks, the swivel assembly includes outer shroud, inner ring and two bearings, the outer shroud coaxial sleeve is connected to the two ends of the outer shroud and the inner ring so as to can coaxially be relatively rotated between the outer shroud and the inner ring in the outside of the inner ring, two bearings；Two swivel assemblies are mutually perpendicular to and mutual fit, and are connected by contiguous block described at least two.Mechanical arm bias articulation mechanism proposed by the present invention, has the advantages that lightweight, flexibility ratio high, high position precision, compact conformation, disclosure satisfy that the mechanical arm job requirements under many special operation conditions.
Description
Technical field
The present invention relates to intelligent machine arm field, more particularly to a kind of mechanical arm bias articulation mechanism.
Background technology
The structure of existing joint of mechanical arm is all mostly that a rotary joint realizes a kind of axial-rotation, and multi-spindle machining
Arm motion generally needs multiple power joints to be combined driving, the Rigid Robot Manipulator that single action joint combines both duty
Between position, again relatively it is heavy, the job requirements of (such as space operation) under the conditions of particular job can not have gradually been met.
Simultaneously for mechanical carpal joint and shoulder joint, it is required to two kinds of axial-rotations and is combined realize predetermined action,
The unicity in traditional joint becomes the bottleneck of mechanical arm flexibility ratio high so that multivariant mechanical arm have joint it is numerous,
Baroque design defect.
The content of the invention
For the free degree for solving the joint of existing mechanical arm is single, needed for space and the larger technical problem of weight,
The present invention proposes a kind of mechanical arm bias articulation mechanism based on duplex bearing principle, can not only realize two axial-rotation fortune
It is dynamic, replace two effects of rotary joint, and space is greatlyd save, facilitate location control, and reduce the weight of mechanical arm
Amount.
To reach above-mentioned purpose, the present invention uses following technical scheme：
The invention discloses a kind of mechanical arm bias articulation mechanism, including two swivel assemblies and at least two contiguous blocks,
The swivel assembly includes outer shroud, inner ring and two bearings, and the outer shroud coaxial sleeve is in the outside of the inner ring, two axles
The two ends for being connected to the inner ring and the outer shroud are held so as to can coaxially be relatively rotated between the outer shroud and the inner ring；
Two swivel assemblies are mutually perpendicular to and mutual fit, and are connected by contiguous block described at least two.
In further scheme, mechanical arm bias articulation mechanism of the invention can also have following technical characteristic：
The bearing includes outer ring, inner ring and multiple ball, the multiple ball be arranged on the outer ring medial surface and
In the ball grooves of the lateral surface of the inner ring, the two ends of the outer shroud pass through screw with two outer rings of the bearing respectively
It is fixedly connected, the inner ring of the two ends of the inner ring respectively with two bearings is fixedly connected by screw；Preferably, institute
Outer ring and the inner ring is stated to be made up of two half-turns respectively.
One of end face of the outer ring and the inner ring is step circles cylinder, the two ends of the outer shroud respectively with two
The step circles cylinder of the outer ring of the bearing is the first matching relationship, the two ends of the inner ring respectively with two bearings
The inner ring step circles cylinder be the second matching relationship, wherein first matching relationship and second matching relationship are equal
For interference fits or one of them be interference fits and another be interference fit.
The outer shroud is the assembly of base and annulus that Notch angle is 100~160 °, the annulus and the base
Binding face at be fixedly connected by screw, it is preferable that the base is provided with ring flange.
The inner ring is made up of two half-turns, and the angle of one of half-turn is 100~180 °, the angle of another half-turn
It is 260~180 °.
Power rope race is provided with the outside of the inner ring, for passing through the power rope race pulling the inner ring just in rope
To rotation or reverse rotation.
The inner ring is provided with two circumference brake roads, and two circumference brake roads are separately positioned on the outer of the inner ring
At the two ends of side；Four pieces of circumference brake blocks are respectively equipped with the outer shroud, every two pieces of circumference brake blocks correspond to set respectively
Put in a circumference brake road.
Four pin-and-holes are had on the outer shroud, the upper end of the circumference brake block is connected to the outer shroud by bearing pin
The pin-and-hole in, two pieces of lower ends of the circumference brake block in each described circumference brake road are connected by spring；Institute
The lower end for stating circumference brake block is additionally provided with cord hole, and in each described circumference brake road, rope sequentially passes through one of described
The cord hole of the cord hole, the spring and other one piece of circumference brake block lower end of circumference brake block lower end.
The outer wall of the inner ring is provided with magnetic grid, and the outer shroud is provided with the Magnetic Induction being engaged with the magnetic grid and visits
Head.
The quantity of the contiguous block is four, and four contiguous blocks are respectively fixedly connected with two swivel assemblies
Two ends；Preferably, the contiguous block includes two connecting portions of the planar portions of two orthogonal planar portions and connection,
Two planar portions are fixedly connected in two inner ring of the swivel assembly respectively.
Compared with prior art, the beneficial effects of the present invention are：Mechanical arm bias articulation mechanism of the invention passes through two
Individual mutual fit and it is mutually connected vertically so that the function of three dimensions rotary motion is just realized by an articulation mechanism, and
Precise positioning can be carried out；The structure of mechanical arm bias articulation mechanism has compact high, can be saved very in specific occasion
Large space, flexibility ratio is high, facilitates action executing, greatly optimizes the structural complexity of conventional multi-joint mechanical arm.Compared to tradition
Joint, it is of the invention based on duplex bearing principle mechanical arm bias joint, machine is greatly reduced by lightweight design bearing
The weight of tool arm, disclosure satisfy that the job requirements of (such as space operation) mechanical arm under specific environment.
In further scheme, the inner ring of swivel assembly, outer shroud and two bearings are combined by two half-turns,
Facilitate the assembly and disassembly of mechanical arm bias articulation mechanism of the invention.
Brief description of the drawings
Fig. 1 is the structural representation of the mechanical arm bias articulation mechanism of the preferred embodiment of the present invention；
Fig. 2 is the structural representation of the swivel assembly in Fig. 1；
Fig. 3 is the structural representation of the outer shroud in Fig. 2；
Fig. 4 is the structural representation of the inner ring in Fig. 2；
Fig. 5 is the structural representation of the bearing in Fig. 2；
Fig. 6 is one of cross-sectional view of Fig. 2；
Fig. 7 is the two of the cross-sectional view of Fig. 2；
Fig. 8 is the structural representation of the circumference brake block in Fig. 7；
Fig. 9 is the right view of Fig. 1；
Figure 10 is the structural representation of the contiguous block in Fig. 1.
Specific embodiment
Below against accompanying drawing and with reference to preferred embodiment the invention will be further described.
As shown in figure 1, be the structural representation of the mechanical arm bias articulation mechanism of the preferred embodiment of the present invention, wherein machinery
Arm bias articulation mechanism includes two swivel assemblies 1 and four contiguous blocks 2, and two swivel assemblies 1 are mutually perpendicular to and mutual fit,
And coupled together by four contiguous blocks 2.
It is the structural representation of swivel assembly 1 such as Fig. 2, swivel assembly 1 includes outer shroud 11, inner ring 12 and two bearings 13,
The coaxial sleeve of outer shroud 11 is connected to the two ends of outer shroud 11 and inner ring 12 to cause outer shroud in the outside of inner ring 12, two bearings 13
Can coaxially be relatively rotated between 11 and inner ring 12.
As shown in figure 3, outer shroud 11 is the assembly of base 112 and annulus 111 that Notch angle is 100~160 °, at this
In embodiment, the Notch angle of annulus 111 is 100 °, and annulus 111 is fixedly connected with the binding face of base 112 by screw,
Ring flange 1121 is additionally provided with base 112, ring flange 1121 can be used to connect all kinds of mechanisms.On the anchor ring at the two ends of outer shroud 11
Multiple screw holes 113 are evenly distributed with, for being fixedly connected with bearing 13.
As shown in figure 4, inner ring 12 is made up of two half-turns 121 and 122, the angle of one of half-turn can for 100~
180 °, the angle of another half-turn can be 260~180 °, and the angle of half-turn 121 is 201 °, half-turn 122 in the present embodiment
Angle be 159 °.Multiple screw holes 123 are evenly distributed with the anchor ring at the two ends of inner ring 12, are connected for being fixed with bearing 13
Connect.
As shown in Figure 5 and Figure 6, bearing 13 includes outer ring 131, inner ring 132 and multiple balls 133, and multiple balls 133 are set
In the ball grooves of the lateral surface of the medial surface and inner ring 132 of outer ring 131；Multiple screw holes 1311 are uniformly distributed on outer ring 131,
It is corresponding with the position of the multiple screw holes 113 on outer shroud 11 to be fixedly connected by screw；Uniform uniform multiple spiral shell on inner ring 132
Nail 1321, corresponding with the position of the multiple screw holes 123 in inner ring 12 to be fixedly connected by screw, a portion screw
Hole 1321 is also simultaneously corresponding with the screw hole on contiguous block 3, is connected contiguous block 3, inner ring 131 and inner ring 12 together by screw
Pick up and.Such as Fig. 5, outer ring 131 and inner ring 132 are spliced by two half-turns, in splicing, can be by outer ring 131
Splicing position with inner ring 132 is staggered.Such as Fig. 6, one of end face of outer ring 131 and inner ring 132 is step circles cylinder, outward
Ring 11 and the step circles cylinder interference fits or interference fit of outer ring 131, laminating end face are carried out tightly by equally distributed screw
Gu, the step circles cylinder interference fits or interference fit of inner ring 12 and inner ring 132, laminating end face are entered by uniform uniform screw
Row fastening, wherein outer shroud 11 and the matching relationship and inner ring 12 of the step circles cylinder of outer ring 131 and the step circles cylinder of inner ring 132
Matching relationship preferably simultaneously be interference fits, or one of them be interference fits and another be interference fit, at two
Matching relationship avoids being simultaneously interference fit, to ensure the normal rotation of multiple balls 133.
As shown in figure 4, being provided with two power rope races 124 in the outside of inner ring 12, two ropes can be each passed through two
Bar power rope race 124 and through the hole 1241 on power rope race 124, two ropes it is in opposite direction causing that two ropes can
To pull inner ring 12 to rotate forward respectively and reversely rotate, when inner ring 12 rotates, wherein a rope is tightened up, restrict for one in addition
Son release.Two circumference brake roads 125 are additionally provided with inner ring 12, two circumference brake roads 125 are correspondingly arranged at inner ring 12 respectively
Outside two ends at.With reference to shown in Fig. 3, Fig. 7 and Fig. 8, outer shroud 11 is provided with four pieces of circumference brake blocks 114, every two pieces of circumference
Brake block 114 is correspondingly arranged in a circumference brake road 125 respectively, and the upper end of circumference brake block 114 is provided with pin shaft hole 1141,
Lower end is provided with flange 1142 and cord hole 1143, and four pin-and-holes 115, the bearing pin of the upper end of circumference brake block 114 are provided with outer shroud 11
Hole 1141 is fastened at the position of pin-and-hole 115 by bearing pin 1151, the two pieces of circumference brake in each circumference brake road 125
The lower end of piece 114 is connected by spring 116, and spring 116 is linked in two pieces of flanges of the lower end of circumference brake block 1142；Every
In individual circumference brake road 125, rope 118 is sequentially passed through the cord hole 1143, spring of one of lower end of circumference brake block 114
116 and other one piece of circumference brake block 114 lower end cord hole 1143 after be then passed through rope sling 1181 and pass.When brake is needed,
Tighten up a rope 118, the termination of rope 118 and the common compression spring 116 of rope sling 1181 allow two pieces of circumference brake blocks 114 with respect to pin
Axle 1151 rotates and is close to the circumference brake road 125 of inner ring 12, reaches the purpose for holding inner ring 12 tightly；Spring 116 is put in rope 118
During loose state, two pieces of circumference brake blocks 114 are strutted, two pieces of circumference brake blocks 114 is separated with circumference brake road 125 respectively,
Circumference brake block 114 is avoided to hinder the coaxial relative rotation of inner ring 12 and outer shroud 11.
With reference to shown in Fig. 3, Fig. 4 and Fig. 6, magnetic grid 126 is posted on the outer wall of inner ring 12, the angle of wherein magnetic grid 126 is excellent
Choosing is more than 280 °, the Magnetic Induction probe 117 that installation is engaged with the position of magnetic grid 126 on the base 112 of outer shroud 11；As schemed
The probe of Magnetic Induction shown in 9 117 is fixedly connected on connecting plate 1122 by countersunk head screw 1123, and connecting plate 1122 is to pass through
Countersunk head screw 1124 is fixedly connected on ring flange 1121.By Magnetic Induction pop one's head in 117 and magnetic grid 126 use cooperatively, can be with
The relatively rotation place between inner ring 12 and outer shroud 11 is recorded at any time.
Wherein, in the present embodiment, the structure of two swivel assemblies 1 is the same, in other embodiment, two changes
There can be the difference to be in structure in component 1, wherein there is the inner ring 12 in a swivel assembly 1 can be with outer shroud 11
It is integrally formed.
As shown in Figure 10, contiguous block 2 includes two orthogonal planar portions 21, and two companies of planar portions 21 of connection
Socket part 22, is respectively equipped with least one screw hole 211 in two of which planar portions 21, two planar portions 21 pass through at least one respectively
Individual screw hole 211 is fixedly connected with two swivel assemblies 1, wherein the inner ring 132 of the screw hole 211 in planar portions 21 and bearing 13
On screw hole 1321 it is corresponding with the position of the screw hole 123 in inner ring 12 with by screw by contiguous block 2, bearing 13 and interior
Ring 12 is fixedly connected.The mechanical arm bias articulation mechanism of the preferred embodiment of the present invention includes four contiguous blocks 2, four companies
Connect block 2 and be respectively fixedly connected with and coupled together with by two inner ring of swivel assembly 1 12 at two two ends of swivel assembly 1.
In the preferred embodiment of the present invention mechanical arm bias articulation mechanism installation step be：First by one of change group
The coaxial sleeve of outer shroud 11 of part 1 (inner ring 12 in the swivel assembly 1 can be integrally formed or two half-turn assemblings) exists
The outside of inner ring 12, connects the annulus 111 and base 112 of outer shroud 11, and then two bearings 13 are respectively fixedly connected with outer shroud
11 and the two ends of inner ring 12, now can coaxially be relatively rotated between inner ring 12 and outer shroud 11；Then by another swivel assembly 1
The inner ring 12 and outer shroud 11 of (inner ring 12 in the swivel assembly 1 is two half-turn assemblings) are linked in the change for assembling respectively
On component 1, two bearings 13 are respectively fixedly connected with the two ends of outer shroud 11 and inner ring 12 so that between outer shroud 11 and inner ring 12
Can coaxially relatively rotate；Two swivel assemblies 1 are coupled together mutual vertically finally by four contiguous blocks, each contiguous block
2 are fixedly connected with two inner ring of swivel assembly 1 12 respectively, complete assembling.Mechanical arm bias articulation mechanism is based on duplex bearing
Principle, is coupled together the inner ring of two swivel assemblies by four contiguous blocks, can complete the rotary motion of three dimensions, phase
Much room is saved for the combination in existing multiple joints, compact conformation, and flexibility ratio is high, action executing is very square
Just, the complexity in the joint of three dimensions rotation is greatly reduced, while being greatly reduced own wt, is disclosure satisfy that specific
The job requirements of (such as space operation) mechanical arm under environment.
Above content is to combine specific preferred embodiment further description made for the present invention, it is impossible to assert
Specific implementation of the invention is confined to these explanations.For those skilled in the art, do not taking off
On the premise of present inventive concept, some equivalent substitutes or obvious modification can also be made, and performance or purposes are identical, all should
When being considered as belonging to protection scope of the present invention.
Claims (12)
1. a kind of mechanical arm bias articulation mechanism, it is characterised in that described including two swivel assemblies and at least two contiguous blocks
Swivel assembly includes outer shroud, inner ring and two bearings, and the outer shroud coaxial sleeve is in the outside of the inner ring, two bearings point
The two ends of the outer shroud and the inner ring are not connected to so as to can coaxially be relatively rotated between the outer shroud and the inner ring；Two
The swivel assembly is mutually perpendicular to and mutual fit, and is connected by contiguous block described at least two；Set in wherein described inner ring
There are two circumference brake roads, two circumference brake roads are separately positioned at the two ends in the outside of the inner ring；Described outer
Four pieces of circumference brake blocks are respectively equipped with ring, every two pieces of circumference brake blocks are correspondingly arranged at a circumference brake respectively
In road.
2. mechanical arm according to claim 1 bias articulation mechanism, it is characterised in that the bearing includes outer ring, inner ring
With multiple balls, the multiple ball is arranged in the ball grooves of the lateral surface of the medial surface of the outer ring and the inner ring, institute
The outer ring of the two ends of outer shroud respectively with two bearings is stated to be fixedly connected by screw, the two ends of the inner ring respectively with
The inner ring of two bearings is fixedly connected by screw.
3. mechanical arm according to claim 2 bias articulation mechanism, it is characterised in that the outer ring and the inner ring are distinguished
It is made up of two half-turns.
4. mechanical arm according to claim 2 bias articulation mechanism, it is characterised in that the outer ring and the inner ring its
In an end face be step circles cylinder, the two ends of the outer shroud respectively with two step circles cylinders of the outer ring of the bearing
It is the first matching relationship, the two ends of the inner ring are matched somebody with somebody for second with two step circles cylinders of the inner ring of the bearing respectively
Conjunction relation, wherein it is transition that first matching relationship and second matching relationship are interference fits or one of them
Coordinate and another is interference fit.
5. mechanical arm according to claim 1 bias articulation mechanism, it is characterised in that the outer shroud is base and breach angle
It is the assembly of 100~160 ° of annulus to spend, and the annulus is fixedly connected with the binding face of the base by screw.
6. mechanical arm according to claim 5 bias articulation mechanism, it is characterised in that the base is provided with ring flange.
7. mechanical arm according to claim 1 bias articulation mechanism, it is characterised in that the inner ring is by two half-turn groups
Into the angle of one of half-turn is 100~180 °, and the angle of another half-turn is 260~180 °.
8. mechanical arm according to claim 1 bias articulation mechanism, it is characterised in that be provided with power on the outside of the inner ring
Rope race, for passing through the power rope race to pull the inner ring to rotate forward or reversely rotate in rope.
9. mechanical arm according to claim 1 bias articulation mechanism, it is characterised in that four are had on the outer shroud
Pin-and-hole, the upper end of the circumference brake block is connected in the pin-and-hole of the outer shroud by bearing pin, each described circumference brake
Two pieces of lower ends of the circumference brake block in road are connected by spring；Cord hole is additionally provided with the lower end of the circumference brake block,
In each described circumference brake road, rope sequentially passes through the cord hole of one of circumference brake block lower end, described
Spring and the cord hole of other one piece of circumference brake block lower end.
10. mechanical arm according to claim 1 bias articulation mechanism, it is characterised in that the outer wall of the inner ring is provided with
Magnetic grid, the outer shroud is provided with the Magnetic Induction probe being engaged with the magnetic grid.
The 11. mechanical arm bias articulation mechanism according to any one of claim 1 to 10, it is characterised in that the contiguous block
Quantity be four, four contiguous blocks are respectively fixedly connected with two two ends of the swivel assembly.
12. mechanical arm bias articulation mechanisms according to claim 11, it is characterised in that the contiguous block includes two phases
Two connecting portions of the planar portions in vertical planes portion and connection, two planar portions are fixedly connected on two respectively
In the inner ring of the swivel assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610437163.5A CN105904482B (en) | 2016-06-16 | 2016-06-16 | A kind of mechanical arm bias articulation mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610437163.5A CN105904482B (en) | 2016-06-16 | 2016-06-16 | A kind of mechanical arm bias articulation mechanism |
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| Publication Number | Publication Date |
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| CN105904482A CN105904482A (en) | 2016-08-31 |
| CN105904482B true CN105904482B (en) | 2017-06-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610437163.5A Active CN105904482B (en) | 2016-06-16 | 2016-06-16 | A kind of mechanical arm bias articulation mechanism |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107379003B (en) * | 2017-07-21 | 2020-12-29 | 清华大学 | Double-shaft joint mechanism of robot |
| CN107379006B (en) * | 2017-09-07 | 2023-06-20 | 清华大学深圳研究生院 | Joint connection device of mechanical arm based on electromagnet |
| CN107628271A (en) * | 2017-09-11 | 2018-01-26 | 航天东方红卫星有限公司 | A kind of concentric cradle head of space two-dimensional |
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|---|---|---|---|---|
| WO1991014220A1 (en) * | 1990-03-13 | 1991-09-19 | Amrus Corporation | Interlocking-body connective joints |
| US5314425A (en) * | 1990-03-13 | 1994-05-24 | Amrus Corporation | Interlocking-body connective joint |
| CN1281385C (en) * | 2003-07-23 | 2006-10-25 | 郁有华 | Linear driven single o-multi-freedom joint |
| WO2009026937A2 (en) * | 2007-08-26 | 2009-03-05 | Abozaied Abdallah Ezzat Abdall | New robotic joint configuration |
| CN102042366A (en) * | 2010-12-07 | 2011-05-04 | 配天(安徽)电子技术有限公司 | Worm reducer, robot joints and robot |
| CN103846927A (en) * | 2014-03-18 | 2014-06-11 | 王培明 | Open type space two-dimensional eccentric rotational joint |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19755022C2 (en) * | 1997-12-11 | 2000-03-09 | Celanese Chem Europe Gmbh | Catalyst and process for making vinyl acetate |
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2016
- 2016-06-16 CN CN201610437163.5A patent/CN105904482B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1991014220A1 (en) * | 1990-03-13 | 1991-09-19 | Amrus Corporation | Interlocking-body connective joints |
| US5314425A (en) * | 1990-03-13 | 1994-05-24 | Amrus Corporation | Interlocking-body connective joint |
| CN1281385C (en) * | 2003-07-23 | 2006-10-25 | 郁有华 | Linear driven single o-multi-freedom joint |
| WO2009026937A2 (en) * | 2007-08-26 | 2009-03-05 | Abozaied Abdallah Ezzat Abdall | New robotic joint configuration |
| CN102042366A (en) * | 2010-12-07 | 2011-05-04 | 配天(安徽)电子技术有限公司 | Worm reducer, robot joints and robot |
| CN103846927A (en) * | 2014-03-18 | 2014-06-11 | 王培明 | Open type space two-dimensional eccentric rotational joint |
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| Publication number | Publication date |
|---|---|
| CN105904482A (en) | 2016-08-31 |
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