CN106041989A - Mechanical joint used for both-way grabbing mechanical arm - Google Patents
Mechanical joint used for both-way grabbing mechanical arm Download PDFInfo
- Publication number
- CN106041989A CN106041989A CN201610507910.8A CN201610507910A CN106041989A CN 106041989 A CN106041989 A CN 106041989A CN 201610507910 A CN201610507910 A CN 201610507910A CN 106041989 A CN106041989 A CN 106041989A
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- CN
- China
- Prior art keywords
- rotating shaft
- support
- bindiny mechanism
- mechanical
- mechanical joint
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
Abstract
The invention discloses a mechanical joint used for a both-way grabbing mechanical arm. The mechanical joint comprises a first rotating shaft, a second rotating shaft, a transmission gear, a first support, a second support and a sliding mechanism, wherein the first rotating shaft and the second rotating shaft are coaxially arranged, the transmission gear is arranged on the first rotating shaft in a sleeving manner, and the first support and the second support are arranged on the first rotating shaft and the second rotating shaft. The sliding mechanism comprises a first connecting mechanism and a second connecting mechanism which can oppositely rotate, wherein the first connecting mechanism is arranged on the first rotating shaft in a sleeving manner, the second connecting mechanism is arranged on the second rotating shaft in a sleeving manner, and a friction plate is arranged between the first connecting mechanism and the second connecting mechanism. The first support is provided with a drive device connected with the transmission gear. The mechanical joint is simple in structure and low in cost, complex control systems and calculating methods are not needed, the mechanical joint is of a pure mechanical structure and is matched with a mechanical finger, the mechanical arm is suitable for grabbing different shapes of objects including irregular objects, both-way grabbing can be achieved, and stable grabbing force is kept.
Description
Technical field
The present invention relates to the technical field of mechanical joint, particularly to a kind of machinery pass for two-way catching robot
Joint.
Background technology
Articulated robot, also referred to as joint arm robot or joint Manipulator arm, be modal in current industrial circle
One of form of industrial robot, is suitable for the machine automatization equalization of many industrial circles.For articulated robot, joint
It it is its important component part, it is achieved that the relative motion of mechanical arm.
When utilizing mechanical arm to capture object, end can arrange the mechanical finger of several mutually coordinated motion, mechanical hand
Refer to be respectively divided into several sections of and connected by joint.Currently for capturing different size, difform object, mechanical finger
Self adaptation degree is the highest.
Chinese patent application prospectus CN104303709A discloses a kind of dragonfly pawl with bionic geometric structure feature
Formula end effector, this mechanical hand is by frame-type mechanical platform, intelligence control system, feedback system, drive system, electric power auxiliary
System forms；When mechanical hand contact fruit and vegerable, by the rotation amplitude of the force value feedback regulation servomotor of sensor, thus come
Adjustable claw refers to tightening up or diastole of the high-strength flexible polyamide rope of inside, and then realizes different size, difform fruit
Vegetables carry out the purpose of stable crawl, improve the end effector i.e. adaptive ability of mechanical finger, but the knot of this design
Structure and control method are the most complex, and its intermediate link is the most, break down and the probability that lost efficacy is the biggest, and, tired
The error (include measurement error, calculate error etc.) of meter is the biggest.
Summary of the invention
The purpose of invention: the present invention discloses a kind of mechanical joint for two-way catching robot, its simple in construction, cost
Low, it is not necessary to complicated control system and computational methods, mechanical joint uses purely mechanic structure, it is matched with mechanical finger,
It is applicable to capture difform object, including irregularly shaped object, it is possible to achieve two-way crawl also keeps stable grasp force.
Technical scheme: in order to realize object above, the invention discloses a kind of machinery pass for two-way catching robot
Joint, including the first rotating shaft being coaxially disposed and the second rotating shaft, is sheathed on the travelling gear in the first rotating shaft, is arranged on the first rotating shaft
With the first support in the second rotating shaft, the second support, and sliding mechanism, sliding mechanism includes the first connection that can relatively turn round
Mechanism and the second bindiny mechanism, wherein the first bindiny mechanism is set in the first rotating shaft, and the second bindiny mechanism is set in second turn
On axle, between the first bindiny mechanism and the second bindiny mechanism, it is provided with friction plate；First support is provided with driving means, driving means
It is connected with travelling gear.The mechanical joint of this design is used for connecting outside mechanical finger, when capturing object, driving means
Driving mechanical joint rotates, thus driving mechanical finger grips object；When mechanical finger tighten up object reach to a certain degree time, i.e.
When object reaches setting value to the counteracting force of mechanical finger, sliding mechanism starts to skid to play a protective role, simultaneously machinery
Finger halts；So, it is possible not only to protect the parts such as gear, motor without damage, more makes grasp force keep stable, prevent
Grab bad object；It addition, loosened when object, the counteracting force of mechanical finger reduces by object, less than setting value time, skidding machine
Structure stops skidding, and mechanical finger rotates promptly object further, can keep stable grasp force with this, and be applicable to not similar shape
The object of shape, including irregularly shaped object, makes crawl process safety, reliable；First bindiny mechanism is relative with the second bindiny mechanism
Revolution has amphicheirality, has both realized the slipping protection that forward captures, and realizes again the slipping protection reversely captured.
Further, above-mentioned a kind of mechanical joint for two-way catching robot, during described second bindiny mechanism is provided with
Cavity body, friction plate is arranged on the cavity body wall of the second bindiny mechanism；First bindiny mechanism one end is arranged on the second connection
In the hollow cavity of mechanism, it contacts with friction plate.This design simple in construction, it is achieved that the function of slipping protection, if outside
Enough it overcomes frictional force to the moment of torsion that second bindiny mechanism is produced by active force, then the second bindiny mechanism is relative to the first bindiny mechanism
Rotating, it is achieved skidding function, if external force reduces or disappears, then frictional force makes the second bindiny mechanism with the first bindiny mechanism even
Knot.
Further, above-mentioned a kind of mechanical joint for two-way catching robot, described first support included for first end
Plate and two the first side plates being separately positioned on the first base plate two ends, the second support includes the second base plate and is separately positioned on second
Two second side plates at base plate two ends；First rotating shaft one end is connected with the first side plate, the second side plate respectively, second rotating shaft one end
It is connected with the first side plate, second side plate of opposite side respectively.This design compact conformation and firmly, stable.
Further, above-mentioned a kind of mechanical joint for two-way catching robot, described driving means includes motor, with
And the train of reduction gears being connected with motor, wherein train of reduction gears is connected with travelling gear, and motor is fixedly mounted on first
On frame.This design motor is directly installed on the first support, it is possible to reduce component quantity, saves production cost.
Further, above-mentioned a kind of mechanical joint for two-way catching robot, it is characterised in that: described first
Frame, the second support are all connected with outside mechanical finger.
Further, above-mentioned a kind of mechanical joint for two-way catching robot, the hollow of described second bindiny mechanism
Cavity wall is provided with the groove installing friction plate.This design can play the effect of fixed friction sheet, prevents friction plate from existing
Deform under frictional force effect, shift the situation even come off.
Further, above-mentioned a kind of mechanical joint for two-way catching robot, described friction plate be one group ringwise
The friction plate of array-like distribution.The size of gripper of manipulator power taking is relevant with frictional force, Such a design reduces friction plate
Usable floor area, suitable reduces frictional force, prevents grasp force from crossing macrolesion object；It addition, frictional force can be rubbed according to increase and decrease
Pad quantity adjusts.
Further, above-mentioned a kind of mechanical joint for two-way catching robot, described groove is one group of battle array ringwise
The groove of column-shaped distribution.This design is provided with multiple groove, can optionally select a part of groove and load friction plate, use
In adjusting frictional force, its suitability is good, motility is high.
Technique scheme is it can be seen that there is advantages that one of the present invention is for two-way
The mechanical joint of catching robot, its simple in construction, low cost, it is not necessary to complicated control system and computational methods, mechanical joint
Use purely mechanic structure, it is matched with mechanical finger, it is adaptable to capture difform object, including irregularly shaped object,
And stable grasp force can be kept；The parts such as gear, motor can be protected without damage, more prevent from grabbing bad object；Both realized
The slipping protection that forward captures, realizes again the slipping protection reversely captured；Connecting shaft reliability during normal work is high, and friction plate is pacified
Dress is stable, and frictional force is adjustable, and its suitability is good.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of mechanical joint for two-way catching robot of the present invention；
In figure: 1-the first rotating shaft, 2-the second rotating shaft, 3-travelling gear, 4-the first support, 41-the first base plate, 42-the first side plate,
5-the second support, 51-the second base plate, 52-the second side plate, 6-sliding mechanism, 61-the first bindiny mechanism, 62-second connects machine
Structure, 63-friction plate, 7-driving means, 71-motor, 72-train of reduction gears.
Detailed description of the invention
Below in conjunction with the accompanying drawings, the specific embodiment of the invention is described in detail.
Embodiment
A kind of mechanical joint for two-way catching robot of the present invention, as it is shown in figure 1, include first be coaxially disposed
Rotating shaft 1 and the second rotating shaft 2, be sheathed on the travelling gear 3 in the first rotating shaft 1, is arranged in the first rotating shaft 1 and the second rotating shaft 2
First support the 4, second support 5, and sliding mechanism 6 and driving means 7, sliding mechanism 6 include relatively turning round first even
Connection mechanism 61 and the second bindiny mechanism 62, wherein the first bindiny mechanism 61 is set in the first rotating shaft 1, and the second bindiny mechanism 62 overlaps
It is located in the second rotating shaft 2, between the first bindiny mechanism 61 and the second bindiny mechanism 62, is provided with friction plate 63；Second bindiny mechanism 62
Being provided with hollow cavity, friction plate 63 is arranged on the cavity body wall of the second bindiny mechanism 62；First bindiny mechanism 61 one end sets
Putting in the hollow cavity of the second bindiny mechanism 62, it contacts with friction plate 63；On the cavity body wall of the second bindiny mechanism 62
It is provided with the groove of the one group of circular array shape distribution installing friction plate 63, wherein can optionally install into friction plate
63, adjust frictional force size by increase and decrease friction plate 63 quantity, friction plate 63 circular array shape is distributed.
First support the 4, second support 5 is all connected with outside mechanical finger, and the first support 4 includes the first base plate 41 and divides
Not being arranged on two first side plates 42 at the first base plate 41 two ends, the second support 5 includes the second base plate 51 and is separately positioned on the
Two second side plates 52 at two base plate 51 two ends；First rotating shaft 1 one end is connected with first side plate the 42, second side plate 52 respectively,
Second rotating shaft 2 one end is connected with first side plate the 42, second side plate 52 of opposite side respectively；First support 4 is provided with driving dress
Putting 7, driving means 7 includes motor 71, and the train of reduction gears 72 being connected with motor 71, wherein train of reduction gears 72 and transmission
Gear 3 is connected, and motor 71 is fixedly mounted on the first support 4.
Travelling gear 3 is fixing with the first rotating shaft 1 to be connected, and the first bindiny mechanism 61 is fixing with the first rotating shaft 1 to be connected, and second even
Connection mechanism 62 is fixing with the second rotating shaft 2 to be connected, and the first side plate 42 and the first rotating shaft 1 are rotationally connected and are provided with bearing, with second turn
Axle 2 is rotationally connected and is provided with bearing；Second side plate 52 and the first rotating shaft 1 are rotationally connected and are provided with bearing, fix with the second rotating shaft 2
Connect.
Mechanical joint is used for connecting outside mechanical finger, and operation principle is as follows: when capturing object, and driving means drives and passes
Moving gear the 3, first rotating shaft 1 and the first bindiny mechanism 61 rotate, when normally capturing, under frictional force effect, and the first bindiny mechanism
61 drive the second bindiny mechanisms the 62, second rotating shaft 2 and the second support 5 to rotate, i.e. driving mechanical finger grip object gradually receiving
Tight object, now mechanical finger can produce grasp to object, and accordingly, object can produce counteracting force to mechanical finger,
In tightening process, grasp is gradually increased with counteracting force, the moment of torsion the second bindiny mechanism 62 produced when counteracting force enough its
Overcome frictional force, then the second bindiny mechanism 62 rotates relative to the first bindiny mechanism 61, it is achieved skid, before now mechanical finger stops
Enter；If mechanical hand carries out short distance carrying, simple for structure and control, motor 71 can be with continuous running, and sliding mechanism 6 is held
Continuous skidding；When object has loosened, the counteracting force of mechanical finger reduces by object, less than setting value time, sliding mechanism 6 stops
Skidding, the first bindiny mechanism 61 drives the second bindiny mechanism the 62, second rotating shaft 2 and the second support 5 to be rotated further, mechanical hand fingering
One step tightens up object, avoids object during capturing with this and loosens because of what shift in position caused and come off, being especially suitable for not advising
The then crawl of object, and grasp force can keep stable, and grasp force can pass through the friction parameter of friction plate 63, size sum
Amount calculates and designs.When the cavity that mechanical hand stretches into hollow body captures object, only need to first close up mechanical finger, stretch into chamber
The most reversely launching mechanical finger (motor 71 inverts) after internal, its ultimate principle is ibid.
The above is only the preferred embodiment of the present invention, it should be noted that for those skilled in the art
For, under the premise without departing from the principles of the invention, it is also possible to make some improvement, these improve the guarantor that also should be regarded as the present invention
Protect scope.
Claims (8)
1. the mechanical joint for two-way catching robot, it is characterised in that: include the first rotating shaft (1) of being coaxially disposed and
Second rotating shaft (2), the travelling gear (3) being sheathed in the first rotating shaft (1), it is arranged in the first rotating shaft (1) and the second rotating shaft (2)
The first support (4), the second support (5), and sliding mechanism (6), sliding mechanism (6) includes the first connection that can relatively turn round
Mechanism (61) and the second bindiny mechanism (62), wherein the first bindiny mechanism (61) is set in the first rotating shaft (1), and second connects machine
Structure (62) is set in the second rotating shaft (2), is provided with friction plate between the first bindiny mechanism (61) and the second bindiny mechanism (62)
(63)；
First support (4) is provided with driving means (7), and driving means (7) is connected with travelling gear (3).
A kind of mechanical joint for two-way catching robot the most according to claim 1, it is characterised in that: described second
Bindiny mechanism (62) is provided with hollow cavity, and friction plate (63) is arranged on the cavity body wall of the second bindiny mechanism (62)；First
Bindiny mechanism (61) one end is arranged in the hollow cavity of the second bindiny mechanism (62), and it contacts with friction plate (63).
A kind of mechanical joint for two-way catching robot the most according to claim 1, it is characterised in that: described first
Support (4) includes the first base plate (41) and is separately positioned on two first side plates (42) at the first base plate (41) two ends, second
Frame (5) includes the second base plate (51) and is separately positioned on two second side plates (52) at the second base plate (51) two ends；First rotating shaft
(1) one end is connected with the first side plate (42), the second side plate (52) respectively, the second rotating shaft (2) one end respectively with the of opposite side
Side plate (42), the second side plate (52) are connected.
A kind of mechanical joint for two-way catching robot the most according to claim 1, it is characterised in that: described driving
Device (7) includes motor (71), and the train of reduction gears (72) being connected with motor (71), wherein train of reduction gears (72) and biography
Moving gear (3) is connected, and motor (71) is fixedly mounted on the first support (4).
A kind of mechanical joint for two-way catching robot the most according to claim 1, it is characterised in that: described first
Support (4), the second support (5) are all connected with outside mechanical finger.
A kind of mechanical joint for two-way catching robot the most according to claim 2, it is characterised in that: described second
The cavity body wall of bindiny mechanism (62) is provided with the groove installing friction plate (63).
A kind of mechanical joint for two-way catching robot the most according to claim 2, it is characterised in that: described friction
Sheet (63) is the friction plate (63) of one group of circular array shape distribution.
A kind of mechanical joint for two-way catching robot the most according to claim 6, it is characterised in that: described groove
It it is the groove of one group of circular array shape distribution.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610507910.8A CN106041989B (en) | 2016-07-01 | 2016-07-01 | A kind of mechanical joint for two-way catching robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610507910.8A CN106041989B (en) | 2016-07-01 | 2016-07-01 | A kind of mechanical joint for two-way catching robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106041989A true CN106041989A (en) | 2016-10-26 |
| CN106041989B CN106041989B (en) | 2019-03-08 |
Family
ID=57200464
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610507910.8A Active CN106041989B (en) | 2016-07-01 | 2016-07-01 | A kind of mechanical joint for two-way catching robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106041989B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3013264B2 (en) * | 1991-02-26 | 2000-02-28 | 光洋精工株式会社 | Magnetic levitation actuator |
| US20070035143A1 (en) * | 2005-08-11 | 2007-02-15 | Trevor Blackwell | Robotic hand and arm apparatus |
| CN101058184A (en) * | 2007-06-07 | 2007-10-24 | 上海交通大学 | Simulative mechanical hand with under-driven adaptive mechanism |
| CN101234489A (en) * | 2008-01-04 | 2008-08-06 | 清华大学 | Belt wheel under-driven robot finger device |
| CN202579705U (en) * | 2012-02-27 | 2012-12-05 | 浙江中益机械有限公司 | Torque limiter |
| CN103122948A (en) * | 2011-11-20 | 2013-05-29 | 江苏仁安高新技术有限公司 | Torsion overload safety protection device |
| CN203051665U (en) * | 2013-02-21 | 2013-07-10 | 宁波拓尔电机有限公司 | Intermediate slipping device of gearbox |
| CN205064614U (en) * | 2015-10-29 | 2016-03-02 | 芜湖美智空调设备有限公司 | Excessive pressure shaft coupling is prevented to manipulator friction -type |
| CN205735005U (en) * | 2016-07-01 | 2016-11-30 | 苏州塞默机械有限公司 | A kind of two-way mechanical joint for catching robot |
-
2016
- 2016-07-01 CN CN201610507910.8A patent/CN106041989B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3013264B2 (en) * | 1991-02-26 | 2000-02-28 | 光洋精工株式会社 | Magnetic levitation actuator |
| US20070035143A1 (en) * | 2005-08-11 | 2007-02-15 | Trevor Blackwell | Robotic hand and arm apparatus |
| CN101058184A (en) * | 2007-06-07 | 2007-10-24 | 上海交通大学 | Simulative mechanical hand with under-driven adaptive mechanism |
| CN101234489A (en) * | 2008-01-04 | 2008-08-06 | 清华大学 | Belt wheel under-driven robot finger device |
| CN103122948A (en) * | 2011-11-20 | 2013-05-29 | 江苏仁安高新技术有限公司 | Torsion overload safety protection device |
| CN202579705U (en) * | 2012-02-27 | 2012-12-05 | 浙江中益机械有限公司 | Torque limiter |
| CN203051665U (en) * | 2013-02-21 | 2013-07-10 | 宁波拓尔电机有限公司 | Intermediate slipping device of gearbox |
| CN205064614U (en) * | 2015-10-29 | 2016-03-02 | 芜湖美智空调设备有限公司 | Excessive pressure shaft coupling is prevented to manipulator friction -type |
| CN205735005U (en) * | 2016-07-01 | 2016-11-30 | 苏州塞默机械有限公司 | A kind of two-way mechanical joint for catching robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106041989B (en) | 2019-03-08 |
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Effective date of registration: 20210915 Address after: 215100 North 1st floor, No. 25, Futai Road, Taiping Street, Xiangcheng District, Suzhou City, Jiangsu Province Patentee after: Suzhou zhunyide Precision Machinery Co.,Ltd. Address before: 215138 No. 8, xihenggang street, Yangchenghu Town, Xiangcheng District, Suzhou City, Jiangsu Province Patentee before: SUZHOU SAIMO MACHINERY Co.,Ltd. |