CN106182076B - It is a kind of can all-direction rotation mechanical joint - Google Patents
It is a kind of can all-direction rotation mechanical joint Download PDFInfo
- Publication number
- CN106182076B CN106182076B CN201610639618.1A CN201610639618A CN106182076B CN 106182076 B CN106182076 B CN 106182076B CN 201610639618 A CN201610639618 A CN 201610639618A CN 106182076 B CN106182076 B CN 106182076B
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- China
- Prior art keywords
- gear
- shaft
- mechanical joint
- support
- rotating shaft
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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
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
Abstract
The invention discloses it is a kind of can all-direction rotation mechanical joint, including the first gear and second gear being meshed, first gear is threaded through in first rotating shaft, and it is connected by first rotating shaft with first support, second gear is threaded through in the second shaft, and be connected by the second shaft with second support, linking arm is equipped between first rotating shaft and the second shaft；Wherein first rotating shaft is connected with first driving device, and first support is connected with the second driving device.This design drives mechanical joint to rotate around axis X by the second driving device, second gear and second support is driven to rotate around first gear by first driving device and first gear, therefore the all-direction rotation of mechanical joint may be implemented, and has the characteristics that structure is simple, at low cost, stable structure, reliable transmission.
Description
Technical field
The present invention relates to the technical field of mechanical joint, in particular to it is a kind of can all-direction rotation mechanical joint.
Background technique
Articulated robot, also referred to as joint arm robot or joint Manipulator arm are most common in current industrial circle
One of form of industrial robot, the mechanical automation operation suitable for many industrial circles.For articulated robot, joint
It is its important component, realizes the relative motion of mechanical arm.
Currently, most of articulated robots, only a kind of relative motion between every two mechanical arms, when joint machine
When people needs more complex movement or needs to reach wider regional scope, need to be combined with multiple arms and multiple joints and
At its structure is complicated, bulky.
Summary of the invention
The purpose of invention: the present invention disclose it is a kind of can all-direction rotation mechanical joint, structure is simple, at low cost, can
To realize the all-direction rotation of mechanical joint, the mechanical arm of articulated robot and the quantity in joint can be thus reduced, letter
Change articulated robot structure.
Technical solution: in order to achieve the goal above, the invention discloses it is a kind of can all-direction rotation mechanical joint, including
The first gear and second gear being meshed, first gear are threaded through in first rotating shaft, and pass through first rotating shaft and first support
It is connected, second gear is threaded through in the second shaft, and is connected by the second shaft with second support, first rotating shaft and second
Linking arm is equipped between shaft；Wherein first rotating shaft is connected with first driving device, first support and the second driving device phase
Connection.This design drives mechanical joint to rotate around axis X by the second driving device, passes through first driving device and the
One gear drives second gear and second support to rotate around first gear, therefore may be implemented comprehensive turn of mechanical joint
It is dynamic, and have the characteristics that structure is simple, at low cost, stable structure, reliable transmission.
Further, above-mentioned one kind can all-direction rotation mechanical joint, the first support includes bottom plate and sets respectively
Two side plates at bottom plate both ends are set, first rotating shaft both ends are connected with two side plates respectively, the second driving device and bottom plate phase
Connection.This design structure is compact, simple, and the axis X and first rotating shaft of mechanical joint are perpendicular；The precision of mechanical joint rotation
Height, controllability are good.
Further, above-mentioned one kind can all-direction rotation mechanical joint, the first gear both ends are respectively equipped with baffle,
And baffle is higher than the tooth top of first gear.This design plays the position-limiting action to second gear, due to portions such as bracket, linking arms
The gap that part generates during installation, when the second driving device drives mechanical joint to rotate around axis X, first gear has drive
The trend that second gear is rotated around axis X can be collided and be shifted between the gear teeth, if things go on like this, may result in the gear teeth
Abrasion and fracture, and baffle is contacted with the end face of second gear, stress, can alleviate abrasion and shock between the gear teeth significantly,
It improves service life.
Further, above-mentioned one kind can all-direction rotation mechanical joint, the first driving device include the first stepping
Motor, the first motor gear being mounted on the first stepper motor, and the first driving cog being meshed with first motor gear
Wheel, wherein the first transmission gear is mounted in first rotating shaft.This design structure is simple, stable drive, can pass through control step
Into the angular displacement of motor, to control the turned position of second gear and second support, to achieve the purpose that accurate positionin；?
The position of setting can be reached with device combined with induction.
Further, above-mentioned one kind can all-direction rotation mechanical joint, second driving device include the second stepping
Motor, the second motor gear being mounted on second stepper motor, and the second driving cog being meshed with the second motor gear
Wheel, wherein the second transmission gear is connected by third shaft with bottom plate, and the circle that the axis of third shaft passes through first gear
The heart.This design structure is simple, stable drive, and accurate positionin is equally achieved the purpose that by stepper motor, mechanical joint
Rotation can stop and start at any time, and be maintained at arbitrary position；Third shaft axis is set by the first gear center of circle
Meter, the spherical shape in region that reach mechanical joint can by rotation.
Further, above-mentioned one kind can all-direction rotation mechanical joint, the second support be equipped with one group of slotted hole, and
It is fixedly connected by slotted hole with outside robotic arm.The installation site of this adjustable external mechanical wall of design, applicability are wide.
Further, above-mentioned one kind can all-direction rotation mechanical joint, further include pedestal, between pedestal and third shaft
It is connected by bearing, second stepper motor is installed on the base.
Above-mentioned technical proposal can be seen that the invention has the following beneficial effects: one kind of the present invention can be comprehensive
The mechanical joint of rotation, structure is simple, at low cost, stable structure, reliable transmission；Comprehensive turn of mechanical joint may be implemented
It is dynamic, the spherical shape in region of rotation, while the accurate positionin in region may be implemented, it can be reached with device combined with induction
The position of setting；Its running accuracy is high, and controllability is good；In addition the characteristics of also applicability is good, long service life.
Detailed description of the invention
Fig. 1 be one kind of the present invention can all-direction rotation mechanical joint structural schematic diagram；
In figure: 1- first gear, 2- second gear, 3- first rotating shaft, 4- first support, 41- bottom plate, 42- side plate, 5-
Two shafts, 6- second support, 61- slotted hole, 7- linking arm, 8- first driving device, the first stepper motor of 81-, the first electricity of 82-
Machine gear, the first transmission gear of 83-, the second driving device of 9-, 91- second stepper motor, the second motor gear of 92-, 93- second
Transmission gear, 10- baffle, 11- third shaft, 12- pedestal.
Specific embodiment
With reference to the accompanying drawing, the specific embodiment of the invention is described in detail.
Embodiment
It is of the invention it is a kind of can all-direction rotation mechanical joint, as shown in Figure 1, including 1 He of first gear being meshed
Second gear 2,1 both ends of first gear are respectively equipped with baffle 10, and baffle 10 is higher than the tooth top of first gear 1, to second gear 2
Play position-limiting action；First gear 1 is threaded through in first rotating shaft 3, and is connected by first rotating shaft 3 with first support 4, and second
Gear 2 is threaded through in the second shaft 5, and is connected by the second shaft 5 with second support 6, first rotating shaft 3 and the second shaft 5
Between be equipped with linking arm 7；First support 4 includes bottom plate 41 and is separately positioned on two side plates 42 at 41 both ends of bottom plate, and first turn
3 both ends of axis are connected with two side plates 42 respectively, and the second driving device 9 is connected with bottom plate 41；Wherein first rotating shaft 3 and first
Driving device 8 is connected, and first driving device 8 includes the first stepper motor 81, first be mounted on the first stepper motor 81
Motor gear 82, and the first transmission gear 83 being meshed with first motor gear 82, wherein the first transmission gear 83 is installed
In first rotating shaft 3；Second driving device 9 includes second stepper motor 91, the second electricity being mounted on second stepper motor 91
Machine gear 92, and the second transmission gear 93 being meshed with the second motor gear 92, wherein the second transmission gear 93 passes through the
Three shafts 11 are connected with bottom plate 41, and the axis of third shaft 11 passes through the center of circle of first gear 1.
Second support 6 is equipped with one group of slotted hole 61, and is fixedly connected by slotted hole 61 with outside robotic arm；Of the invention
It is a kind of can the mechanical joint of all-direction rotation further include pedestal 12, connected between pedestal 12 and third shaft 11 by bearing, the
Two stepping motor 91 is mounted on pedestal 12.
First gear 1, the first transmission gear 83 are fixedly connected with first rotating shaft 3 respectively, and first rotating shaft 3 passes through bearing and the
The rotation connection of one bracket 4；The bottom plate 41 of first support 4 is fixedly connected with third shaft 11, and the second transmission gear 93 turns with third
Axis 11 is fixedly connected；Second gear 2 is fixedly connected with the second shaft 5.
7 one end of linking arm and the rotation connection of first rotating shaft 3, the other end and the second shaft 5 are rotatablely connected.Second support 6 with
It can be fixedly connected between linking arm 7；It can also be rotatablely connected by bearing, and add third driving device, with second
Frame 6 is connected, and second support 6 can be driven to rotate relative to linking arm 7, for replacing above-mentioned second support 6 and linking arm 7 solid
Surely the scheme connected.
When work, the second driving device 9 and first driving device 8 are independent of each other drive system, and are all by control
System is controlled, and so that mechanical joint is turned to the position of setting, two kinds of rotations of mechanical joint can carry out simultaneously；It is around axis
Line X can carry out 360 ° of rotation, can reach 300 ° or so around the rotatable range of first gear 1 and (be unable to reach 360 ° of rotations
Turn to be to avoid pedestal 12), two kinds of rotations combine and comprehensive, flexible rotation may be implemented.
The above is only a preferred embodiment of the present invention, it should be noted that for those skilled in the art
For, without departing from the principle of the present invention, several improvement can also be made, these improvement also should be regarded as guarantor of the invention
Protect range.
Claims (4)
1. one kind can all-direction rotation mechanical joint, it is characterised in that: including the first gear (1) being meshed and second gear
(2), first gear (1) is threaded through on first rotating shaft (3), and is connected by first rotating shaft (3) with first support (4), and second
Gear (2) is threaded through on the second shaft (5), and is connected with second support (6) by the second shaft (5), first rotating shaft (3) and
Linking arm (7) are equipped between second shaft (5)；
Wherein first rotating shaft (3) is connected with first driving device (8), and first support (4) is connected with the second driving device (9)
It connects；
The first support (4) includes bottom plate (41) and two side plates (42) for being separately positioned on bottom plate (41) both ends, and first turn
Axis (3) both ends are connected with two side plates (42) respectively, and the second driving device (9) is connected with bottom plate (41)；
Second driving device (9) includes second stepper motor (91), the second electricity being mounted on second stepper motor (91)
Machine gear (92), and the second transmission gear (93) being meshed with the second motor gear (92), wherein the second transmission gear
(93) it is connected by third shaft (11) with bottom plate (41)；
Further include pedestal (12), is connect between pedestal (12) and third shaft (11) by bearing, second stepper motor (91) peace
On pedestal (12)；
First gear (1) both ends are respectively equipped with baffle (10), and baffle (10) is higher than the tooth top of first gear (1).
2. one kind according to claim 1 can all-direction rotation mechanical joint, it is characterised in that: it is described first driving dress
Setting (8) includes the first stepper motor (81), the first motor gear (82) being mounted on the first stepper motor (81), and with the
The first transmission gear (83) that one motor gear (82) is meshed, wherein the first transmission gear (83) is mounted on first rotating shaft (3)
On.
3. one kind according to claim 1 can all-direction rotation mechanical joint, it is characterised in that: the third shaft
(11) axis passes through the center of circle of first gear (1).
4. one kind according to claim 1 can all-direction rotation mechanical joint, it is characterised in that: the second support
(6) it is equipped with one group of slotted hole (61), and is fixedly connected by slotted hole (61) with outside robotic arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610639618.1A CN106182076B (en) | 2016-08-08 | 2016-08-08 | It is a kind of can all-direction rotation mechanical joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610639618.1A CN106182076B (en) | 2016-08-08 | 2016-08-08 | It is a kind of can all-direction rotation mechanical joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106182076A CN106182076A (en) | 2016-12-07 |
| CN106182076B true CN106182076B (en) | 2019-01-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610639618.1A Active CN106182076B (en) | 2016-08-08 | 2016-08-08 | It is a kind of can all-direction rotation mechanical joint |
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| CN (1) | CN106182076B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108120422B (en) * | 2017-12-20 | 2021-02-26 | 贵州航天电子科技有限公司 | Universal mechanism |
| CN109702709A (en) * | 2019-01-04 | 2019-05-03 | 武汉东湖学院 | A kind of industrial robot for component of machine assembling |
| CN113442148A (en) * | 2021-07-07 | 2021-09-28 | 重庆七腾科技有限公司 | Multi-dimensional adjustable manipulator |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103395069A (en) * | 2013-08-13 | 2013-11-20 | 戴文钟 | Transmission mechanism capable of increasing relative pendulum angle between two components |
| CN103737607A (en) * | 2013-12-27 | 2014-04-23 | 柳州高华机械有限公司 | Six-shaft joint mechanical hand |
| CN104153416A (en) * | 2014-07-10 | 2014-11-19 | 太原重工股份有限公司 | Mining excavator and pushing gear device thereof |
| CN205870595U (en) * | 2016-08-08 | 2017-01-11 | 江苏捷帝机器人股份有限公司 | Can multidirectional pivoted mechanical joint |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006341336A (en) * | 2005-06-08 | 2006-12-21 | Toin Gakuen | Robot arm |
-
2016
- 2016-08-08 CN CN201610639618.1A patent/CN106182076B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103395069A (en) * | 2013-08-13 | 2013-11-20 | 戴文钟 | Transmission mechanism capable of increasing relative pendulum angle between two components |
| CN103737607A (en) * | 2013-12-27 | 2014-04-23 | 柳州高华机械有限公司 | Six-shaft joint mechanical hand |
| CN104153416A (en) * | 2014-07-10 | 2014-11-19 | 太原重工股份有限公司 | Mining excavator and pushing gear device thereof |
| CN205870595U (en) * | 2016-08-08 | 2017-01-11 | 江苏捷帝机器人股份有限公司 | Can multidirectional pivoted mechanical joint |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106182076A (en) | 2016-12-07 |
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| TR01 | Transfer of patent right |
Effective date of registration: 20230510 Address after: Room 585, floor 5, building 1, Hutai fashion, No. 10, Nanhai Road, Liuhe Town, Taicang City, Suzhou City, Jiangsu Province 215400 Patentee after: Suzhou huienyuan medical device accessories Co.,Ltd. Address before: 215138 Shitian Road, Yangchenghu Town, Xiangcheng District, Suzhou City, Jiangsu Province Patentee before: JIANGSU JIEDI ROBOT Co.,Ltd. |
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Effective date of registration: 20230821 Address after: Building 1, No. 51 Hongshan South Road, Xuanwu District, Nanjing City, Jiangsu Province, 210000 Patentee after: Nanjing Ningxin Anyu Medical Technology Co.,Ltd. Address before: Room 585, floor 5, building 1, Hutai fashion, No. 10, Nanhai Road, Liuhe Town, Taicang City, Suzhou City, Jiangsu Province 215400 Patentee before: Suzhou huienyuan medical device accessories Co.,Ltd. |
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