CN107175683B - A kind of bindiny mechanism for robot - Google Patents
A kind of bindiny mechanism for robot Download PDFInfo
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- CN107175683B CN107175683B CN201710384990.7A CN201710384990A CN107175683B CN 107175683 B CN107175683 B CN 107175683B CN 201710384990 A CN201710384990 A CN 201710384990A CN 107175683 B CN107175683 B CN 107175683B
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- joint
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- internal screw
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Mutual Connection Of Rods And Tubes (AREA)
Abstract
The embodiment of the invention provides a kind of bindiny mechanisms for robot, comprising: the first joint, second joint, connecting flange and internal screw thread connector sleeve；First joint offers mounting groove, and connecting flange is fixedly arranged on second joint；Connecting flange is plugged in mounting groove, and internal screw thread connector sleeve is set in second joint, and is threadedly coupled with the first joint, and connecting flange is pressed in the groove bottom of mounting groove.Connecting flange is inserted into mounting groove, and screw in internal screw thread connector sleeve specifically when installation using technical solution provided in an embodiment of the present invention, so that its press joining method is blue, completes installation.It can be seen that the multiple screw connecting modes used in compared with the prior art, do not need to take into account multiple screws, being fixedly connected for joint of robot is realized using internal screw thread connector sleeve, installation effectiveness can be improved.
Description
Technical field
The present invention relates to robotic technology fields, more particularly to a kind of bindiny mechanism for robot.
Background technique
It in the prior art, is usually to be fixedly connected by screw between the joint with joint of robot.Specifically, machine
One connecting flange is set on the first joint of device people, a connecting flange is set on second joint, two connecting flanges pass through
Circumferentially distributed multiple screws are fixed, so that the end face of the two leans, thus realize being fixedly connected between joint,
In, screw is each attached on the end face of connecting flange.And due to the limitation of joint of robot outer dimension, it is impossible to select larger
The screw of diameter is fastenedly connected.
For above-mentioned connection type, in order to guarantee bonding strength, often it is fixed using more screw.However,
It in actual use, is installed using more screw, needs to take into account the pretightning force of all screws, installation effectiveness is lower.
It follows that there is a problem of that installation effectiveness is low in the connection type of existing joint of robot.
Summary of the invention
The embodiment of the present invention is designed to provide a kind of joint of robot bindiny mechanism, to improve installation effectiveness.Specifically
Technical solution is as follows:
A kind of bindiny mechanism for robot provided in an embodiment of the present invention, comprising: the first joint, second joint, company
Acting flange and internal screw thread connector sleeve；
First joint offers mounting groove, and the connecting flange is fixedly arranged on the second joint；
The connecting flange is plugged in the mounting groove, and the internal screw thread connector sleeve is set in the second joint, and
It is threadedly coupled with first joint, and the connecting flange is pressed in the groove bottom of the mounting groove.
Optionally, the internal thread hole of the internal screw thread connector sleeve is equipped with the arc-shaped internal thread segment being spaced apart；Described
One joint is equipped with arc-shaped external thread section that is multiple concentric and being spaced apart；
The quantity of the internal thread segment is equal with the quantity of the external thread section, the adjacent internal thread segment it is circumferentially-spaced
Width is greater than the circumferential width of the external thread section；
By the mutual cooperation of the internal thread segment and the external thread section, the internal screw thread connector sleeve and described first is closed
Section is threadedly coupled.
Optionally, the internal thread segment annular of the internal screw thread connector sleeve is uniformly distributed.
Optionally, the hole wall of the internal thread hole is equipped with annular protrusion, and the internal screw thread connector sleeve passes through the convex annular
The centre bore risen is set in the second joint；
The annular protrusion is used to for the connecting flange being pressed in the groove bottom of the mounting groove.
Optionally, which further includes the lock-screw being arranged radially；
The lock-screw connects the internal screw thread connector sleeve and first joint, for limiting the internal screw thread connection
Set is relatively circumferentially displaced with first joint；
In both the internal screw thread connector sleeve and first joint, at least one is threadedly coupled with the lock-screw.
Optionally, which includes multiple lock-screws, and the multiple lock-screw is along the internal screw thread connector sleeve
Circumferencial direction distribution.
Optionally, each lock-screw is respectively positioned on the middle part at the interval of the adjacent internal thread segment.
Optionally, which further includes safety lanyard；
The internal screw thread connector sleeve is equipped with locking screw nail hole, and the internal screw thread connector sleeve outer peripheral surface, which is equipped with, is connected to all lockings
The circumferential groove in its end portion of screw hole；
The head of the lock-screw is equipped with locking groove；
The lock-screw is mounted in locking screw nail hole, and the safety lanyard is inlaid in the circumferential groove in its end portion, and embedding
Enter in the locking groove of the lock-screw.
Optionally, the connecting flange and first joint determine two by compatible positioning protrusion and positioning groove
The relative position of person；
The positioning protrusion and the positioning groove one are set to the connecting flange, and another one is set to described first
Joint.
Optionally, the internal screw thread connector sleeve and the second joint clearance fit.
Connecting flange is inserted into mounting groove, and screw in specifically when installation using technical solution provided in an embodiment of the present invention
Internal screw thread connector sleeve completes installation so that its press joining method is blue.It can be seen that using multiple spiral shells in compared with the prior art
The connection type of nail does not need the pretightning force for taking into account multiple screws, and the fixation of joint of robot is realized using internal screw thread connector sleeve
Connection, can be improved installation effectiveness.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the radial structure schematic diagram of the bindiny mechanism provided in an embodiment of the present invention for robot；
Fig. 2 is the axial arrangement schematic diagram of the bindiny mechanism provided in an embodiment of the present invention for robot；
Fig. 3 is a kind of structural schematic diagram of the bindiny mechanism provided in an embodiment of the present invention for robot；
Fig. 4 is the A-A of Fig. 3 to schematic cross-sectional view；
Fig. 5 is the perspective view of internal screw thread connector sleeve；
Fig. 6 is the structural schematic diagram of internal screw thread connector sleeve；
Fig. 7 is the B-B direction schematic cross-sectional view of Fig. 6；
Fig. 8 is the structural schematic diagram of the external thread section in the first joint.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In the prior art, the joint with joint of robot are connect by multiple screws, each due to take into account when installation
The pretightning force of a screw, so that installation effectiveness is lower.In order to solve this technical problem, to improve installation effectiveness, the present invention is real
It applies example and provides a kind of joint of robot bindiny mechanism.
It should be noted that the first joint and second joint addressed in the embodiment of the present invention can be any type
Any two of robot need the joint connected, wherein joint is also possible on two mechanical arms for the two connection
Tie point, for example, robot can be cooperation robot.The axial direction addressed refers to the internal screw thread along internal screw thread connector sleeve
Central axis direction, radially refer to the direction of the vertical central axis, circumferentially refer to using the central axis as center axis
Circumferential direction.
Referring to Figures 1 and 2, Fig. 1 is that the radial structure of the bindiny mechanism provided in an embodiment of the present invention for robot shows
It is intended to；Fig. 2 is the axial arrangement schematic diagram of the bindiny mechanism provided in an embodiment of the present invention for robot.Bindiny mechanism packet
It includes: the first joint 1, second joint 2, connecting flange 3 and internal screw thread connector sleeve 4；First joint 1 offers mounting groove, connection method
Orchid 3 is fixedly arranged on second joint 2；
Connecting flange 3 is plugged in mounting groove, and internal screw thread connector sleeve 4 is set in second joint 2, internal screw thread connector sleeve 4 with
First joint 1 is threadedly coupled, and connecting flange 3 is pressed in the groove bottom of mounting groove.
Referring to Fig. 3 and Fig. 4, Fig. 3 is that a kind of structure of the bindiny mechanism provided in an embodiment of the present invention for robot is shown
It is intended to, Fig. 4 is the A-A of Fig. 3 to schematic cross-sectional view, second joint 2 is not shown in Fig. 3 and Fig. 4, and shown in Fig. 1 and Fig. 2
Embodiment is compared, and main distinction point is, connecting flange 3 is equipped with the central axis annular of multiple opposite internal screw thread connector sleeves 4
Connecting flange 3 can be fixed on second joint 2 by multiple mounting holes 301 and screw by the mounting hole 301 of distribution.Specifically answer
Internal screw thread connector sleeve 4 first can be set in second joint 2, then pass through the cooperation of mounting hole 301 and screw by the used time, will be connected
Flange 3 is fixed on second joint 2.
Using technical solution provided in an embodiment of the present invention, specifically when installation, connecting flange 3 is inserted into mounting groove, and revolve
Enter internal screw thread connector sleeve 4, so that its press joining method orchid 3, completes installation.It can be seen that using more in compared with the prior art
The connection type of a screw does not need the pretightning force for taking into account multiple screws, realizes joint of robot using internal screw thread connector sleeve 4
It is fixedly connected, installation effectiveness can be improved.
In a kind of embodiment of the embodiment of the present invention, the first joint 1 may include the first joint housing, second joint 2
It may include second joint shell and speed reducer；Mounting groove can be provided on the first joint housing, and connecting flange 3 can be with
The output axis connection of the speed reducer in two joints 2, internal screw thread connector sleeve 4 can be sleeved on the first joint housing.
Referring to figure 5-8, Fig. 5 is the perspective view of internal screw thread connector sleeve；Fig. 6 is the structural schematic diagram of internal screw thread connector sleeve；
Fig. 7 is the B-B direction schematic cross-sectional view of Fig. 6；Fig. 8 is the structural schematic diagram of the external thread section 101 in the first joint.The present invention is real
It applies in a kind of embodiment of example, the internal thread hole of internal screw thread connector sleeve 4 is equipped with the arc-shaped internal thread segment 401 being spaced apart；
First joint 1 is equipped with arc-shaped external thread section 101 that is multiple concentric and being spaced apart；Specifically, arc-shaped external thread section 101 is
It is distributed on cylindrical surface.
The quantity of internal thread segment 401 is equal with the quantity of external thread section 101, the circumferentially-spaced width of adjacent internal thread segment 401
Degree is greater than the circumferential width of external thread section 101；Pass through the cooperation of internal thread segment 401 and external thread section 101, internal screw thread connector sleeve 4
It is threadedly coupled with the first joint 1.
In order to express easily, the interval of adjacent internal thread segment 401 is known as interior interval 404 below, by adjacent external thread section
101 interval is known as interval 102.
It is understood that the circumferentially-spaced width of adjacent internal thread segment 401 is greater than the circumferential width of external thread section 101,
Also the circumferentially-spaced width for representing adjacent external thread section 101 is greater than the circumferential width of internal thread segment 401, i.e., the week at interior interval 404
It is greater than the circumferential width of external thread section 101 to width, the circumferential width of interval 102 is greater than the circumferential width of internal thread segment 401.
Internal thread segment 401 is avoided by interior 404 evacuation external thread section 101 of interval and interval 102, it can be by internal screw thread connector sleeve 4
It is set in the first joint 1, so that internal thread segment 401 is axially aligned with external thread section 101.Then, rotating female screw connector sleeve 4 makes
Internal thread segment 401 is obtained to match with external thread section 101.Internal screw thread connector sleeve 4 and the first joint 1 may be implemented in this way
Fixation, and internal screw thread connector sleeve 4 required for rotate angle less than 360, fix in this way, installation can be improved
Efficiency.
In a kind of embodiment of the embodiment of the present invention, 401 annular of internal thread segment of internal screw thread connector sleeve 4 is uniformly distributed.
Setting can make internal screw thread connector sleeve 4 and the first joint 1 pass through matching for thread segment 401 and external thread section 101 in this way
After conjunction, the power that internal screw thread connector sleeve 4 is applied by the first joint 1 circumferentially equiblibrium mass distribution, so that internal screw thread connector sleeve 4 and first
Connection between joint 1 is more solid and reliable.
Illustratively, as shown in Figure 5-Figure 8, it is equipped in 6 internal thread segments 401 and 6 and is spaced in internal screw thread connector sleeve 4
404,6 401 annulars of internal thread segment are uniformly distributed, and corresponding, the first joint 1 has 6 external thread section 101 and 6 intervals 102,6
Also annular is uniformly distributed for a external thread section 101.The corresponding central angle of internal thread segment 401 is slightly less than 30 degree, and such as 29 degree, interior 404 pairs of interval
The central angle answered is slightly larger than 30 degree, such as 31 degree；Corresponding, the corresponding central angle of external thread section 101 is slightly less than 30 degree, and such as 29 degree,
The corresponding central angle of interval 102 is slightly larger than 30 degree, such as 31 degree.Internal thread segment 401 and interval 102 are cooperated, i.e. the two week
It aligns to position；By 404 cooperation of external thread section 101 and interior interval, i.e. the two circumferential position aligns；Thus can will in
Threaded connecting sleeve 4 is axial to be pushed, and makes its set on the first joint 1, and internal thread segment 401 is axially aligned with external thread section 101.It is logical
Rotating female screw connector sleeve 4 is crossed, internal thread segment 401 and external thread section 101 can be made to cooperate, rotates angle less than 30 degree, in this way
It has been considerably improved installation effectiveness.
In a kind of embodiment of the embodiment of the present invention, the hole wall of the internal thread hole of internal screw thread connector sleeve 4 is equipped with convex annular
402 are played, internal screw thread connector sleeve 4 is set in second joint 2 by the centre bore of annular protrusion 402；Annular protrusion 402 will be for that will connect
Acting flange 3 is pressed in the groove bottom of mounting groove.
Connecting flange 3 can be pressed between the groove bottom of mounting groove and annular protrusion 402 by annular protrusion 402.
In a kind of embodiment of the embodiment of the present invention, which further includes the lock-screw 5 being arranged radially；Locking
Screw 5 connects internal screw thread connector sleeve 4 and the first joint 1, for limiting the relatively circumferential of internal screw thread connector sleeve 4 and the first joint 1
Displacement；In 1 the two of internal screw thread connector sleeve 4 and the first joint, at least one is threadedly coupled with lock-screw 5.
Lock-screw 5 is disposed radially, and is primarily subjected to cross force.As long as the power that lock-screw 5 is axially born can guarantee
During the work time, lock-screw 5 will not be detached from internal screw thread connector sleeve 4.Specifically, lock-screw 5 can only with
One of internal screw thread connector sleeve 4 and the first joint 1 are threadedly coupled, and can also be connected through a screw thread with both of which.
By the setting of lock-screw 5, the screw thread for leading to threaded connecting sleeve 4 and the first joint 1 due to vibrating can be prevented
Connection loosens.And if the cross force of advocating that lock-screw 5 is subject to, so there is no need to the preloads to lock-screw 5
Power is limited.
In a kind of embodiment of the embodiment of the present invention, which includes multiple lock-screws 5, multiple lock-screws
The 5 axis annular spread relative to internal screw thread connector sleeve 4.
By the setting of multiple lock-screws 5, so that the cross force that each lock-screw 5 is subject to is smaller, so as to protect
The bonding strength of lock-screw 5 is demonstrate,proved, and then can also guarantee the stability of internal screw thread connector sleeve 4 and the connection of the first joint 1.
In a kind of embodiment of the embodiment of the present invention, each lock-screw 5 is respectively positioned on the interval of adjacent internal thread segment 401
Middle part.
After mutual cooperation, lock-screw 5 is respectively positioned on the middle part at interior interval 404 for internal thread segment 401 and external thread section 101
Afterwards, also in the middle part of interval 102.It is arranged in this way when drilling installation locking screw 5, there is no need to destroy internal thread segment
401 and external thread section 101 screw thread, advantageously ensure that the stability that internal screw thread connector sleeve 4 is connect with the first joint 1.
In a kind of embodiment of the embodiment of the present invention, which further includes safety lanyard；Internal screw thread connector sleeve 4 is set
There is locking screw nail hole 403,4 outer peripheral surface of internal screw thread connector sleeve is equipped with the circumferential groove in its end portion 405 for being connected to all locking screw nail hole 403；Lock
The head of tight screw 5 is equipped with locking groove；Lock-screw 5 is mounted in locking screw nail hole 403, and safety lanyard is inlaid in circumferential ring
In slot 405, and it is embedded in the locking groove of lock-screw 5.
It should be noted that more screw currently on the market has manifold and crisscross screw, if using this
Two kinds of screws can use the groove in a direction of flat recess or cross recess on screw as locking groove.
It can be effective by the mating reaction of safety lanyard and locking groove by the fixed safety lanyard of circumferential groove in its end portion 405
The loosening of lock-screw 5 is prevented, to also ensure that the stability that internal screw thread connector sleeve 4 is connect with the first joint 1.
In addition, in actual use, locking screw nail hole 403 can be counterbore, lock-screw 5 is sunk screw, is set in this way
It sets and is firmly embedded in the locking groove of lock-screw 5 convenient for safety lanyard.
In a kind of embodiment of the embodiment of the present invention, connecting flange 3 and the first joint 1 pass through compatible positioning protrusion
The relative position of the two is determined with positioning groove；Positioning protrusion and positioning groove one are set to connecting flange 3, another one setting
In the first joint 1.
Specifically, being set to the first joint orientation protrusion 103 and the company of being set in the first joint 1 in a kind of situation such as Fig. 2
The connecting flange positioning groove 302 of acting flange 3, the first joint orientation protrusion 103 and connecting flange positioning groove 302 match,
Play the role of the relative position of determining connecting flange 3 and the first joint 1.
It in actual use,, can be with by the cooperation of positioning protrusion and positioning groove after connecting flange 3 being inserted into mounting groove
Connecting flange 3 and the first joint 1 are pre-positioned, to realize Fast Installation.
In a kind of embodiment of the embodiment of the present invention, internal screw thread connector sleeve 4 and 2 clearance fit of second joint.By
The setting of gap cooperation, so that internal screw thread connector sleeve 4 can be rotated relative to second joint 2, in the process for tightening internal screw thread connector sleeve 4
In, second joint 2 does not need and then to rotate, and is conducive to the relative positioning in the first joint 1 and second joint 2.
In a kind of embodiment of the embodiment of the present invention, the first joint 1, second joint 2, internal screw thread connector sleeve 4, locking screw
Nail 5 is all made of aluminum material and is made.
It is understood that under normal circumstances, in order to mitigate the weight of robot, aluminium is usually used in the joint of robot
Material is made.Relative to being connected by screw to, the contact area that internal screw thread connector sleeve 4 is directly threadedly coupled with the first joint 1
Larger, the respective stress of internal screw thread connector sleeve 4 and the first joint 1 is smaller, also can guarantee required connection using aluminium material in this way
Intensity also can further mitigate the weight of robot.Advocate due to interacting between internal screw thread connector sleeve 4 and the first joint 1
If being born by internal thread segment 401 and external thread section 101, the power that lock-screw 5 is born is smaller, therefore, using aluminium material
It can guarantee required bonding strength.
Importantly, using same material, it is possible to reduce due to difference in Electrode Potential, the air tide between unlike material
The factors such as wet lead to the generation of electrochemical reaction, i.e. reduction electrochemical corrosion.
Further, in the case where meeting bonding strength, connecting flange 3 can also be made of aluminium material, thus
Can be further reduced due between unlike material due to difference in Electrode Potential, there was dampness in the air etc., and factors lead to electrochemical reaction
Occur, i.e. reduction electrochemical corrosion.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including element.
Each embodiment in this specification is all made of relevant mode and describes, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for system reality
For applying example, since it is substantially similar to the method embodiment, so being described relatively simple, related place is referring to embodiment of the method
Part explanation.
The above is merely preferred embodiments of the present invention, it is not intended to limit the scope of the present invention.It is all in this hair
Any modification, equivalent replacement, improvement and so within bright spirit and principle, are included within the scope of protection of the present invention.
Claims (10)
1. a kind of bindiny mechanism for robot characterized by comprising the first joint (1), second joint (2), connection method
Blue (3) and internal screw thread connector sleeve (4)；
First joint (1) offers mounting groove, and the connecting flange (3) is fixedly arranged on the second joint (2)；
The connecting flange (3) is plugged in the mounting groove, and the internal screw thread connector sleeve (4) is set in the second joint
(2), it and with first joint (1) is threadedly coupled, and the connecting flange (3) is pressed in the groove bottom of the mounting groove；
The connecting flange (3) is equipped with the installation of the central axis annular spread of multiple relatively described internal screw thread connector sleeves (4)
Hole (301), the connecting flange (3) are fixed on the second joint (2) by the multiple mounting hole (301) and screw.
2. bindiny mechanism according to claim 1, which is characterized in that the internal thread hole of the internal screw thread connector sleeve (4) is set
There is the arc-shaped internal thread segment (401) being spaced apart；First joint (1) is equipped with multiple concentric and is spaced apart arc-shaped
External thread section (101)；
The quantity of the internal thread segment (401) is equal with the quantity of the external thread section (101), the adjacent internal thread segment
(401) circumferentially-spaced width is greater than the circumferential width of the external thread section (101)；
By the mutual cooperation of the internal thread segment (401) and the external thread section (101), the internal screw thread connector sleeve (4) with
First joint (1) is threadedly coupled.
3. bindiny mechanism according to claim 2, which is characterized in that the internal screw thread of the internal screw thread connector sleeve (4)
Section (401) annular is uniformly distributed.
4. bindiny mechanism according to claim 1, which is characterized in that the internal thread hole of the internal screw thread connector sleeve (4)
Hole wall is equipped with annular protrusion (402), and the internal screw thread connector sleeve (4) is set in by the centre bore of the annular protrusion (402)
The second joint (2)；
The annular protrusion (402) is used to for the connecting flange (3) being pressed in the groove bottom of the mounting groove.
5. according to the described in any item bindiny mechanisms of claim 2-3, which is characterized in that further include the lock-screw being arranged radially
(5)；
The lock-screw (5) connects the internal screw thread connector sleeve (4) and first joint (1), for limiting the interior spiral shell
Line connector sleeve (4) and first joint (1) it is relatively circumferentially displaced；
In the internal screw thread connector sleeve (4) and first joint (1) the two, at least one and the lock-screw (5) screw thread
Connection.
6. bindiny mechanism according to claim 5, which is characterized in that including multiple lock-screws (5), the multiple locking
Screw (5) is distributed along the circumferencial direction of the internal screw thread connector sleeve (4).
7. bindiny mechanism according to claim 6, which is characterized in that each lock-screw (5) is respectively positioned on adjacent described interior
The middle part at the interval of thread segment (401).
8. bindiny mechanism according to claim 6, which is characterized in that further include safety lanyard；
The internal screw thread connector sleeve (4) is equipped with locking screw nail hole (403), and internal screw thread connector sleeve (4) outer peripheral surface is equipped with connection
The circumferential groove in its end portion (405) of all locking screw nail hole (403)；
The head of the lock-screw (5) is equipped with locking groove；
The lock-screw (5) is mounted in locking screw nail hole (403), and the safety lanyard is inlaid in the circumferential groove in its end portion
(405) it in, and is embedded in the locking groove of the lock-screw (5).
9. bindiny mechanism according to claim 1-4, which is characterized in that the connecting flange (3) and described
One joint (1) determines the relative position of the two by compatible positioning protrusion and positioning groove；
The positioning protrusion and the positioning groove one are set to the connecting flange (3), and another one is set to described first
Joint (1).
10. bindiny mechanism according to claim 1-4, which is characterized in that the internal screw thread connector sleeve (4) and institute
State second joint (2) clearance fit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710384990.7A CN107175683B (en) | 2017-05-26 | 2017-05-26 | A kind of bindiny mechanism for robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710384990.7A CN107175683B (en) | 2017-05-26 | 2017-05-26 | A kind of bindiny mechanism for robot |
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| CN107175683B true CN107175683B (en) | 2019-01-08 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE202018101462U1 (en) * | 2018-03-15 | 2018-04-26 | Igus Gmbh | Wrist joint for a manipulator and manipulator |
| CN115427200A (en) * | 2019-08-29 | 2022-12-02 | 睿信科机器人股份有限公司 | Connecting assembly of robot joint |
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| CA2939064A1 (en) * | 2014-02-28 | 2015-09-03 | Kabushiki Kaisha Kobe Seiko Sho (Kobe Steel, Ltd.) | Joint unit |
| CN204149170U (en) * | 2014-10-21 | 2015-02-11 | 中国科学院沈阳自动化研究所 | Locking mechanical arm syndeton |
| CN204986090U (en) * | 2015-10-08 | 2016-01-20 | 中国航空工业集团公司沈阳发动机设计研究所 | Pipeline connection joint |
| JP2017087374A (en) * | 2015-11-13 | 2017-05-25 | 株式会社デンソーウェーブ | Hand connection structure of robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107175683A (en) | 2017-09-19 |
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Application publication date: 20170919 Assignee: AOBO (JIANGSU) ROBOT CO.,LTD. Assignor: AUBO (BEIJING) ROBOTICS TECHNOLOGY Co.,Ltd. Contract record no.: 2019990000099 Denomination of invention: Robot connecting mechanism Granted publication date: 20190108 License type: Exclusive License Record date: 20190328 |
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Address after: Room 407, building 5, yard 98, lianshihu West Road, Mentougou District, Beijing 102300 Patentee after: AUBO (Beijing) Intelligent Technology Co.,Ltd. Address before: 102300 301a1, building 5, Shilong Yangguang building, 98 lianshihu West Road, Mentougou District, Beijing Patentee before: AUBO (BEIJING) ROBOTICS TECHNOLOGY Co.,Ltd. |