CN107571283A - The lockable joint of robot that a kind of three rotating shaft intersects - Google Patents
The lockable joint of robot that a kind of three rotating shaft intersects Download PDFInfo
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- CN107571283A CN107571283A CN201711020950.0A CN201711020950A CN107571283A CN 107571283 A CN107571283 A CN 107571283A CN 201711020950 A CN201711020950 A CN 201711020950A CN 107571283 A CN107571283 A CN 107571283A
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- rotating shaft
- external splines
- collar
- pedestal
- robot
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Abstract
Include two opposite ends the present invention relates to the lockable joint of robot that a kind of three rotating shaft intersects to sell axle sleeve through the be hinged pedestal of first rotating shaft and the first adpting flange, other two opposite end of pedestal and be provided with the second rotating shaft, the top vertical of the second rotating shaft is provided with the 3rd rotating shaft；What the first retaining mechanism included coaxially being set in bearing pin periphery slides laterally the external splines collar, the first internal spline for being engaged with sliding laterally the external splines of the external splines collar is coaxially provided with second rotating shaft, the second internal spline for being engaged with sliding laterally the external splines of the external splines collar is coaxially provided with pedestal；Second retaining mechanism includes the male splined shaft for being coaxially installed in the 3rd rotating shaft top, the internal spline of periphery the 3rd of male splined shaft, which is coaxially bonded to, slides vertically the external splines collar, the periphery of male splined shaft is also coaxially provided with the second adpting flange, and the 4th internal spline for being engaged with sliding vertically the external splines of the external splines collar is coaxially provided with the second adpting flange.Structure design is simple, convenient and efficient.
Description
Technical field
The present invention relates to the lockable joint of robot that a kind of three rotating shaft intersects.
Background technology
Lockable mechanical joint disclosed in existing patent US7367740, including realize articulation function rotary shaft,
The joint link lever part of two movable joints of connection and to realize the male splined shaft of mechanical joint auto-lock function, internal spline gear ring
Deng structure member.Wherein, each self-locking joint rotates around respective rotary shaft, the achievable function of freely rotating and lock, and two
The individual Lockable joint for being mutually perpendicular to arrangement is rigidly connected by joint link lever part, so as to realizing two degrees of freedom Hooke's hinge joint
Turning power, and the lockable function of the mechanical joint is achieved by male splined shaft with whether engaging for internal spline gear ring.
The deficiency of the Lockable joint is that structure design is rigidly poor, and two lockable rotating shafts that joint is included use long connecting rod
Connection, the robot motion joint having high requirements to rigidity, precision and structure lightened design is not suitable for it.
The joint of robot of achievable motion locking disclosed in existing patent WO2017144310, by driving gear, from
Moving gear, motor, angular transducer and the synchronous cog belt and guarantee articulation structure safety that transmit movable joint torque
Safety pin composition.Wherein, driving joint locking or unblock can by adjust cog belt cornerite size realize.Its deficiency
It is that, due to single lockable pivot design, such lockable joint of robot contents just to the tandem such as SCARA robot
The application demand of middle independent cradle head, simultaneously because realizing using tooth form V belt translation and whereby joint locking so that institute of mechanism
Take up too much space, be unfavorable for lightweight and the Miniaturization Design of joint of robot.
The machine of achievable joint motions locking function disclosed in existing patent CN104802183 and CN103341864
Person joint, including motor, joint speed reducer, shaft coupling and worm screw, the kinematic pair of worm gear composition.Wherein, based on worm screw
Dynamic component, worm gear are slave unit, and motor is passed torque by power transmission members such as joint speed reducer, shaft couplings successively
Worm couple is delivered to, and the rotation in joint is realized by worm drive worm gear, and only when outer load effect is in worm gear, due to
The lead angle of worm screw is less than the equivalent friction angle of worm and gear engagement wheel between cog, and worm gear reversely can not drive worm screw to rotate, so as to
Realize the monodirectional locking function in joint.Its deficiency is that the lockable joint of robot is independent pivot design, it is difficult to for building
Wide variety of multiple degrees of freedom compound hinges in parallel robot structure design, and realized here by Worm Wheel System
Be only joint one-way movement self-locking, it is impossible to realize that the omnirange of joint motions arbitrarily locks, be unfavorable for joint position appoint
Meaning control and posture are kept.
The content of the invention
In view of the deficiencies in the prior art, the technical problems to be solved by the invention are to provide a kind of locking for three rotating shafts intersection
Determine joint of robot, be not only simple in structure, and convenient and efficient.
In order to solve the above-mentioned technical problem, the technical scheme is that：The lockable robot that a kind of three rotating shaft intersects
Joint, including the pedestal that two opposite ends are hinged through first rotating shaft and the first adpting flange, the other two opposite end warp of the pedestal
Pin sleeve is provided with the second rotating shaft, and the top vertical of second rotating shaft is provided with the 3rd rotating shaft；Second rotating shaft is through the first locking
Mechanism is connected with pedestal, and the 3rd rotating shaft is provided with the second retaining mechanism；First retaining mechanism includes coaxially being set in
Bearing pin periphery slides laterally the external splines collar, is coaxially provided with second rotating shaft for sliding laterally the external splines collar
First internal spline of external splines engagement, is coaxially provided with the pedestal and is engaged for the external splines with sliding laterally the external splines collar
The second internal spline；Second retaining mechanism includes the male splined shaft for being coaxially installed in the 3rd rotating shaft top, the external splines
The internal spline of periphery the 3rd of axle, which is coaxially bonded to, slides vertically the external splines collar, and the periphery of the male splined shaft is also coaxially provided with
Second adpting flange, it is coaxially provided with second adpting flange for being engaged with sliding vertically the external splines of the external splines collar
4th internal spline.
Preferably, the bearing pin is symmetricly set on the both ends of pedestal, and the pedestal is provided with keyway, the bearing pin pass through with
The key that keyway coordinates is connected on pedestal.
Preferably, the outer end of the bearing pin is connected through bearing with sliding laterally the inner ring of the external splines collar.
Preferably, connected as one at the top of second rotating shaft at the pedestal both ends through U-shaped seat, the 3rd rotating shaft is arranged on
In U-shaped seat, the top of the 3rd rotating shaft is connected through bearing with outer coupling portion.
Preferably, the first rotating shaft, the second rotating shaft, the 3rd rotating shaft intersects arrangement, the first rotating shaft and second
Rotating shaft is vertical, and second rotating shaft is vertical with the 3rd rotating shaft.
Preferably, first retaining mechanism and the second retaining mechanism include electromagnetic drive and control assembly.
Compared with prior art, the invention has the advantages that：The lockable joint of robot that three rotating shaft intersects
Structure it is simple, intersect arrangement, mechanical structure of first rotating shaft, the second rotating shaft, the 3rd rotating shaft closely connects, and can form Gao Gang
Degree, high-precision multiple degrees of freedom compound motion hinge；Rotating shaft can realize locking and unblock, and then realize and moved in uniform machinery people
On joint freely, rapidly switching with one, two, the joint form of Three Degree Of Freedom turning power.
The present invention will be further described in detail with reference to the accompanying drawings and detailed description.
Brief description of the drawings
Fig. 1 is the organigram of the embodiment of the present invention.
Fig. 2 is Fig. 1 A-A sectional views.
Fig. 3 is the unblock schematic diagram of the 3rd rotating shaft.
Fig. 4 is the locking schematic diagram of the 3rd rotating shaft.
Fig. 5 is the 3rd rotating shaft locking, the schematic diagram of the second rotating shaft locking.
Fig. 6 is the 3rd rotating shaft unblock, the schematic diagram of the second rotating shaft locking.
Fig. 7 is the 3rd rotating shaft unblock, the schematic diagram of the second rotating shaft unblock.
Fig. 8 is the organigram of pedestal.
Fig. 9 is pedestal and the connection diagram for sliding laterally the external splines collar.
Figure 10 is the organigram of the first internal spline.
Figure 11 is the organigram of electromagnetic drive and control assembly.
Figure 12 uses schematic diagram one for the embodiment of the present invention.
Figure 13 uses schematic diagram two for the embodiment of the present invention.
Embodiment
For features described above of the invention and advantage can be become apparent, special embodiment below, and coordinate accompanying drawing, make detailed
Carefully it is described as follows.
As shown in Fig. 1 ~ 13, a kind of lockable joint of robot of three rotating shafts intersection, including two opposite ends are through first rotating shaft 1
The pedestal 3 being hinged with the first adpting flange 2, other two opposite end of the pedestal sells axle 4 and is arranged with the second rotating shaft 5, described
The top vertical of second rotating shaft is provided with the 3rd rotating shaft 6；Second rotating shaft is connected through the first retaining mechanism with pedestal, and the described 3rd
Rotating shaft is provided with the second retaining mechanism；What first retaining mechanism included coaxially being set in bearing pin periphery slides laterally external splines
The collar 7, the first internal spline for being engaged with sliding laterally the external splines of the external splines collar is coaxially provided with second rotating shaft
8, the second internal spline 9 for being engaged with sliding laterally the external splines of the external splines collar is coaxially provided with the pedestal；Described
Two retaining mechanisms include the male splined shaft 10 for being coaxially installed in the 3rd rotating shaft top, are spent in the periphery the 3rd of the male splined shaft
Key 11 is coaxially bonded to and slides vertically the external splines collar 12, and the periphery of the male splined shaft is also coaxially provided with the second adpting flange
13, the 4th internal spline for being engaged with sliding vertically the external splines of the external splines collar is coaxially provided with second adpting flange
14。
In embodiments of the present invention, the bearing pin is symmetricly set on the both ends of pedestal, and the pedestal is provided with keyway 28, institute
The bearing pin key 15 through with keyway coordinating is stated to be connected on pedestal.
In embodiments of the present invention, the outer end of the bearing pin connects through bearing 16 with sliding laterally the inner ring of the external splines collar
Connect；The external splines collar that slides laterally contains permanent magnet element with sliding vertically the external splines collar.
In embodiments of the present invention, connected as one at the top of second rotating shaft at pedestal both ends through U-shaped seat 17, described the
Three rotating shafts are arranged in U-shaped seat, and the top of the 3rd rotating shaft is connected through bearing with outer coupling portion.
In embodiments of the present invention, the first rotating shaft, the second rotating shaft, the 3rd rotating shaft intersects arrangement, and described first
Rotating shaft is vertical with the second rotating shaft, and second rotating shaft is vertical with the 3rd rotating shaft.
In embodiments of the present invention, first retaining mechanism and the second retaining mechanism include electromagnetic drive and control group
Part 18, the external splines collar that slides laterally can be transported in the presence of electromagnetic drive and control assembly along bearing pin horizontal sliding
Dynamic, the external splines collar that slides laterally can make the first internal spline and the second internal spline in connecing during foregoing sliding motion
Conjunction or disengaged position, and then realize the locking or unblock of second rotating shaft；The external splines collar that slides vertically can be in electromagnetism
Along the vertical sliding motion of male splined shaft in the presence of driving and control assembly, the external splines collar that slides vertically can be foregoing
The male splined shaft for belonging to the 3rd rotating shaft is set to be in engagement with the 4th internal spline for belonging to the second adpting flange during sliding motion
Or disengaged position, and then the locking or unblock of the 3rd rotating shaft are realized, all cooperation and connection splines use standard spline
Flute profile, and meet standard GB/T/T3478.1-1995.
In embodiments of the present invention, the external splines collar that slides vertically has the 3rd internal spline, the first rotating shaft with
The cohesive end of pedestal can realize the locking of first rotating shaft with setting structure, principle and first locking mechanism identical latch-up structure
With solving lock control.
In embodiments of the present invention, rotating shaft is individually real under the driving and control of its respective electromagnetic drive and control assembly
The locking or unblock of existing rotating shaft, the electromagnetic drive and control assembly are removed slides laterally external splines set to moving component with foregoing
Ring, slide vertically outside the motion control function of the external splines collar, be also integrated with the function of splined shaft rotary angle transmitter, that is, work as institute
State the rotary angle transmitter integrated in electromagnetic drive and control assembly detect it is described slide laterally the external splines collar, slide vertically it is outer
During the alignment straggly of spline tooth on spline collar the second internal spline corresponding with its, the 4th internal spline, it can just allow electromagnetic drive
The external splines collar is slid laterally with control assembly driving, slides vertically the external splines collar, carries out the locking or unblock of lockable axle
Motion.
In embodiments of the present invention, as shown in figure 3, the rotary angle transmitter inspection integrated in the electromagnetic drive and control assembly
When measuring the alignment straggly of described spline tooth slid vertically on the external splines collar and its corresponding male splined shaft, driven by the electromagnetism
Driving part driving in dynamic and control assembly slides vertically the external splines collar and moved down along male splined shaft so that described perpendicular
To slide the external splines collar disengaged with the second adpting flange, and it is described slide vertically the external splines collar only with the outer flower
Key axle keeps contact, and now the 3rd rotating shaft can freely rotate using male splined shaft as rotary shaft, i.e., at described 3rd rotating shaft
In released state, there is a rotational freedom；As shown in figure 4, integrated equally in the electromagnetic drive and control assembly
Rotary angle transmitter detects the flower on the 4th internal spline for sliding vertically the external splines collar and its corresponding second adpting flange
In the case of key teeth alignment straggly, it can be slid vertically by the driving part driving in the electromagnetic drive and control assembly outer
Spline collar moves up along male splined shaft so that the external splines collar that slides vertically contacts with the second adpting flange, together
Shi Suoshu slides vertically the external splines collar and keeps contacting with the male splined shaft, and now the 3rd rotating shaft can not be around male splined shaft
Rotate, i.e., described 3rd rotating shaft is in the lock state, without rotational freedom.
In embodiments of the present invention, as shown in figure 5, the electromagnetic drive and control assembly driving slide laterally external splines set
Ring slid inward, slide laterally the external splines collar and engaged with the first internal spline, the second internal spline, lock second rotating shaft,
The electromagnetic drive and control assembly slide vertically external splines collar upward sliding, lock the 3rd rotating shaft, described first turn
Axle rotates, and realizes the joint of robot with single-degree-of-freedom turning power；As shown in fig. 6, the electromagnetic drive and control assembly
Driving slides laterally external splines collar slid inward, locks second rotating shaft, and electromagnetic drive and the control assembly driving is perpendicular
To external splines collar slide downward is slided, the 3rd rotating shaft is unlocked, while the first rotating shaft rotates, realizing has two freely
Spend the joint of robot of turning power；As shown in fig. 7, the electromagnetic drive and control assembly driving slide laterally the external splines collar
Slide in and out, slide laterally the external splines collar and engage, depart from the second internal spline, described second turn of unblock with the first internal spline
Axle, electromagnetic drive and the control assembly driving slide vertically external splines collar slide downward, unlock the 3rd rotating shaft, simultaneously
The first rotating shaft rotation, realizes the joint of robot with Three Degree Of Freedom turning power.
In embodiments of the present invention, first retaining mechanism and the second retaining mechanism include electromagnetic drive and control group
Part, as shown in figure 11, the electromagnetic drive and control assembly specifically include：Installing matrix 29, rotary angle transmitter 30, battery component
31st, control circuit 32 and active electromagnetic action device 33, the installing matrix are used to dispose rotary angle transmitter and control circuit, and
The active force of active electromagnetic action device is carried, the battery component is rotary angle transmitter, control circuit and active electromagnetic action device
Power supply is provided, and can be changed to be powered by joint of robot power supply is unified, when control circuit control active electromagnetic action device and installation
Magnetic same pole is produced in sliding the permanent magnet element in the external splines collar, you can is driven and is slided the external splines collar away from electromagnetism
Driving and control assembly, when control circuit control active electromagnetic action device and it is installed on the permanent magnet portion slided in the external splines collar
Part produces magnetic opposite magnetic pole, you can drives and slides the external splines collar close to electromagnetic drive and control assembly, control circuit is existing
There is technology, no longer illustrate herein.
In embodiments of the present invention, as shown in figure 12, the lockable joint of robot 19 that three rotating shaft intersects can be with branch
Serobila 20, movable joint component 21 are connected, and described branch serobila includes rail plate 22, feed screw nut's assembly 23 and motor
24, described movable joint component includes sliding block 25, rotates subcomponent 26.Described rail plate and sliding block composition prismatic pair,
And the feed screw nut's assembly driving prismatic pair that can be driven by motor moves along a straight line along rail plate, three described rotating shafts
The lockable joint of robot of intersection is fixedly connected with branch serobila, and described branch serobila and movable joint component are connected by sliding block
Connect, three described rotating shafts intersect lockable joint of robot and movable joint component can connect respectively robot moving platform and
Silent flatform, the connected mode also can be that the lockable joint of robot that three rotating shafts intersect and movable joint component connect machine respectively
The silent flatform and moving platform of people.
In embodiments of the present invention, as shown in figure 13, the lockable joint of robot that three rotating shaft intersects can be with side chain
Body, movable joint component, connecting rod 27 are connected, and described branch serobila includes rail plate, feed screw nut's assembly and motor, institute
The movable joint component stated includes sliding block, rotates subcomponent.Described rail plate and sliding block composition prismatic pair, and can be by driving
Dynamic motor-driven feed screw nut's assembly driving prismatic pair moves along a straight line along rail plate, and what three described rotating shafts intersected locks
Determine joint of robot to be connected with the rotation subcomponent in movable joint component by connecting rod, described movable joint component and side chain
Body is connected by sliding block, and the lockable joint of robot and branch serobila that three described rotating shafts intersect can connect the dynamic of robot respectively
Platform and silent flatform, the connected mode also can be that the lockable joint of robot that three rotating shafts intersect and branch serobila connect machine respectively
The silent flatform and moving platform of people.
The present invention is not limited to above-mentioned preferred forms, and anyone can show that other are each under the enlightenment of the present invention
The lockable joint of robot that three rotating shafts of kind form intersect.All equivalent changes done according to scope of the present invention patent are with repairing
Decorations, it should all belong to the covering scope of the present invention.
Claims (6)
- A kind of 1. lockable joint of robot that three rotating shaft intersects, it is characterised in that：Including two opposite ends through first rotating shaft and the The be hinged pedestal of one adpting flange, other two opposite end of the pedestal sells axle sleeve and is provided with the second rotating shaft, second rotating shaft Top vertical be provided with the 3rd rotating shaft；Second rotating shaft is connected through the first retaining mechanism with pedestal, is set in the 3rd rotating shaft There is the second retaining mechanism；What first retaining mechanism included coaxially being set in bearing pin periphery slides laterally the external splines collar, institute State the first internal spline being coaxially provided with the second rotating shaft for being engaged with sliding laterally the external splines of the external splines collar, the pedestal On be coaxially provided with the second internal spline for being engaged with sliding laterally the external splines of the external splines collar；The second retaining mechanism bag Include the coaxial male splined shaft for being installed in the 3rd rotating shaft top, the internal spline of periphery the 3rd of the male splined shaft is coaxially bonded to perpendicular To sliding the external splines collar, the periphery of the male splined shaft is also coaxially provided with the second adpting flange, on second adpting flange It is coaxially provided with the 4th internal spline for being engaged with sliding vertically the external splines of the external splines collar.
- 2. the lockable joint of robot that three rotating shaft according to claim 1 intersects, it is characterised in that：The bearing pin is symmetrical The both ends of pedestal are arranged on, the pedestal is provided with keyway, and the bearing pin key through coordinating with keyway is connected on pedestal.
- 3. the lockable joint of robot that three rotating shaft according to claim 1 intersects, it is characterised in that：Outside the bearing pin End is connected through bearing with sliding laterally the inner ring of the external splines collar.
- 4. the lockable joint of robot that three rotating shaft according to claim 1 intersects, it is characterised in that：The pedestal both ends The second rotating shaft at the top of connected as one through U-shaped seat, the 3rd rotating shaft is arranged in U-shaped seat, the top of the 3rd rotating shaft It is connected through bearing with outer coupling portion.
- 5. the lockable joint of robot that three rotating shaft according to claim 1 intersects, it is characterised in that：Described first turn Axle, the second rotating shaft, the 3rd rotating shaft intersect arrangement, and the first rotating shaft is vertical with the second rotating shaft, second rotating shaft and the Three rotating shafts are vertical.
- 6. the lockable joint of robot that three rotating shaft according to claim 1 intersects, it is characterised in that：First locking Mechanism includes electromagnetic drive and control assembly with the second retaining mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711020950.0A CN107571283A (en) | 2017-10-27 | 2017-10-27 | The lockable joint of robot that a kind of three rotating shaft intersects |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711020950.0A CN107571283A (en) | 2017-10-27 | 2017-10-27 | The lockable joint of robot that a kind of three rotating shaft intersects |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107571283A true CN107571283A (en) | 2018-01-12 |
Family
ID=61040573
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711020950.0A Pending CN107571283A (en) | 2017-10-27 | 2017-10-27 | The lockable joint of robot that a kind of three rotating shaft intersects |
Country Status (1)
| Country | Link |
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| CN (1) | CN107571283A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109590960A (en) * | 2019-01-22 | 2019-04-09 | 中北大学 | A kind of workbench Three dimensional rotation regulating mechanism |
| CN110216655A (en) * | 2019-05-30 | 2019-09-10 | 中国科学院长春光学精密机械与物理研究所 | A kind of single leg anti-self-rotating mechanism of parallel robot |
| CN111152204A (en) * | 2020-01-18 | 2020-05-15 | 九立(北京)机器人科技有限公司 | Slewing mechanism, mechanical arm and robot |
| CN113217528A (en) * | 2021-05-24 | 2021-08-06 | 东莞市原创玩具有限公司 | Model joint structure |
-
2017
- 2017-10-27 CN CN201711020950.0A patent/CN107571283A/en active Pending
Non-Patent Citations (1)
| Title |
|---|
| TANG TENGFEI等: "《Conceptual design and comparative stiffness analysis of an Exechon-like parallel kinematic machine with lockable spherical joints》", 《INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS》 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109590960A (en) * | 2019-01-22 | 2019-04-09 | 中北大学 | A kind of workbench Three dimensional rotation regulating mechanism |
| CN109590960B (en) * | 2019-01-22 | 2023-11-24 | 中北大学 | Three-dimensional rotation adjusting mechanism of workbench |
| CN110216655A (en) * | 2019-05-30 | 2019-09-10 | 中国科学院长春光学精密机械与物理研究所 | A kind of single leg anti-self-rotating mechanism of parallel robot |
| CN110216655B (en) * | 2019-05-30 | 2021-05-18 | 中国科学院长春光学精密机械与物理研究所 | Single-leg anti-rotation device of parallel robot |
| CN111152204A (en) * | 2020-01-18 | 2020-05-15 | 九立(北京)机器人科技有限公司 | Slewing mechanism, mechanical arm and robot |
| CN113217528A (en) * | 2021-05-24 | 2021-08-06 | 东莞市原创玩具有限公司 | Model joint structure |
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Application publication date: 20180112 |