CN107813338B - Robot joint connecting mechanism - Google Patents
Robot joint connecting mechanism Download PDFInfo
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- CN107813338B CN107813338B CN201711257810.5A CN201711257810A CN107813338B CN 107813338 B CN107813338 B CN 107813338B CN 201711257810 A CN201711257810 A CN 201711257810A CN 107813338 B CN107813338 B CN 107813338B
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- groove
- output end
- input end
- contact
- boss
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention provides a robot joint connecting mechanism which comprises a mechanism input end, a protective shell, a mechanism output end, a wire protecting pipe, a contact switch and a boss, wherein the mechanism input end is connected with the mechanism output end through the protective shell; the mechanism input end is rotatably connected with the protective shell, and the mechanism output end is fixedly connected with the protective shell; the joint cable protection mechanism is characterized in that a first groove is formed in the mechanism input end, a second groove is formed in the mechanism output end, the wire protection pipe penetrates through the first groove, the protection shell and the second groove, and a joint cable penetrates through the wire protection pipe; the contact switch is installed at the two ends of the first groove, the bosses are installed at the two ends of the second groove, and the contact switch generates a trigger signal when contacting with the bosses.
Description
Technical Field
The disclosure relates to the field of robots, in particular to a robot joint connecting mechanism.
Background
The joints are important constituent units of the robot, and the structural form, the load capacity and the perception capacity of the joints directly influence the system configuration and the operation capacity of the robot. The internal wiring mode of the joint is very important for a robot system because the protection performance of the robot can be improved, the service life of a cable can be protected, and the application field can be enlarged.
At present, light mechanical arms (such as cooperative mechanical arms, space mechanical arms and the like) mostly adopt a structure of a hollow cup motor and a hollow speed reducer to realize a wiring mode along a central hole, so that the selection of core components such as the motor and the speed reducer and the volume of available cables are limited, and the optimal system design cannot be realized frequently. Although industrial servo motors in the market are rich in types and stable in performance, robots driven by the industrial servo motors mostly adopt an external wiring mode, and the cable protection performance is poor; although the structural style that both sides supported has realized industrial robot to the protection of cable to a certain extent, nevertheless lead to the robot bulky, weight is big simultaneously, is difficult to be applied to light-duty arm field.
Disclosure of Invention
The utility model provides a can realize safe spacing and inside robot rotary joint coupling mechanism who walks line to solve the big, poor, the application scope subalternation problem of cable protectiveness that robot exists based on servo motor drive.
A robot joint connecting mechanism comprises a mechanism input end, a protective shell, a mechanism output end, a wire protecting pipe, a contact switch and a boss,
the mechanism input end is connected with the mechanism output end through the protective shell;
the input end is rotatably connected with the protective shell, and the output end is fixedly connected with the protective shell;
the joint cable protection mechanism is characterized in that a first groove is formed in the mechanism input end, a second groove is formed in the mechanism output end, the wire protection pipe penetrates through the first groove, the protection shell and the second groove, and a joint cable penetrates through the wire protection pipe;
the contact switch is installed at the two ends of the first groove, the bosses are installed at the two ends of the second groove, and the contact switch generates a trigger signal when contacting with the bosses.
The input end of the mechanism is connected with the protective shell through a sealing ring; the protective shell is provided with a protective shell interface and a sealing ring groove, the mechanism input end is provided with a sealing flange, the sealing ring is installed in the sealing ring groove of the protective shell, and the inner ring of the sealing ring is in contact with the sealing flange of the mechanism input end; the mechanism output end is provided with a shell interface, and the shell interface and the protective shell interface are respectively provided with annular uniformly distributed unthreaded holes and threaded holes with the same quantity, so that the protective shell is mechanically connected with the mechanism output end.
Further, the mechanism input end and the mechanism output end both adopt an annular structure, and the first groove and the second groove are both arc-shaped grooves.
Further, the mechanism input end comprises a first threaded hole, the mechanism output end comprises a second threaded hole, the first threaded hole is used for connecting the contact switch with the mechanism input end, and the second threaded hole is used for connecting the boss with the mechanism output end.
Further, the contact switch comprises a base interface and a contact point, the base interface is in contact with the first threaded hole, and the contact point generates a trigger signal when being in contact with the boss.
Wherein, the contact switch has 2, is located respectively the radial outside and the inboard of first recess to be located the both ends of first recess.
Further, the boss comprises a boss contact and a mounting hole, the mounting hole is in contact with the second threaded hole, and a trigger signal is generated when the boss contact is in contact with the contact.
Wherein, there are 2 bosss, be located respectively the radial outside and the inboard of second recess to be located the both ends of second recess.
Further, the groove angle of the mechanism input end is theta1The groove angle of the mechanism output end is theta2The contour envelope angle of the conduit in the joint connecting mechanism is theta3The range of rotation achieved by the articulation mechanism is theta1+θ2-2×θ3。
The input with the output can be a set of flange, and above-mentioned robot joint coupling mechanism can realize that the inside of non-cavity formula joint is walked the line and is rotated on a large scale through the optimal combination between the trough on a set of flange, sets up the protective housing and can improve the barrier propterty of joint, prevents that debris from getting into the joint inside, and built-in contact switch can contact with the boss and feed back out status signal when joint coupling mechanism rotates to the limit position for make stop or reverse rotation's motion control to the joint, with the protection joint cable.
The beneficial effect of this disclosure:
1) the robot joint connecting mechanism adopts an internal wiring mode, so that a series of problems of poor cable protection, large robot volume, small application range and the like caused by the adoption of an external wiring mode of the robot driven by an industrial servo motor at present are solved;
2) the robot joint connecting mechanism has a safety limiting function, and sends a feedback signal when the joint rotates to reach a limit position, so that measures are taken in time to protect a joint cable;
3) the robot joint connecting mechanism is also provided with a sealing device, so that the protection performance of the joint can be improved, and the mechanism operation can be prevented from being influenced by sundries entering the joint.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.
FIG. 1 is a side view of a robotic articulation mechanism according to an embodiment of the present disclosure;
FIG. 2 is an axial cross-sectional view of a robotic articulation mechanism according to an embodiment of the present disclosure;
FIG. 3 is an internal assembly view of a mechanism input end of a robotic articulation mechanism according to an embodiment of the present disclosure;
FIG. 4 is an internal assembly view of a mechanism output of a robotic articulation mechanism according to an embodiment of the present disclosure;
FIG. 5 is a mechanism input end elevation view of a robotic articulation mechanism of an embodiment of the present disclosure;
FIG. 6 is a mechanism output end elevation view of a robotic articulation mechanism of an embodiment of the present disclosure;
FIG. 7 is a side view of the protective housing of the robotic articulation mechanism of an embodiment of the present disclosure;
FIG. 8 is a contact switch isometric view of a robotic articulation mechanism according to an embodiment of the present disclosure;
fig. 9 is a boss isometric view of a robot articulation mechanism of an embodiment of the present disclosure.
Detailed Description
The present disclosure is described in further detail below with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant disclosure and not restrictive of the disclosure. It should be further noted that, for the convenience of description, only the portions relevant to the present disclosure are shown in the drawings.
It should be noted that, in the present disclosure, the embodiments and features of the embodiments may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying examples and figures 1-9.
The robot joint connecting mechanism comprises a mechanism input end 1, a protective shell 3, a mechanism output end 2, a conduit 9, contact switches 5 and 6 and bosses 7 and 8,
the mechanism input end 1 is connected with the mechanism output end 2 through a protective shell 3;
the mechanism input end 1 is rotatably connected with the protective shell 3, and the mechanism output end 2 is fixedly connected with the protective shell 3;
a first groove 1-1 is formed in the mechanism input end 1, a second groove 2-1 is formed in the mechanism output end 2, the wire protection pipe 9 penetrates through the first groove 1-1, the protection shell 3 and the second groove 2-1, and the joint cable penetrates through the wire protection pipe 9;
the contact switches 5 and 6 are arranged at two ends of the first groove 1-1, the bosses 7 and 8 are arranged at two ends of the second groove 2-1, and the contact switches 5 and 6 generate trigger signals when being in contact with the bosses 7 and 8.
The mechanism input end 1 and the mechanism output end 2 both adopt an annular structure, and the first groove 1-1 and the second groove 2-1 are both arc-shaped grooves.
The mechanism input end 1 comprises first threaded holes 1-4 and 1-5, the mechanism output end 2 comprises second threaded holes 2-4 and 2-5, the first threaded holes 1-4 and 1-5 are used for connecting the contact switches 5 and 6 with the mechanism input end 1, and the second threaded holes 2-4 and 2-5 are used for connecting the bosses 7 and 8 with the mechanism output end 2.
The contact switches 5 and 6 comprise base interfaces 5-1 and 6-1 and contact contacts 5-2 and 6-2, the base interfaces 5-1 and 6-1 are in contact with the first threaded holes 1-4 and 1-5, and trigger signals are generated when the contact contacts 5-2 and 6-2 are in contact with the bosses 7 and 8.
The bosses 7 and 8 comprise boss contacts 7-2 and 8-2 and mounting holes 7-1 and 8-1, the mounting holes 7-1 and 8-1 are contacted with the second threaded holes 2-4 and 2-5, and trigger signals are generated when the boss contacts 7-2 and 8-2 are contacted with the contact contacts 5-2 and 6-2.
The angle of the first groove 1-1 is theta1The angle of the second groove 2-1 is theta2The angle of the contour envelope of the conduit 9 in the articulation mechanism is theta3The range of rotation effected by the articulated mechanism is θ1+θ2-2×θ3. In more detail, the present invention is described in more detail,
as shown in fig. 1, the mechanism input end 1, the mechanism output end 1 and the conduit 9 constitute the rotating part of the robot joint connecting mechanism. The mechanism input end 1 and the mechanism output end 2 both adopt annular structures, and the same rotation axis is arranged between the two. A first groove 1-1 and a second groove 2-1 are respectively arranged on the mechanism input end 1 and the mechanism output end 2; the grommet 9 passes through the first groove 1-1 and the second groove 2-1 in the rotational axis direction.
As shown in fig. 2, the mechanism input end 1, the mechanism output end 2, the protective shell 3 and the sealing ring 4 constitute a sealing part of the mechanism. Protective housing 3 is installed on mechanism output 2, and sealing washer 4 is installed between mechanism input 1 and protective housing 3.
As shown in fig. 3 and 4, the mechanism input end 1, the mechanism output end 2, the contact switch 5, the contact switch 6, the boss 7 and the boss 8 constitute a limit trigger part of the mechanism, that is, when the mechanism input end 1 and the mechanism output end 2 rotate relatively to a certain position, the contact switch 5 contacts with the boss 7, the contact switch 6 contacts with the boss 8, and the joint connection mechanism generates a trigger signal to prompt the stop of the joint rotation or the reverse rotation. Contact switch 5, contact switch 6 all install on mechanism input 1, and boss 7, boss 8 are all installed on mechanism output 2.
As shown in fig. 3, 5 and 6, the mechanism input end 1 is further provided with a central interface 1-2, a sealing flange 1-3, a first threaded hole 1-4, a first threaded hole 1-5, a wire outlet hole 1-6, a wire outlet hole 1-7 and an external interface 1-8. The mechanism output end 2 is also provided with a central interface 2-2, a shell interface 2-3, a second threaded hole 2-4, a second threaded hole 2-5 and an external interface 2-6. The central interface 1-2 and the central interface 2-2 are a certain number of annularly and uniformly distributed threaded holes and are respectively used for realizing the mechanical connection between the mechanism input end 1 and the joint input end and between the mechanism output end 2 and the joint output end. The external interfaces 1-8 and the external interfaces 2-6 are a certain number of annular uniformly distributed threaded holes and are respectively used for realizing the mechanical connection of the mechanism input end 1 and the mechanism output end 2 with the upper connecting rod and the lower connecting rod of the robot. The joint cable passes through the inside of the conduit 9 and penetrates through the mechanism input end 1, the mechanism output end 2 and the protective shell 3.
As shown in fig. 2, 3, 6 and 7, the protective shell 3 comprises a port 3-1 and a seal ring groove 3-2. The shell interface 2-3 and the protective shell interface 3-1 are respectively provided with the same number of annular uniformly distributed unthreaded holes and threaded holes and are used for realizing the mechanical connection between the protective shell 3 and the mechanism output end 2. The sealing ring 4 is arranged in a sealing ring groove 3-2 of the protective shell 3, and the inner ring of the sealing ring 4 is contacted with a sealing flange 1-3 of the mechanism input end 1.
As shown in fig. 8 and 9, the contact switch 5 includes a base interface 5-1, a contact 5-2 and a power line 5-3; the contact switch 6 includes a base interface 6-1, a contact 6-2, and a power cord 6-3. The boss 7 comprises a mounting hole 7-1 and a boss contact 7-2; the boss 8 includes a mounting hole 8-1 and a boss contact 8-2. The base interface 5-1 and the first threaded hole 1-4 realize mechanical connection of the contact switch 5 and the mechanism input end 1 through bolts, and the power line 5-3 penetrates through the wire outlet hole 1-6. The base interface 6-1 and the first threaded hole 1-5 realize mechanical connection of the contact switch 6 and the mechanism input end 1 through bolts, and the power line 6-3 penetrates through the wire outlet hole 1-7.
The mounting hole 7-1 and the second threaded hole 2-4 are mechanically connected with the boss 7 and the mechanism output end 2 through bolts; the mounting hole 8-1 and the second threaded hole 2-5 are mechanically connected with the boss 8 and the mechanism output end 2 through bolts. The mechanism input end 1 and the mechanism output end 2 rotate relatively, joint cables in the grooves 1-1 and 2-1 correspondingly rotate until the boss contact 7-2 is contacted with the contact 5-2, the boss contact 8-2 is contacted with the contact 6-2, and meanwhile, the contact switches 5 and 6 feed back state signals to prompt that the joint cables rotate to the limit position and the joint connecting mechanism needs to be controlled to stop or reversely rotate.
The rotation range of the joint coupling mechanism of the present embodiment in practical use defines the groove angle of the input end 1 of the mechanism as θ1(FIG. 5), the groove angle of the output end 2 of the mechanism is theta2(FIG. 6) the angle of the contour envelope of conduit 9 in the mechanism is θ3(FIG. 1), the range of rotation achievable by the articulation mechanism is then θ1+θ2-2×θ3。
It will be understood by those skilled in the art that the foregoing embodiments are merely for clarity of illustration of the disclosure and are not intended to limit the scope of the disclosure. Other variations or modifications may occur to those skilled in the art, based on the foregoing disclosure, and are still within the scope of the present disclosure.
Claims (6)
1. A robot joint connecting mechanism comprises a mechanism input end, a protective shell, a mechanism output end, a wire protecting pipe, a contact switch and a boss,
the mechanism input end is connected with the mechanism output end through the protective shell;
the mechanism input end is rotatably connected with the protective shell, and the mechanism output end is fixedly connected with the protective shell;
the joint cable protection mechanism is characterized in that a first groove is formed in the mechanism input end, a second groove is formed in the mechanism output end, the wire protection pipe penetrates through the first groove, the protection shell and the second groove, and a joint cable penetrates through the wire protection pipe;
the contact switch is installed at the two ends of the first groove, the bosses are installed at the two ends of the second groove, and the contact switch generates a trigger signal when contacting with the bosses.
2. The articulating mechanism of claim 1, wherein the mechanism input end and the mechanism output end each have an annular configuration, and wherein the first groove and the second groove are each arcuate grooves.
3. The articulating mechanism of claim 1 or 2 wherein the mechanism input end comprises a first threaded aperture and the mechanism output end comprises a second threaded aperture, the first threaded aperture for connection of the contact switch to the mechanism input end and the second threaded aperture for connection of the boss to the mechanism output end.
4. The articulating mechanism of claim 3, wherein the contact switch comprises a base interface and a contact, the base interface contacting the first threaded aperture, the contact producing a trigger signal when in contact with the boss.
5. The articulating mechanism of claim 4, wherein the boss includes a boss contact and a mounting hole, the mounting hole contacting the second threaded hole, the boss contact generating a trigger signal when contacting the contact.
6. The articulating mechanism of claim 1, wherein the first groove angle of the mechanism input is θ1The second groove angle of the mechanism output end is theta2The contour envelope angle of the conduit in the joint connecting mechanism is theta3The range of rotation achieved by the articulation mechanism is theta1+θ2-2×θ3。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711257810.5A CN107813338B (en) | 2017-12-04 | 2017-12-04 | Robot joint connecting mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711257810.5A CN107813338B (en) | 2017-12-04 | 2017-12-04 | Robot joint connecting mechanism |
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| Publication Number | Publication Date |
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| CN107813338A CN107813338A (en) | 2018-03-20 |
| CN107813338B true CN107813338B (en) | 2020-05-05 |
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| CN201711257810.5A Active CN107813338B (en) | 2017-12-04 | 2017-12-04 | Robot joint connecting mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111166614A (en) * | 2020-01-20 | 2020-05-19 | 深圳市丞辉威世智能科技有限公司 | Leg limiting mechanism with knee hyperextension protection function and exoskeleton robot |
| CN114131589B (en) * | 2021-12-24 | 2022-11-25 | 上海果纳半导体技术有限公司 | Transfer robot |
| CN114918970B (en) * | 2022-05-18 | 2023-12-26 | 深圳鹏行智能研究有限公司 | Wiring structure, robot joint module and robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US5949209A (en) * | 1996-09-11 | 1999-09-07 | Nachi-Fujikoshi Corp. | Explosion-proof painting robot |
| JP4286684B2 (en) * | 2004-02-27 | 2009-07-01 | 株式会社ダイヘン | Cable arrangement structure for arc welding robot |
| JP2010064157A (en) * | 2008-09-08 | 2010-03-25 | Toyota Motor Corp | Cable wiring structure |
| JP2013086199A (en) * | 2011-10-14 | 2013-05-13 | Seiko Epson Corp | Robot |
| CN206161447U (en) * | 2016-11-04 | 2017-05-10 | 东莞市越铧电子科技有限公司 | Cable torsion testing machine |
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