CN107866820A - A kind of bar linkage structure mechanical arm rotates string-passing structure - Google Patents
A kind of bar linkage structure mechanical arm rotates string-passing structure Download PDFInfo
- Publication number
- CN107866820A CN107866820A CN201711436141.8A CN201711436141A CN107866820A CN 107866820 A CN107866820 A CN 107866820A CN 201711436141 A CN201711436141 A CN 201711436141A CN 107866820 A CN107866820 A CN 107866820A
- Authority
- CN
- China
- Prior art keywords
- winding displacement
- mechanical arm
- string
- rotating shaft
- bar linkage
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- 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
- B25J17/0258—Two-dimensional joints
Abstract
A kind of bar linkage structure mechanical arm rotates string-passing structure, and it is related to a kind of string-passing structure, and in particular to a kind of bar linkage structure mechanical arm rotates string-passing structure.The present invention is larger in order to solve the size for the hollow motor that existing joint of robot crosses line mode, it is impossible in the mechanical arm applied to smaller size smaller requirement, and the articulation structure complex designing of middle control motor, it is installed on the problem of dismounting is inconvenient, and cost is higher.The present invention includes flexible winding displacement, rotating shaft, pinboard and winding displacement, and one end of winding displacement is connected with flexible winding displacement one end by pinboard, is wrapped in the middle part of flexible winding displacement in rotating shaft.The invention belongs to robotic technology field.
Description
Technical field
The present invention relates to a kind of string-passing structure, and in particular to a kind of bar linkage structure mechanical arm rotates string-passing structure, belongs to machine
Device people's technical field.
Background technology
Rotary joint cross line be all the time robot architecture design priority and difficulty, its constrain the structure in joint with
And angle of relative motion etc., existing rotary joint, which crosses line mode, has a kind of joint outside to cross line mode and two kinds of intra articular mistakes
Line mode：It is that the wire harness in each joint directly simply is drawn into mechanical arm and closed around rotation that line mode is crossed outside joint
Section, suitable for less demanding to outward appearance, and the situation that wire harness is more, but this will reduce the automaticity of mechanical arm and attractive in appearance
Property；Line mode is crossed in the first inside：Due to structural constraint so that cable-through hole can not be designed on rotation axis, but cable-through hole phase
Biased for rotation axis, so relative motion during articulation will cause wire harness elongation, shortening or distortion
Situation, thus wire harness can be caused to have situations such as friction damage, fatigue damage, while joint relative rotation angle substantially will not
More than 360 °, the automaticity of hardware reliability and mechanical arm is reduced；Line mode is crossed in second of inside：With going out for hollow motor
It is existing so that mechanical arm rotary joint can realize motor direct-drive, and wire harness from quill shaft directly through can so make
A wire harness torsional deflection, effect in rotary joint relative motion is fine.But the size of hollow motor is larger simultaneously, it is impossible to
In mechanical arm applied to smaller size smaller requirement, and the articulation structure complex designing of hollow motor, it is installed on dismounting inconvenience, cost
It is higher.
The content of the invention
The present invention reduces the automaticity and aesthetic property of mechanical arm to cross line outside the existing joint of robot of solution；Intra articular
The cable-through hole for crossing line biases relative to rotation axis, and wire harness has friction damage, fatigue damage；Hollow motor hollow shaft crosses the side of line
The size of formula is larger, it is impossible in the mechanical arm applied to smaller size smaller requirement, and the articulation structure complex designing of hollow motor,
The problem of dismounting is inconvenient, and cost is higher is installed on, and then proposes a kind of bar linkage structure mechanical arm rotation string-passing structure.
The present invention adopts the technical scheme that to solve the above problems：The present invention include flexible winding displacement, rotating shaft, pinboard and
Winding displacement, one end of winding displacement are connected with flexible winding displacement one end by pinboard, are wrapped in the middle part of flexible winding displacement in rotating shaft.
The beneficial effects of the invention are as follows：1st, structure type of the invention realizes non-hollow structure one week or several all rotations
It is required that；2nd, the form of wire harness switching of the present invention can be dismounted independently in each joint in the mechanical arm of multi-joint, be easy to modularization to set
Meter；3rd, fpc winding displacements of the invention save the line skin protection of solid wire, substantially reduce volume, realize greater number wire harness
Joint cross line；4th, rubbed present invention, avoiding common wire harness in the rotary course of joint, reverse caused by wire harness damage and production
Raw frictional resistance etc..
Brief description of the drawings
Fig. 1 is the decomposition texture schematic diagram of the present invention；
Fig. 2 is the structural representation of flexible winding displacement.
Embodiment
Embodiment one：Illustrate present embodiment, a kind of bar linkage structure described in present embodiment with reference to Fig. 1 and Fig. 2
Mechanical arm rotation string-passing structure includes flexible winding displacement 2, rotating shaft 4, pinboard 6 and winding displacement 7, one end of winding displacement 7 by pinboard 6 and
The flexible one end of winding displacement 2 connection, the middle part of flexible winding displacement 2 is wrapped in rotating shaft 4.
Embodiment two：Illustrate present embodiment, a kind of bar linkage structure described in present embodiment with reference to Fig. 1 and Fig. 2
Mechanical arm rotation string-passing structure also includes the first armed lever 1, the second armed lever 5 and at least one bearing 3, the bottom of rotating shaft 4 and passed through extremely
One end rotation connection of a few armed lever 1 of bearing 3 and first, the upper end of rotating shaft 4 are connected with one end of the second armed lever 5, and flexible
The middle part of winding displacement 2 is located in one end of the second armed lever 5.Other compositions and annexation are identical with embodiment one.
Embodiment three：Illustrate present embodiment, a kind of bar linkage structure described in present embodiment with reference to Fig. 1 and Fig. 2
The middle part of the flexible winding displacement 2 of mechanical arm rotation string-passing structure winds two to three circles in rotating shaft 4.It is other composition and annexation with
Embodiment one is identical.
Embodiment four：Illustrate present embodiment, a kind of bar linkage structure described in present embodiment with reference to Fig. 1 and Fig. 2
The middle part of the flexible winding displacement 2 of mechanical arm rotation string-passing structure is wrapped in the diameter of a diameter of rotating shaft 4 of the circle formed in rotating shaft 4
2 to 3 times.Other compositions and annexation are identical with embodiment two.
Embodiment five：Illustrate present embodiment, a kind of bar linkage structure described in present embodiment with reference to Fig. 1 and Fig. 2
The upper end of the rotating shaft 4 of mechanical arm rotation string-passing structure is connected by disk with one end of the second armed lever 5.Other compositions and connection are closed
System is identical with embodiment one.
Operation principle
One end of wire harness 7 and pinboard 6 is welded together, the other end of pinboard 6 is " golden finger " of flexible winding displacement 2
Socket, the flexible of flexible winding displacement 2, winding (not foldable, involve) are without damaging, and it can be soft with diversified forms customized
Property winding displacement 2 be wound in rotating shaft 4, winding 2-3 circles, and 2-3 times of a diameter of shaft diameter, so that two connecting rods are in phase in structure
When mutually rotating, flexible winding displacement can continue to wind or unclamp the motion of winding, although unlimited rotary effect can not be reached,
It can realize 1 week or several all rotary motions.
The above described is only a preferred embodiment of the present invention, any formal limitation not is made to the present invention, though
So the present invention is disclosed above with preferred embodiment, but is not limited to the present invention, any to be familiar with this professional technology people
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above make a little change or modification
For the equivalent embodiment of equivalent variations, as long as be without departing from technical solution of the present invention content, according to the technical spirit of the present invention,
Within the spirit and principles in the present invention, any simple modification, equivalent substitution and improvement for being made to above example etc., still
Belong within the protection domain of technical solution of the present invention.
Claims (5)
1. a kind of bar linkage structure mechanical arm rotates string-passing structure, it is characterised in that：A kind of bar linkage structure mechanical arm rotates through
Cable architecture includes flexible winding displacement (2), rotating shaft (4), pinboard (6) and winding displacement (7), one end of winding displacement (7) by pinboard (6) with
Flexible winding displacement (2) one end connects, and is wrapped in the middle part of flexible winding displacement (2) in rotating shaft (4).
A kind of 2. bar linkage structure mechanical arm rotation string-passing structure according to claim 1, it is characterised in that：A kind of connecting rod
Construction machine arm rotation string-passing structure also includes the first armed lever (1), the second armed lever (5) and at least one bearing (3), rotating shaft (4)
Bottom pass through one end of at least one bearing (3) and the first armed lever (1) and be rotatablely connected, upper end and the second armed lever of rotating shaft (4)
(5) one end connection, and the middle part of flexible winding displacement (2) is located in one end of the second armed lever (5).
A kind of 3. bar linkage structure mechanical arm rotation string-passing structure according to claim 1, it is characterised in that：Flexible winding displacement (2)
Middle part wound in rotating shaft (4) two to three circle.
A kind of 4. bar linkage structure mechanical arm rotation string-passing structure according to claim 2, it is characterised in that：Flexible winding displacement (2)
Middle part be wrapped in 2 to 3 times of a diameter of rotating shaft (4) diameter of the circle formed in rotating shaft (4).
A kind of 5. bar linkage structure mechanical arm rotation string-passing structure according to claim 1, it is characterised in that：Rotating shaft (4) it is upper
End is connected by disk with one end of the second armed lever (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711436141.8A CN107866820A (en) | 2017-12-26 | 2017-12-26 | A kind of bar linkage structure mechanical arm rotates string-passing structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711436141.8A CN107866820A (en) | 2017-12-26 | 2017-12-26 | A kind of bar linkage structure mechanical arm rotates string-passing structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107866820A true CN107866820A (en) | 2018-04-03 |
Family
ID=61756270
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711436141.8A Pending CN107866820A (en) | 2017-12-26 | 2017-12-26 | A kind of bar linkage structure mechanical arm rotates string-passing structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107866820A (en) |
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|---|---|---|---|---|
| JPS6264211A (en) * | 1985-09-12 | 1987-03-23 | 日本テキサス・インスツルメンツ株式会社 | Holding device for cord |
| US4824396A (en) * | 1987-05-27 | 1989-04-25 | Alps Electric Co., Ltd. | Electrical connection apparatus |
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| US6116930A (en) * | 1997-12-17 | 2000-09-12 | Harness System Technologies | Rotary connection unit |
| JP2004090135A (en) * | 2002-08-30 | 2004-03-25 | Denso Wave Inc | Joint structure of robot |
| JP2006000955A (en) * | 2004-06-16 | 2006-01-05 | National Institute Of Advanced Industrial & Technology | Robot arm, and its rotating joint device and wrist device |
| JP2007152500A (en) * | 2005-12-06 | 2007-06-21 | Tokyo Institute Of Technology | Rotary joint structure |
| CN101161426A (en) * | 2007-10-19 | 2008-04-16 | 哈尔滨工业大学 | Flexible connecting line structure between integrated circuit board in the finger of robot delicacy hand |
| KR20080087739A (en) * | 2007-03-27 | 2008-10-01 | 도쿄엘렉트론가부시키가이샤 | Cable wiring structure and substrate transfer mechanism |
| WO2010057950A1 (en) * | 2008-11-19 | 2010-05-27 | Aldebaran Robotics S.A | Electric wiring in a hinge |
| JP2010214529A (en) * | 2009-03-17 | 2010-09-30 | Denso Wave Inc | Wiring device for rotary joint of robot |
| JP2012035372A (en) * | 2010-08-09 | 2012-02-23 | Denso Wave Inc | Multi-joint robot |
| CN204772585U (en) * | 2015-07-02 | 2015-11-18 | 上海信耀电子有限公司 | Spool joint structure walks in inside in robot |
| US20170246746A1 (en) * | 2014-07-30 | 2017-08-31 | Softbank Robotics Europe | Assembly of a robot of humanoid nature |
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2017
- 2017-12-26 CN CN201711436141.8A patent/CN107866820A/en active Pending
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6264211A (en) * | 1985-09-12 | 1987-03-23 | 日本テキサス・インスツルメンツ株式会社 | Holding device for cord |
| US4824396A (en) * | 1987-05-27 | 1989-04-25 | Alps Electric Co., Ltd. | Electrical connection apparatus |
| US5829307A (en) * | 1996-03-29 | 1998-11-03 | Mitsubishi Denki Kabushiki Kaisha | Industrial robot |
| US6116930A (en) * | 1997-12-17 | 2000-09-12 | Harness System Technologies | Rotary connection unit |
| JP2000078736A (en) * | 1998-09-02 | 2000-03-14 | Komatsu Ltd | Wiring structure of wire harness at rotary joint |
| JP2004090135A (en) * | 2002-08-30 | 2004-03-25 | Denso Wave Inc | Joint structure of robot |
| JP2006000955A (en) * | 2004-06-16 | 2006-01-05 | National Institute Of Advanced Industrial & Technology | Robot arm, and its rotating joint device and wrist device |
| JP2007152500A (en) * | 2005-12-06 | 2007-06-21 | Tokyo Institute Of Technology | Rotary joint structure |
| KR20080087739A (en) * | 2007-03-27 | 2008-10-01 | 도쿄엘렉트론가부시키가이샤 | Cable wiring structure and substrate transfer mechanism |
| CN101161426A (en) * | 2007-10-19 | 2008-04-16 | 哈尔滨工业大学 | Flexible connecting line structure between integrated circuit board in the finger of robot delicacy hand |
| WO2010057950A1 (en) * | 2008-11-19 | 2010-05-27 | Aldebaran Robotics S.A | Electric wiring in a hinge |
| JP2010214529A (en) * | 2009-03-17 | 2010-09-30 | Denso Wave Inc | Wiring device for rotary joint of robot |
| JP2012035372A (en) * | 2010-08-09 | 2012-02-23 | Denso Wave Inc | Multi-joint robot |
| US20170246746A1 (en) * | 2014-07-30 | 2017-08-31 | Softbank Robotics Europe | Assembly of a robot of humanoid nature |
| CN204772585U (en) * | 2015-07-02 | 2015-11-18 | 上海信耀电子有限公司 | Spool joint structure walks in inside in robot |
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Address after: 150000 No. 8, Dalian north road, haping road concentration area, economic development zone, Harbin, Heilongjiang Province Applicant after: Harbin sizherui intelligent medical equipment Co.,Ltd. Address before: 150000 room 08, 15th floor, No. 368 Changjiang Road, Nangang concentration area, economic development zone, Nangang District, Harbin, Heilongjiang Province Applicant before: HARBIN SIZHERUI INTELLIGENT MEDICAL EQUIPMENT Co.,Ltd. |