CN108098827A - A kind of special neck joint structure of Three Degree Of Freedom robot - Google Patents
A kind of special neck joint structure of Three Degree Of Freedom robot Download PDFInfo
- Publication number
- CN108098827A CN108098827A CN201711430004.3A CN201711430004A CN108098827A CN 108098827 A CN108098827 A CN 108098827A CN 201711430004 A CN201711430004 A CN 201711430004A CN 108098827 A CN108098827 A CN 108098827A
- Authority
- CN
- China
- Prior art keywords
- gear shaft
- outer connector
- interconnecting piece
- robot
- motor
- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of special neck joint structures of Three Degree Of Freedom robot, belong to industrial robot joint design field.It is included for the outer connector B for installing robot head, the interconnecting piece being installed in using cylindrical hinge on outer connector B, the outer connector A being connected with robot body, is installed in the gear shaft C that can be freely rotated outer connector A on, the gear shaft D for the transmission that is meshed with gear shaft C, the motor C being fixed at by motor C framves on outer connector B, the gear shaft B being installed on interconnecting piece and motor B, be installed on outer connector B and gear shaft B engaged transmission gear shaft A.The present invention be a kind of structure more rationally, movement more stablize, available in industrial robot, tool there are three freedom of motion special neck joint structure.
Description
Technical field
The invention mainly relates to industrial robot joint design fields, refer in particular to a kind of special neck of Three Degree Of Freedom robot and close
Section structure.
Background technology
The neck joint design of robot has important decision meaning for the performance of entire robot.The neck of the prior art
There is usually one torsional freedoms in joint, it is difficult to realize the movement effects of robot head complexity, this for industrial robot,
The robot of especially job that requires special skills is very unfavorable.Therefore, a kind of neck joint knot of tool there are three freedom of motion is designed
Structure has great importance.
The content of the invention
The technical issues of present invention need to solve be：For technical problem existing in the prior art, the present invention provides a kind of knot
Structure more rationally, movement more stablize, available in industrial robot, tool there are three freedom of motion special neck joint knot
Structure.
To solve the above-mentioned problems, solution proposed by the present invention is：A kind of special neck of Three Degree Of Freedom robot closes
Section structure, it includes installing the outer connector B of robot head, being installed in the outer connector B using cylindrical hinge
Interconnecting piece, be connected with robot body outer connector A, be installed in the tooth that can be freely rotated on the outer connector A
Wheel shaft C is fixed at by motor C framves on the outer connector B gear shaft D for the transmission that is meshed with the gear shaft C,
Motor C, the gear shaft B being installed on the interconnecting piece and motor B, it is installed on the outer connector B and the gear shaft B
The gear shaft A of engaged transmission.
Draft helical spring is equiped between the interconnecting piece and the gear shaft C；Installing is fixed in the lower end of transiting rod
In the upper end of the gear shaft C, the other end is articulated on the interconnecting piece.
The outer connector B can be rotated compared with the interconnecting piece around X-direction；The interconnecting piece can be compared with institute
Stating gear shaft C, direction rotates about the z axis；The gear shaft C can be rotated compared with the outer connector A around Y direction.
Spring drive is installed in the bottom of the interconnecting piece, and the draft helical spring can be driven to elongate or shorten.
Compared with prior art, the present invention having the following advantages that and advantageous effect：
(1) the special neck joint structure of a kind of Three Degree Of Freedom robot of the invention is realized respectively equipped with motor B and motor C
Joint outer part B passes through gear shaft compared with the Y-direction twist motion of joint outer part A and Z-direction rotary motion, all transmissions
Mode adds the stability of movement.
(2) the special neck joint structure of a kind of Three Degree Of Freedom robot of the invention is additionally provided with spring drive, and driving is drawn
Elongating or shortening for helical spring is stretched, realizes outer connector B swinging compared with outer connector A.It follows that this hair
Bright compact-sized, motion stabilization, tool can realize the compound movement of robot head and pass through there are three freedom of motion
Draft helical spring absorbs extra kinergety so as to preferably protect robot head.
Description of the drawings
Fig. 1 is a kind of principle schematic diagram of the special neck joint structure of Three Degree Of Freedom robot of the present invention.
In figure, 1-outer connector A；2-interconnecting piece；3-outer connector B；4-gear shaft A；5-gear shaft B；6—
Gear shaft C；7-gear shaft D；8-draft helical spring；9-spring drive；10-transiting rod；11-motor B；12-electricity
Machine C framves；13-motor C；14-cylindrical hinge.
Specific embodiment
The present invention is described in further detail below with reference to the drawings and specific embodiments.
The special neck joint structure of a kind of Three Degree Of Freedom robot shown in Figure 1, of the invention, including being used to install machine
The outer connector B3 of device head part, the interconnecting piece 2 being installed in using cylindrical hinge 14 on outer connector B3 and robot body
Connected outer connector A1, the gear shaft C6 that can be freely rotated on outer connector A1 is installed in, be meshed biography with gear shaft C6
Dynamic gear shaft D7, the motor C13 being fixed at by motor C framves 12 on outer connector B3, it is installed on interconnecting piece 2
Gear shaft B5 and motor B11, it is installed in the gear shaft A4 with gear shaft B5 engaged transmissions on outer connector B3.
It is shown in Figure 1, draft helical spring 8 is equiped between interconnecting piece 2 and gear shaft C6；The lower end of transiting rod 10
The upper end of gear shaft C6 is fixed at, the other end is articulated on interconnecting piece 2.
Shown in Figure 1, outer connector B3 can be rotated compared with interconnecting piece 2 around X-direction；Interconnecting piece 2 can be opposite
In gear shaft C6, direction rotates about the z axis；Gear shaft C6 can be rotated compared with outer connector A1 around Y direction.
Shown in Figure 1, spring drive 9 is installed in the bottom of interconnecting piece 2, and draft helical spring 8 can be driven to extend
Or shorten.
Claims (1)
1. a kind of special neck joint structure of Three Degree Of Freedom robot, it is characterised in that：Including being used to install robot head
Outer connector B (3), the interconnecting piece (2) being installed in using cylindrical hinge (14) on the outer connector B (3) and robot body
Outer connector A (1) that body is connected, the gear shaft C (6) that can be freely rotated on the outer connector A (1) is installed in, it is and described
Gear shaft C (6) be meshed transmission gear shaft D (7), be fixed on the outer connector B (3) by motor C framves (12)
Motor C (13), the gear shaft B (5) that is installed on the interconnecting piece (2) and motor B (11), be installed in the outer connector
On B (3) with the gear shaft B (5) engaged transmission gear shaft A (4)；
Draft helical spring (8) is equiped between the interconnecting piece (2) and the gear shaft C (6)；The lower end of transiting rod (10)
The upper end of the gear shaft C (6) is fixed at, the other end is articulated on the interconnecting piece (2)；
The outer connector B (3) can rotate compared with the interconnecting piece (2) around X-direction；The interconnecting piece (2) can phase
For the gear shaft C (6), direction rotates about the z axis；The gear shaft C (6) can be compared with the outer connector A (1) around Y-axis side
To rotation；
Spring drive (9) is installed in the bottom of the interconnecting piece (2), can drive the draft helical spring (8) extend or
Shorten.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711430004.3A CN108098827B (en) | 2017-12-26 | 2017-12-26 | Special neck joint structure of three-degree-of-freedom robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711430004.3A CN108098827B (en) | 2017-12-26 | 2017-12-26 | Special neck joint structure of three-degree-of-freedom robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108098827A true CN108098827A (en) | 2018-06-01 |
| CN108098827B CN108098827B (en) | 2021-07-30 |
Family
ID=62213209
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711430004.3A Active CN108098827B (en) | 2017-12-26 | 2017-12-26 | Special neck joint structure of three-degree-of-freedom robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108098827B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111531524A (en) * | 2020-05-09 | 2020-08-14 | 张献忠 | Multi-degree-of-freedom head and neck part of intelligent robot |
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| NL1009886C2 (en) * | 1998-08-18 | 2000-02-21 | Tech Universiteit Delft Tech U | Balance mechanism to hold object in required vertical position involves use of parallelogram or hinged arms and two tensioned springs |
| CN1669747A (en) * | 2005-04-07 | 2005-09-21 | 浙江工业大学 | Pneumatic flexible actuator |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0143134A1 (en) * | 1982-09-03 | 1985-06-05 | Aoip Kremlin Robotique | Balancing means for robot arms |
| NL1009886C2 (en) * | 1998-08-18 | 2000-02-21 | Tech Universiteit Delft Tech U | Balance mechanism to hold object in required vertical position involves use of parallelogram or hinged arms and two tensioned springs |
| CN1669747A (en) * | 2005-04-07 | 2005-09-21 | 浙江工业大学 | Pneumatic flexible actuator |
| CN101161427A (en) * | 2007-11-27 | 2008-04-16 | 清华大学 | Bionic anklebone |
| CN201295928Y (en) * | 2008-11-03 | 2009-08-26 | 浙江工业大学 | Side-sway joint based on flexible pneumatic actuator |
| CN201669705U (en) * | 2010-05-29 | 2010-12-15 | 北华大学 | Flexible multi-body driver |
| CN202805199U (en) * | 2012-08-16 | 2013-03-20 | 成都四威高科技产业园有限公司 | Three-freedom-degree robot head movement mechanism |
| CN203726481U (en) * | 2013-11-04 | 2014-07-23 | 北京智能佳科技有限公司 | Robot head |
| CN105030389A (en) * | 2015-07-25 | 2015-11-11 | 东北大学 | Intelligent pneumatic muscle based on shape memory alloy spring |
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| CN105292297A (en) * | 2015-11-21 | 2016-02-03 | 吉林大学 | Bionic foot capable of improving gait naturality and stability of biped robot |
| CN105818152A (en) * | 2016-05-18 | 2016-08-03 | 单建强 | Head motion system of robot |
| CN205817834U (en) * | 2016-05-23 | 2016-12-21 | 平安科技（深圳）有限公司 | Robot and head movement device thereof |
| CN106078762A (en) * | 2016-07-23 | 2016-11-09 | 芜湖哈特机器人产业技术研究院有限公司 | Ten head and neck mechanisms of six-degree-of-freedom humanoid robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111531524A (en) * | 2020-05-09 | 2020-08-14 | 张献忠 | Multi-degree-of-freedom head and neck part of intelligent robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108098827B (en) | 2021-07-30 |
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