CN108544530A - A kind of joint of robot limiting device - Google Patents
A kind of joint of robot limiting device Download PDFInfo
- Publication number
- CN108544530A CN108544530A CN201810706787.1A CN201810706787A CN108544530A CN 108544530 A CN108544530 A CN 108544530A CN 201810706787 A CN201810706787 A CN 201810706787A CN 108544530 A CN108544530 A CN 108544530A
- Authority
- CN
- China
- Prior art keywords
- supporting block
- main shaft
- shaft supporting
- joint
- robot
- 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.)
- Granted
Links
- 239000011324 bead Substances 0.000 claims abstract description 13
- 238000003466 welding Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 9
- 238000009434 installation Methods 0.000 abstract description 3
- 238000003780 insertion Methods 0.000 description 5
- 230000037431 insertion Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005336 cracking Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Pivots And Pivotal Connections (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of joint of robot limiting devices,Including two main shaft supporting blocks,Main shaft supporting block side is equipped with protractor,And the protractor is closely welded with main shaft supporting block,Main shaft supporting block center is equipped with connection bearing,And by connecting bearing connection between the main shaft supporting block,The connection top is equipped with mark card,And the connection bearing is welded with mark card,This kind of joint of robot limiting device,It is mounted with main shaft supporting block and countershaft supporting block,When joint of robot activity,Main shaft supporting block lateral marks are stuck in countershaft supporting block side sliding slot internal slide,After sliding into suitable position,Slide card is limited by positioning bead,To reach to joint of robot limit effect,It is easy to use,It is mounted with connection bushing pipe,Bushing pipe is being connected with joint of robot into when assembling,Staff only needs joint of robot being screwed into threaded hole and can fix,Dismounting is similarly,Be conducive to improve the convenience of limiting device installation.
Description
Technical field
The present invention relates to limiting device technical field, specially a kind of joint of robot limiting device.
Background technology
Limiting device is the position limiting structure in a kind of robot arm active procedure, is the automatic machine dress for executing work
It sets.It can not only receive mankind commander, but also can run the program of advance layout, can also be formulated according to artificial intelligence technology
Principle program action.Its task is to assist or replace the work of human work, such as production industry, construction industry, or it is dangerous
Work.
However pass through the study found that the mode that existing limiting device is mostly mechanical shaft screens is that joint of robot is limited
Position processing, mechanical shaft abrasion, limit effect are poor when used for a long time, it has not been convenient to use, limiting device is walked with joint of robot installation
It is rapid various, increase the work load of staff, limiting device uses functional poor, the movable angle of joint of robot and model
It encloses and staff is required for be measured in real time.
So how to design a kind of joint of robot limiting device, becoming us will currently solve the problems, such as.
Invention content
It is mentioned above in the background art to solve the purpose of the present invention is to provide a kind of joint of robot limiting device
Problem.
To achieve the above object, the present invention provides the following technical solutions：Including two main shaft supporting blocks, the main shaft supporting block
Side is equipped with protractor, and the protractor is closely welded with main shaft supporting block, and the center of the main shaft supporting block is equipped with
Bearing is connected, and by connecting bearing connection mark card, and institute are installed at the top of the connection bearing between the main shaft supporting block
Connection bearing and mark card welding are stated, the center of the main shaft supporting block is equipped with countershaft supporting block, the top of the main shaft supporting block
It is mounted on connection bushing pipe with bottom, the inside of the countershaft supporting block is equipped with ball bearing, and the outer ring of the ball bearing
Realize that interference fit, the countershaft supporting block are internally provided with sliding slot, the side peace of the main shaft supporting block between countershaft supporting block inner ring
Equipped with slide card, the slide card and base bearing block welding, and be adapted with sliding slot, the inner wall of the connection bushing pipe is equipped with threaded hole.
Further, the center of the main shaft supporting block and countershaft supporting block is equipped with through-hole, the connection bearing insertion
Setting in through-holes, and fits with the through hole.
Further, one end of the connection bushing pipe is equipped with link block, and the connection bushing pipe passes through with main shaft supporting block
Link block connects.
Further, the other end of the connection bushing pipe is equipped with lantern ring, and the lantern ring is embedding is set on connection bushing pipe
End.
Further, the both ends of the sliding slot are equipped with positioning bead, and positioning bead insertion is arranged in sliding slot.
Further, the center of the main shaft supporting block is equipped with wear ring, and the wear ring is welded with main shaft supporting block
It connects.
Compared with prior art, the beneficial effects of the invention are as follows：This kind of joint of robot limiting device, is mounted with base bearing
Block and countershaft supporting block, when joint of robot activity, the mark of main shaft supporting block side is stuck in the sliding slot internal slide of countershaft supporting block side,
After sliding into suitable position, slide card is limited by positioning bead, to achieve the effect that limit to joint of robot, is conveniently made
With being mounted with connection bushing pipe, connecting bushing pipe and joint of robot into when assembling, staff only needs to screw in joint of robot
It can be fixed in threaded hole, dismounting similarly, is conducive to the convenience for improving limiting device installation, is mounted with protractor, angulation
Device can be blocked the angle and range of instruction joint motion by mark in joint of robot activity, be conducive to increase making for limiting device
With functionality.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the countershaft supporting block longitudinal sectional view of the present invention；
Fig. 3 is the main shaft supporting block partial structural diagram of the present invention；
Fig. 4 is the connection bushing pipe longitudinal sectional view of the present invention；
In figure：1- connection bushing pipes；2- lantern rings；3- link blocks；4- mark cards；5- protractors；6- connection bearings；7- base bearings
Block；8- countershaft supporting blocks；9- ball bearings；10- positioning beads；11- sliding slots；12- through-holes；13- slide cards；14- wear rings；15- screw threads
Hole.
Specific implementation mode
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 describes, 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.
- 4 are please referred to Fig.1, the present invention provides a kind of technical solution：Including two main shaft supporting blocks 7, the main shaft supporting block 7
Side is equipped with protractor 5, and the protractor 5 is closely welded with main shaft supporting block 7, the center peace of the main shaft supporting block 7
It equipped with connection bearing 6, and is connected between the main shaft supporting block 7 by connecting bearing 6, the top of the connection bearing 6 is equipped with
Mark card 4, and the connection bearing 6 and 4 welding of mark card, the center of the main shaft supporting block 7 is equipped with countershaft supporting block 8, described
The top and bottom of main shaft supporting block 7 are mounted on connection bushing pipe 1, and the inside of the countershaft supporting block 8 is equipped with ball bearing 9, and
Realize that interference fit, the countershaft supporting block 8 are internally provided with sliding slot between 8 inner ring of outer ring and countershaft supporting block of the ball bearing 9
11, the side of the main shaft supporting block 7 is equipped with slide card 13, and the slide card 13 is welded with main shaft supporting block 7, and suitable with 11 phase of sliding slot
Match, the inner wall of the connection bushing pipe 1 is equipped with threaded hole 15.
More specifically, the center of the main shaft supporting block 7 and countershaft supporting block 8 is equipped with through-hole 12, the connecting shaft
Hold 6 insertions be arranged in through-hole 12, and with 12 clearance fit of through-hole, the connection bearing 6 and 12 clearance fit of through-hole, connecting
After bearing 6 and through-hole 12 are fixed, there are a certain size gaps between connection bearing 6 and through-hole 12, can facilitate 7 He of main shaft supporting block
It is mutually rotated between countershaft supporting block 8.
More specifically, one end of the connection bushing pipe 1 is equipped with link block 3, and the connection bushing pipe 1 and main shaft supporting block
7 are connected by link block 3, and the link block 3 can effectively reinforce connection bushing pipe 1, prevent connection bushing pipe 1 in use
There is a phenomenon where loosen to fall.
More specifically, the other end of the connection bushing pipe 1 is equipped with lantern ring 2, and the lantern ring 2 is embedding is set on connection
The end of bushing pipe 1, the lantern ring 2 effectively reinforce the port of connection bushing pipe 1, prevent joint of robot from being assembled with bushing pipe 1 is connect
When connection bushing pipe 1 port cracking phenomena occurs.
More specifically, the both ends of the sliding slot 11 are equipped with positioning bead 10, and the insertion of the positioning bead 10 is arranged in cunning
In slot 11, the positioning bead 10 effectively can carry out limit processing to slide card 13, prevent joint of robot scope of activities excessive
Cause unnecessary damage.
More specifically, the center of the main shaft supporting block 7 is equipped with wear ring 14, and the wear ring 14 and main shaft
Supporting block 7 is welded, and the wear ring 14 effectively carries out wear Protection processing to main shaft supporting block 7, is conducive to extend main shaft supporting block 7
Service life.
A kind of operation principle of joint of robot limiting device：First, staff is by limiting device and joint of robot
Assembled, the thread spindle of joint of robot is screw into the threaded hole 15 inside connection bushing pipe 1, after the completion, limiting device into
It exercises and uses, in use, when the joint of robot comes into play, due to the centre bit of main shaft supporting block 7 and countershaft supporting block 8
Set and be equipped with through-hole 12, the connection insertion of bearing 6 is arranged in through-hole 12, and with 12 clearance fit of through-hole, connect bearing 6 and through-hole
12 clearance fits, two main shaft supporting blocks 7 by supplementary bearing 8 mutually rotate, one of main shaft supporting block 7 rotation when, side
Slide card 13 is slided in the sliding slot 11 of 8 side of countershaft supporting block, when slide card 13 slides into 10 region of positioning bead, positioning bead 10
Limit processing is carried out to slide card 13, joint can not continue activity at this time, and staff's observable mark card 4 is directed toward the position of protractor 5
It sets, to the activity point of view of joint of robot record and can make adjustment, adjustment mode is to change positioning bead 10 in cunning
Position in slot 11.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (6)
1. a kind of joint of robot limiting device, including two main shaft supporting blocks (7), it is characterised in that：The main shaft supporting block (7)
Side is equipped with protractor (5), and the protractor (5) is closely welded with main shaft supporting block (7), in the main shaft supporting block (7)
Heart position is equipped with connection bearing (6), and is connected between the main shaft supporting block (7) by connecting bearing (6), the connection bearing
(6) mark card (4), and the connection bearing (6) and mark card (4) welding, the centre bit of the main shaft supporting block (7) are installed at the top of
It sets and countershaft supporting block (8) is installed, connection bushing pipe (1), the supplementary bearing are mounted at the top and bottom of the main shaft supporting block (7)
The inside of block (8) is equipped with ball bearing (9), and is realized between the outer ring of the ball bearing (9) and countershaft supporting block (8) inner ring
Interference fit, the countershaft supporting block (8) are internally provided with sliding slot (11), and the side of the main shaft supporting block (7) is equipped with slide card (13),
The slide card (13) is welded with main shaft supporting block (7), and is adapted with sliding slot (11), and the inner wall of the connection bushing pipe (1) is equipped with spiral shell
Pit (15).
2. a kind of joint of robot limiting device according to claim 1, it is characterised in that：The main shaft supporting block (7) and
The center of countershaft supporting block (8) is equipped with through-hole (12), and the connection bearing (6) is embedded to be arranged in through-hole (12), and with
Through-hole (12) clearance fit.
3. a kind of joint of robot limiting device according to claim 1, it is characterised in that：The connection bushing pipe (1)
One end is equipped with link block (3), and the connection bushing pipe (1) is connect with main shaft supporting block (7) by link block (3).
4. a kind of joint of robot limiting device according to claim 1, it is characterised in that：The connection bushing pipe (1)
The other end is equipped with lantern ring (2), and the embedding end for being set on connection bushing pipe (1) of the lantern ring (2).
5. a kind of joint of robot limiting device according to claim 1, it is characterised in that：The both ends of the sliding slot (11)
Positioning bead (10) is installed, and the embedded setting of the positioning bead (10) is in sliding slot (11).
6. a kind of joint of robot limiting device according to claim 1, it is characterised in that：The main shaft supporting block (7)
Center is equipped with wear ring (14), and the wear ring (14) is welded with main shaft supporting block (7).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810706787.1A CN108544530B (en) | 2018-07-02 | 2018-07-02 | Robot joint stop device |
| CN202011058899.4A CN112223342A (en) | 2018-07-02 | 2018-07-02 | Transmission method of robot joint limiting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810706787.1A CN108544530B (en) | 2018-07-02 | 2018-07-02 | Robot joint stop device |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011058899.4A Division CN112223342A (en) | 2018-07-02 | 2018-07-02 | Transmission method of robot joint limiting device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108544530A true CN108544530A (en) | 2018-09-18 |
| CN108544530B CN108544530B (en) | 2020-10-09 |
Family
ID=63494270
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011058899.4A Withdrawn CN112223342A (en) | 2018-07-02 | 2018-07-02 | Transmission method of robot joint limiting device |
| CN201810706787.1A Active CN108544530B (en) | 2018-07-02 | 2018-07-02 | Robot joint stop device |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011058899.4A Withdrawn CN112223342A (en) | 2018-07-02 | 2018-07-02 | Transmission method of robot joint limiting device |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN112223342A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109730891A (en) * | 2019-01-25 | 2019-05-10 | 电子科技大学 | A kind of upper limb ectoskeleton can be hand-off and the shoulder horizontal movement joint structure that limits |
| CN111376256A (en) * | 2018-12-29 | 2020-07-07 | 深圳市优必选科技有限公司 | Steering engine angle calibration method and system, robot and storage medium |
| CN112720575A (en) * | 2020-12-19 | 2021-04-30 | 安徽涌诚机械有限公司 | Intelligent four-axis shell of ultra-precise robot and machining process thereof |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007275482A (en) * | 2006-04-12 | 2007-10-25 | Suncall Engineering Kk | Knee joint assist device |
| JP4131086B2 (en) * | 2001-02-16 | 2008-08-13 | 株式会社デンソー | Robot joint structure |
| CN101829999A (en) * | 2010-04-26 | 2010-09-15 | 北京交通大学 | Reachable domain detection device for astronaut spatial activities |
| CN205438613U (en) * | 2016-04-12 | 2016-08-10 | 成都叮当自动化设备有限公司 | Robot shoulder joint and shoulder joint part |
| CN205630691U (en) * | 2016-05-20 | 2016-10-12 | 中芯国际集成电路制造（天津）有限公司 | Instrument is rectified to linkage mechanical arm |
| CN106182067A (en) * | 2016-07-11 | 2016-12-07 | 中国矿业大学 | A kind of stiffness variable flexible rotational joint |
| CN106811947A (en) * | 2017-02-24 | 2017-06-09 | 福州肆菱智能科技有限公司 | A kind of industrial presses |
| WO2017130926A1 (en) * | 2016-01-30 | 2017-08-03 | ライフロボティクス株式会社 | Robot arm mechanism |
-
2018
- 2018-07-02 CN CN202011058899.4A patent/CN112223342A/en not_active Withdrawn
- 2018-07-02 CN CN201810706787.1A patent/CN108544530B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4131086B2 (en) * | 2001-02-16 | 2008-08-13 | 株式会社デンソー | Robot joint structure |
| JP2007275482A (en) * | 2006-04-12 | 2007-10-25 | Suncall Engineering Kk | Knee joint assist device |
| CN101829999A (en) * | 2010-04-26 | 2010-09-15 | 北京交通大学 | Reachable domain detection device for astronaut spatial activities |
| WO2017130926A1 (en) * | 2016-01-30 | 2017-08-03 | ライフロボティクス株式会社 | Robot arm mechanism |
| CN205438613U (en) * | 2016-04-12 | 2016-08-10 | 成都叮当自动化设备有限公司 | Robot shoulder joint and shoulder joint part |
| CN205630691U (en) * | 2016-05-20 | 2016-10-12 | 中芯国际集成电路制造（天津）有限公司 | Instrument is rectified to linkage mechanical arm |
| CN106182067A (en) * | 2016-07-11 | 2016-12-07 | 中国矿业大学 | A kind of stiffness variable flexible rotational joint |
| CN106811947A (en) * | 2017-02-24 | 2017-06-09 | 福州肆菱智能科技有限公司 | A kind of industrial presses |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111376256A (en) * | 2018-12-29 | 2020-07-07 | 深圳市优必选科技有限公司 | Steering engine angle calibration method and system, robot and storage medium |
| CN109730891A (en) * | 2019-01-25 | 2019-05-10 | 电子科技大学 | A kind of upper limb ectoskeleton can be hand-off and the shoulder horizontal movement joint structure that limits |
| CN112720575A (en) * | 2020-12-19 | 2021-04-30 | 安徽涌诚机械有限公司 | Intelligent four-axis shell of ultra-precise robot and machining process thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112223342A (en) | 2021-01-15 |
| CN108544530B (en) | 2020-10-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108544530A (en) | A kind of joint of robot limiting device | |
| CN204985326U (en) | Cross cylindrical roller bearing of flanged and retaining ring | |
| CN207466819U (en) | A kind of chain type cylinder climbing robot | |
| CN206306508U (en) | A kind of unbalance loading mechanism of hydraulic press | |
| CN209054214U (en) | A kind of Double entry middle-opening pump pump housing | |
| CN205851772U (en) | A kind of clutch can fixture | |
| CN108278410A (en) | Lift the valve stem nut drive mechanism of valve | |
| CN208578874U (en) | A kind of shield bearing | |
| CN208041288U (en) | Lift the valve stem nut drive mechanism of valve | |
| CN208616519U (en) | A kind of driving speed reducer protective device being easily installed | |
| CN208020225U (en) | A kind of compensating cylinder for heavy type truss manipulator | |
| CN205927953U (en) | Hole drilling die | |
| CN207514071U (en) | Precision bearing | |
| CN205309894U (en) | Drilling and milling machine removes swivel nut | |
| CN201596904U (en) | Universal joint support | |
| CN206175508U (en) | Ball universal joint | |
| CN221362735U (en) | Lathe tool with dodge structure | |
| CN209586879U (en) | A kind of pin shaft connection component and its pin shaft | |
| CN110142801A (en) | Composite balls hinge | |
| CN207830400U (en) | A kind of guiding axis fixation kit | |
| CN109291075A (en) | The mechanical arm of instrument can be moved | |
| CN204061548U (en) | A kind of outer ring separated type deep groove ball bearing | |
| CN108500961A (en) | A kind of robot cylinder cap turns line detent mechanism | |
| CN206359884U (en) | The continuous Rotary ball hinge of intelligence with tetrafluoro block location structure | |
| CN209370214U (en) | A kind of Automatic manual transmission fastening connection piece |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 241000 1503, 15th floor, advertising creative complex building, Wuhu advertising industry park, Beijing Middle Road, Jiujiang District, Wuhu City, Anhui Province Applicant after: WUHU YIZE SMALL AND MEDIUM ENTERPRISE PUBLIC SERVICE Co.,Ltd. Address before: 241000 Anhui province Wuhu city Jinghu District long Fang No. 77 building 110 room B01 Applicant before: WUHU YIZE SMALL AND MEDIUM ENTERPRISE PUBLIC SERVICE Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240719 Address after: Room 710-12, Building 1, No. 178-2 Haier Road, Laoshan District, Qingdao City, Shandong Province, 266000 Patentee after: Qingdao Wilm Technology Co.,Ltd. Country or region after: China Address before: 241000 1503, 15th floor, advertising creative complex building, Wuhu advertising industry park, Beijing Middle Road, Jiujiang District, Wuhu City, Anhui Province Patentee before: WUHU YIZE SMALL AND MEDIUM ENTERPRISE PUBLIC SERVICE Co.,Ltd. Country or region before: China |