CN108544530B - Robot joint stop device - Google Patents
Robot joint stop device Download PDFInfo
- Publication number
- CN108544530B CN108544530B CN201810706787.1A CN201810706787A CN108544530B CN 108544530 B CN108544530 B CN 108544530B CN 201810706787 A CN201810706787 A CN 201810706787A CN 108544530 B CN108544530 B CN 108544530B
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- bearing
- main bearing
- bearing block
- robot joint
- block
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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
-
- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Pivots And Pivotal Connections (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot joint limiting device, which comprises two main bearing blocks, wherein the side surfaces of the main bearing blocks are provided with a protractor, the protractor is tightly welded with the main bearing blocks, the center position of the main bearing blocks is provided with a connecting bearing, the main bearing blocks are connected through the connecting bearing, the top of the connecting bearing is provided with a mark card, the connecting bearing is welded with the mark card, the robot joint limiting device is provided with the main bearing blocks and an auxiliary bearing block, when a robot joint moves, the mark card on the side surface of the main bearing block slides in a sliding groove on the side surface of the auxiliary bearing block, and after the sliding is in a proper position, the sliding card is limited by a positioning ball, so that the effect of limiting the robot joint is achieved, the use is convenient, a connecting lining pipe is arranged, when the connecting lining pipe is assembled with the robot joint, a worker can fix the robot joint only by screwing the robot joint into a threaded hole, dismantle the same reason, be favorable to improving the convenience of stop device installation.
Description
Technical Field
The invention relates to the technical field of limiting devices, in particular to a robot joint limiting device.
Background
The limiting device is a limiting structure in the moving process of the robot arm and is a machine device for automatically executing work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task of which is to assist or replace human work, such as production, construction, or dangerous work.
However, through research discovery, the mode that current stop device is mostly the mechanical lever screens carries out spacing processing for the robot joint, and mechanical lever wearing and tearing when using for a long time, spacing effect is poor, inconvenient use, and stop device is numerous with robot joint installation step, increases staff's work burden, and stop device's use functionality is poor, and the angle and the scope of robot joint activity all need the staff to carry out real-time measurement.
Therefore, how to design a robot joint limiting device becomes a problem to be solved currently.
Disclosure of Invention
The invention aims to provide a robot joint limiting device to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: comprises two main bearing blocks, wherein the side surface of each main bearing block is provided with a protractor, the protractor is tightly welded with the main bearing blocks, the central position of each main bearing block is provided with a connecting bearing, the main bearing blocks are connected through a connecting bearing, the top of the connecting bearing is provided with a mark card, the connecting bearing is welded with the mark card, an auxiliary bearing block is arranged at the center of the main bearing block, the auxiliary bearing block is arranged between the two main bearing blocks, the top of the main bearing block is provided with a connecting liner tube, the inside of the auxiliary bearing block is provided with a ball bearing, and the outer ring of the ball bearing and the inner ring of the auxiliary bearing block are in interference fit, the inner part of the auxiliary bearing block is provided with a chute, and a sliding clamp is arranged on one side of the main bearing block, the sliding clamp is welded with the main bearing block and is matched with the sliding groove, and a threaded hole is formed in the inner wall of the connecting liner tube.
Furthermore, the central positions of the main bearing block and the auxiliary bearing block are both provided with through holes, and the connecting bearings are embedded in the through holes and are in clearance fit with the through holes.
Furthermore, a connecting block is installed at one end of the connecting liner tube, and the connecting liner tube is connected with the main bearing block through the connecting block.
Furthermore, a lantern ring is installed at the other end of the connecting liner tube, and the lantern ring is embedded at the end of the connecting liner tube.
Furthermore, the both ends of spout are installed the location pearl, just the location pearl embedding sets up in the spout.
Furthermore, a wear-resistant ring is installed at the center of the main bearing block, and the wear-resistant ring is welded with the main bearing block.
Compared with the prior art, the invention has the beneficial effects that: this robot joint stop device, main bearing piece and vice bearing piece have been installed, when the robot joint activity, the mark card of main bearing piece side slides in the spout inside of vice bearing piece side, slide to suitable position after, it is spacing to slide the card by the location pearl, thereby reach the spacing effect to the robot joint, facilitate the use, the connection bushing pipe has been installed, when connecting bushing pipe and robot joint and advance the equipment, the staff only need can fix robot joint screw in to the screw hole, dismantle the same reason, be favorable to improving the convenience of stop device installation, the protractor has been installed, the protractor can be when the robot joint activity, instruct the angle and the scope of joint activity by the mark card, be favorable to increasing stop device's service functionality.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a longitudinal cross-sectional view of a secondary bearing block of the present invention;
FIG. 3 is a schematic view of a partial structure of a main bearing block of the present invention;
FIG. 4 is a longitudinal cross-sectional view of the connecting liner of the present invention;
in the figure: 1-connecting a liner tube; 2-a collar; 3, connecting blocks; 4-marking card; 5-a protractor; 6-connecting a bearing; 7-a main bearing block; 8-auxiliary bearing block; 9-ball bearings; 10-a positioning bead; 11-a chute; 12-a through hole; 13-a slide card; 14-a wear ring; 15-threaded hole.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-4, the present invention provides a technical solution: the novel bearing comprises two main bearing blocks 7, wherein a protractor 5 is installed on the side face of each main bearing block 7, the protractor 5 is tightly welded with the main bearing blocks 7, a connecting bearing 6 is installed at the central position of each main bearing block 7, the main bearing blocks 7 are connected through the connecting bearing 6, a marking card 4 is installed at the top of each connecting bearing 6, the connecting bearing 6 is welded with the marking card 4, an auxiliary bearing block 8 is installed at the central position of each main bearing block 7, the auxiliary bearing block 8 is installed between the two main bearing blocks 7, a connecting lining pipe 1 is installed at the top of each main bearing block 7, a ball bearing 9 is installed inside each auxiliary bearing block 8, an outer ring of each ball bearing 9 is in interference fit with an inner ring of each auxiliary bearing block 8, a sliding groove 11 is formed inside each auxiliary bearing block 8, a sliding card 13 is installed on one side of each main bearing block 7, the sliding card 13 is welded with the main bearing blocks 7, and is matched with the sliding chute 11, and the inner wall of the connecting liner tube 1 is provided with a threaded hole 15.
More specifically, the central point of main bearing piece 7 and vice bearing piece 8 puts and all is equipped with through-hole 12, connect bearing 6 embedding and set up in through-hole 12 to with through-hole 12 clearance fit, connect bearing 6 and through-hole 12 clearance fit, after connecting bearing 6 and through-hole 12 are fixed, there is the gap of certain size between connecting bearing 6 and the through-hole 12, can make things convenient for mutual rotation between main bearing piece 7 and the vice bearing piece 8.
More specifically, connecting block 3 is installed to the one end of connecting bushing pipe 1, just connecting bushing pipe 1 passes through connecting block 3 with main bearing piece 7 and is connected, connecting bushing pipe 1 can be consolidated effectively to connecting block 3, prevents that connecting bushing pipe 1 from taking place not hard up the phenomenon that drops in the use.
More specifically, the lantern ring 2 is installed at the other end of the connection liner tube 1, and the lantern ring 2 is embedded at the end of the connection liner tube 1, the lantern ring 2 effectively reinforces the port of the connection liner tube 1, and prevents the cracking phenomenon of the port of the connection liner tube 1 when the robot joint is assembled with the connection liner tube 1.
More specifically, the locating balls 10 are installed at two ends of the sliding groove 11, the locating balls 10 are embedded in the sliding groove 11, the locating balls 10 can effectively limit the sliding card 13, and unnecessary damage caused by too large moving range of the joint of the robot is prevented.
More specifically, a wear-resistant ring 14 is installed at the central position of the main bearing block 7, and the wear-resistant ring 14 is welded with the main bearing block 7, so that the wear-resistant ring 14 effectively performs wear-resistant protection treatment on the main bearing block 7, which is beneficial to prolonging the service life of the main bearing block 7.
A robot joint stop device's theory of operation: firstly, a worker assembles a limiting device and a robot joint, a threaded shaft of the robot joint is screwed into a threaded hole 15 in a connecting liner pipe 1, the limiting device is used after the assembly, in the using process, when the joint of the robot starts to move, because the central positions of a main bearing block 7 and an auxiliary bearing block 8 are both provided with a through hole 12, a connecting bearing 6 is embedded in the through hole 12 and is in clearance fit with the through hole 12, the connecting bearing 6 is in clearance fit with the through hole 12, the two main bearing blocks 7 rotate mutually through the auxiliary bearing 8, when one main bearing block 7 rotates, a sliding card 13 on the side surface slides in a sliding groove 11 on the side surface of the auxiliary bearing block 8, when the sliding card 13 slides to the area where the positioning ball 10 is located, the positioning ball 10 limits the sliding card 13, the joint cannot move continuously at the moment, the worker can observe the position of a mark card 4 pointing to a protractor 5, so that the moving angle of the robot joint is recorded and can be adjusted in a manner of changing the position of the positioning bead 10 in the chute 11.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (1)
1. The utility model provides a robot joint stop device, includes two main bearing pieces (7), its characterized in that: the side mounting of owner bearing piece (7) has protractor (5), just protractor (5) and the inseparable welding of owner bearing piece (7), the central point of owner bearing piece (7) puts and installs connecting bearing (6), just connect through connecting bearing (6) between owner bearing piece (7), mark card (4) are installed at the top of connecting bearing (6), just connecting bearing (6) and mark card (4) welding, the central point of owner bearing piece (7) puts and installs vice bearing piece (8), install in the middle of two owner bearing piece (7) vice bearing piece (8), connection bushing pipe (1) is installed at the top of owner bearing piece (7), the internally mounted of vice bearing piece (8) has ball bearing (9), just realize interference fit between the outer lane of ball bearing (9) and vice bearing piece (8) inner circle, a sliding groove (11) is formed in the auxiliary bearing block (8), a sliding clamp (13) is installed on one side of the main bearing block (7), the sliding clamp (13) is welded with the main bearing block (7), the sliding clamp (13) slides in the sliding groove (11) on the side face of the auxiliary bearing block (8), a threaded hole (15) is formed in the inner wall of the connecting liner tube (1), and a threaded shaft of a robot joint is screwed into the threaded hole (15) in the connecting liner tube (1); through holes (12) are formed in the center positions of the main bearing block (7) and the auxiliary bearing block (8), and the connecting bearing (6) is embedded in the through holes (12) and is in clearance fit with the through holes (12); one end of the connecting liner tube (1) is provided with a connecting block (3), the connecting liner tube (1) is connected with the main bearing block (7) through the connecting block (3), the other end of the connecting liner tube (1) is provided with a lantern ring (2), and the lantern ring (2) is embedded and arranged at the end part of the connecting liner tube (1); positioning beads (10) are mounted at two ends of the sliding groove (11), and the positioning beads (10) are embedded in the sliding groove (11); and a wear-resistant ring (14) is arranged at the central position of the main bearing block (7), and the wear-resistant ring (14) is welded with the main bearing 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 CN108544530A (en) | 2018-09-18 |
| CN108544530B true CN108544530B (en) | 2020-10-09 |
Family
ID=63494270
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810706787.1A Active CN108544530B (en) | 2018-07-02 | 2018-07-02 | Robot joint stop device |
| CN202011058899.4A Withdrawn CN112223342A (en) | 2018-07-02 | 2018-07-02 | Transmission method of robot joint limiting device |
Family Applications After (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) | CN108544530B (en) |
Families Citing this family (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 |
| CN109730891B (en) * | 2019-01-25 | 2021-02-02 | 电子科技大学 | Shoulder horizontal movement joint structure with upper limb exoskeleton capable of changing hands and limiting position |
| CN112720575B (en) * | 2020-12-19 | 2022-11-22 | 安徽涌诚机械有限公司 | Intelligent ultra-precise robot four-axis shell and machining process thereof |
Family Cites Families (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 |
| JP6725541B2 (en) * | 2016-01-30 | 2020-07-22 | 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 |
| CN106182067B (en) * | 2016-07-11 | 2018-06-15 | 中国矿业大学 | A kind of stiffness variable flexible rotational joint |
| CN106811947B (en) * | 2017-02-24 | 2023-04-14 | 福州肆菱智能科技有限公司 | Industrial ironing machine |
-
2018
- 2018-07-02 CN CN201810706787.1A patent/CN108544530B/en active Active
- 2018-07-02 CN CN202011058899.4A patent/CN112223342A/en not_active Withdrawn
Also Published As
| Publication number | Publication date |
|---|---|
| CN112223342A (en) | 2021-01-15 |
| CN108544530A (en) | 2018-09-18 |
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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. |
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