CN108673552A - A kind of cam rotation joint of robot - Google Patents
A kind of cam rotation joint of robot Download PDFInfo
- Publication number
- CN108673552A CN108673552A CN201810562399.0A CN201810562399A CN108673552A CN 108673552 A CN108673552 A CN 108673552A CN 201810562399 A CN201810562399 A CN 201810562399A CN 108673552 A CN108673552 A CN 108673552A
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- CN
- China
- Prior art keywords
- active section
- ways
- cam
- section
- sides
- 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
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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
-
- 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
- B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
Abstract
The present invention provides a kind of cam rotation joint of robot, including the first active section, the second active section, unit motor, cam and ways；Unit motor is fixedly installed in the inside of the first active section, and cam is sequentially connected on unit motor；Cam is spherical, and is tiltedly installed with right two of the first from left along the surface of spherical surface and is moved rail, the mutual mirror symmetry of movement rail of the left and right sides, and angle of inclination less than 45 °；The both sides of ways are equipped with right two pilot units of a first from left towards center protrusion, and two pilot units are respectively embedded into be sequentially connected in two movement rails；Ways is fixed at the tail portion of the second active section, and ways and the first active section are hinged, so that ways is based on the first active section and rotates left and right swing, to make two neighboring active section be mutually hinged.The present invention realizes that small, high load joint is swung with spherical cam.
Description
Technical field
The present invention relates to machinery equipment field, and in particular to a kind of cam rotation joint of robot.
Background technology
Industrial robot is a kind of mechanical equipment that degree of freedom is high, powerful, is widely used among industrial production.Greatly
Partial manipulator is equipped with multiple mechanical joints, copies the arm of human body general, can realize various actions with rotary oscillation.
Higher degree of freedom is focused in the turning joint of industrial robot in the prior art more, makes amplitude of fluctuation bigger.But
The Serve Motor Control that this joint uses volume larger, and in order to realize that larger load capacity, deceleration transmission train are opposite
Heaviness, therefore can not be by volume-diminished.Once using micromotor to reduce volume, load capacity will substantially reduce.
It is not difficult to find out, existing technology still has certain defects.
Invention content
Technical problem to be solved by the invention is to provide a kind of cam rotation joint of robot, are realized with spherical cam
Small, high load joint is swung.
To achieve the above object, the present invention uses following technical scheme：
A kind of cam rotation joint of robot, including the first active section, the second active section, unit motor, cam and guiding
Component；Unit motor is fixedly installed in the inside of the first active section, and cam is sequentially connected on unit motor；Cam is in ball
Shape, and be tiltedly installed with right two of the first from left along the surface of spherical surface and move rail, the mutual mirror symmetry of movement rail of the left and right sides,
And angle of inclination is less than 45 °；The both sides of ways are equipped with right two pilot units of a first from left towards center protrusion, and two are oriented to list
Member is respectively embedded into be sequentially connected in two movement rails, so that drive member is rotated luck dynamic rail to the left or to the right and drives ways
Rotary oscillation；Ways is fixed at the tail portion of the second active section, and ways and the first active section are hinged, make guiding structure
Part can be based on the first active section and rotate left and right swing, to make two neighboring active section be mutually hinged.
Further, the ways is sheathed on the periphery of cam, and the two of two pilot unit self- steering components are lateral
In projecting inward extension and embedded movement rail；The hinge joint of ways and the first active section is located between two pilot units, hinge
The setting orthogonal with pilot unit of the orientation of spindle, and both it is right against the centre of sphere of drive member.
Further, the pilot unit includes idler wheel, the rolling that idler wheel passes through an inwardly projecting extension of self- steering component
Wheel shaft cantilever is installed, and idler wheel is embedded in movement rail and freely rolls.
Further, the head of first active section is equipped with the articulated section extended towards the second active section protrusion, and first lives
Dynamic section is hinged point articulated by articulated section and ways, to interlink with the tail portion of the second active section.
Further, the two sides of tail of second active section is equipped with the catch portion extended towards the first active section protrusion, gear
Piece portion and articulated section fit engagement, keep the both sides of articulated section shielded.
Further, the peripheral both sides of the ways are equipped with the locating stop piece for outwardly protruding extension, and described second lives
The two sides of tail of dynamic section is equipped with the locating groove of recess, and locating groove is matched with locating stop piece, and locating stop piece is arranged in positioning card
The internal gearing of slot is fixed.
A kind of cam rotation joint of robot provided by the present invention, has the following advantages：
Using spherical cam structure, when cam rotates, band movable joint is swung, and is realized under the premise of volume is tiny
Larger load capacity；
Using spherical cam, when cam rotates, the swing of ways is moved around the centre of sphere, it is ensured that ways with it is convex
Transmission between wheel is smooth；
With intermeshing articulated section and catch portion structure, keep the screening performance between joint more preferable, not only in protection
Portion's structure, it is also more attractive；
The combination of component fully considers assembly convenience, firm combination between ways and the second active section.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is the overall structure diagram of cam rotation joint of robot of the present invention.
Fig. 2 is the assembled state internal structure schematic diagram of Fig. 1.
Fig. 3 is the structural schematic diagram of cam.
Reference sign：
1, the first active section 2, the second active section
3, unit motor 4, cam
5, ways 6, articulated shaft
7, pilot unit 8, idler wheel
9, roller shaft 10, movement rail
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
And attached drawing, technical scheme in the embodiment of the invention is clearly and completely described.It should be noted that described reality
It is only a part of the embodiment of the present invention to apply example, instead of all the embodiments.Based on the embodiments of the present invention, this field is general
The every other embodiment that logical technical staff is obtained without making creative work belongs to what the present invention protected
Range.
Embodiment
It please refers to Fig.1 to Fig.3, the invention discloses a kind of 4 rotation joint of robot of cam, including the first active section 1,
Two active sections 2, unit motor 3, cam 4 and ways 5；Unit motor 3 is fixedly installed in the inside of the first active section 1, single
Cam 4 is sequentially connected on first motor 3；Cam 4 is spherical, and is tiltedly installed with the first from left right side two along the surface of spherical surface
Item moves rail 10, the 10 mutual mirror symmetry of movement rail of the left and right sides, and angle of inclination and is less than 45 °；The both sides court of ways 5
Center protrusion is equipped with right two pilot units 7 of a first from left, and two pilot units 7 are respectively embedded into the company of transmission in two movement rails 10
It connects, so that drive member is rotated luck dynamic rail 10 to the left or to the right and drive 5 rotary oscillation of ways；Ways 5 is fixed at
The tail portion of second active section 2, and ways 5 and the first active section 1 are hinged, and ways 5 is allow to be based on the first active section 1
It rotates left and right and swings, to make two neighboring active section be mutually hinged.
In the present invention, realize that the first active section 1 and second is lived using the transmission between spherical cam 4 and ways 5
The weave control in the joint of 2 composition of dynamic section.It is not only small, and there is higher load capacity.Although amplitude of fluctuation is by one
Fixed limitation, but it is particularly suitable for narrow environment.
It is rotated when under drive of the cam 4 in unit motor 3, movement rail 10 also can correspondingly rotate, due to moving rail
10 be inclined so that pilot unit 7 can be driven up and down motion.The movement rail 10 of both sides is mirror to setting, it is meant that
When drive member is rotated to a direction, the movement rail 10 of side can drive pilot unit 7 to rise, and the movement rail 10 of the other side is then
Pilot unit 7 can be driven to decline, to realize the rotary oscillation action of ways 5, and then the second active section 2 is driven to swing.
Fig. 2 is referred to, why cam 4 is spherical, is because ways 5 is during swing, pilot unit 7 is made
Be camber line 10 mark of movement rail, in order to ensure pilot unit 7 and movement rail 10 are always maintained at packing interaction, movement 10 mark of rail needs
It is arranged on spherical surface.
Fig. 2 is referred to, as a further preference, the ways 5 is sheathed on the periphery of cam 4, two pilot units 7
The inwardly projecting extension in both sides and insertion of self- steering component 5 move in rail 10；The hinge joint of ways 5 and the first active section 1
Between two pilot units 7, the orientation setting orthogonal with pilot unit 7 of articulated shaft 6, and both it is right against drive member
The centre of sphere.
As shown in Figure of description, ways 5 can be cricoid structure, and middle part will not interfere with the dynamic of cam 4
Make, but is not excluded for using other shape and structures.And as described above, ways 5 is to swing, and swinging track depends on
Cam 4 then the center of circle of its practical swinging track must pass through the centre of sphere of cam 4, therefore has corresponding limit to the position of articulated shaft 6
It is fixed.
In addition, the design of this ways 5 can facilitate installation, if ways 5 is first installed, then it is solid from both sides
It sets pilot unit 7 and debugs its good movenent performance, then the second active section 2 is installed.So, in order to ensure ways 5
Being connected firmly between the second active section 2 is conducive to stress, and the peripheral both sides of the ways 5, which are equipped with to outwardly protrude, prolongs
The locating stop piece stretched, the two sides of tail of second active section 2 are equipped with the locating groove of recess, locating groove and locating stop piece
Match, the internal gearing that locating stop piece is arranged in locating groove is fixed, thus further facilitate the second active section 2 assembling and
The combination debugging of unit motor 3, cam 4, ways 5.
Further, the pilot unit 7 includes idler wheel 8, and idler wheel 8 passes through a 5 inwardly projecting extension of self- steering component
9 cantilever of roller shaft installation, idler wheel 8 be embedded at movement rail 10 in freely roll.
Since the contact of cam 4 has certain friction, idler wheel 8 that can make running more smoothly.Specific idler wheel 8 can be used directly
Small size bearing facilitates 4 rotation joint of robot of integral cam that can be made more small and exquisite to save volume.
For the concrete structure of the first active section 1 and the second active section 2, preferably, the head of first active section 1
Equipped with the articulated section extended towards the second active section 2 protrusion, the first active section 1 is cut with scissors by the hinge joint of articulated section and ways 5
It connects, to interlink with the tail portion of the second active section 2.The two sides of tail of second active section 2 is equipped with towards the first active section 1
The catch portion extended, catch portion and articulated section fit engagement are protruded, keeps the both sides of articulated section shielded.
The articulated section for protruding setting specifically can be hinged with ways 5, and the catch portion protruded specifically can be with being oriented to
Component 5 is fixedly connected with installation, improves the fitness between two section active sections.And on the one hand this structure makes ways 5 just
To the inside in articulated section and catch portion, convenient for placement ways 5；Meanwhile and to greatest extent by ways 5 and unit electricity
The part covers such as machine 3, avoid it is exposed, can it is dust-proof after improve the appearance of product again, more improve the safety of product, keep away
Exempt from exterior object to be stuck in joint.
4 rotation joint of robot of a kind of cam provided by the present invention is rotated using spherical 4 structure of cam in cam 4
When band movable joint swing, larger load capacity is realized under the premise of volume is tiny.Using spherical cam 4, when cam 4
When rotation, the swing of ways 5 is moved around the centre of sphere, it is ensured that the transmission between ways 5 and cam 4 is smooth.With mutual
The articulated section of engagement and catch portion structure, keep the screening performance between joint more preferable, not only protect internal structure, also more attractive.
The combination of component fully considers assembly convenience, firm combination between ways 5 and the second active section 2.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
Cannot the limitation to the scope of the claims of the present invention therefore be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect range.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (6)
1. a kind of cam rotation joint of robot, it is characterised in that：Including the first active section, the second active section, unit motor, convex
Wheel and ways；Unit motor is fixedly installed in the inside of the first active section, and cam is sequentially connected on unit motor；It is convex
Wheel is spherical, and is tiltedly installed with right two of the first from left along the surface of spherical surface and is moved rail, and the movement rail of the left and right sides is mutual
Mirror symmetry, and angle of inclination is less than 45 °；The both sides of ways are equipped with right two pilot units of a first from left towards center protrusion,
Two pilot units are respectively embedded into be sequentially connected in two movement rails, and drive member is made to rotate luck dynamic rail band to the left or to the right
Action-oriented component rotary oscillation；Ways is fixed at the tail portion of the second active section, and ways and the first active section are cut with scissors
It connects, so that ways is based on the first active section and rotate left and right swing, to make two neighboring active section be hinged one
It rises.
2. cam rotation joint of robot according to claim 1, it is characterised in that：The ways is sheathed on cam
Periphery, the both sides of two pilot unit self- steering components are inwardly projecting to be extended in simultaneously embedded movement rail；Ways and first
The hinge joint of active section is located between two pilot units, the orientation setting orthogonal with pilot unit of articulated shaft, and both just
For the centre of sphere of drive member.
3. cam rotation joint of robot according to claim 2, it is characterised in that：The pilot unit includes idler wheel,
Idler wheel is installed by the roller shaft cantilever of an inwardly projecting extension of self- steering component, and idler wheel is embedded in movement rail and freely rolls
It is dynamic.
4. cam rotation joint of robot according to claim 2, it is characterised in that：The head of first active section is set
Have an articulated section extended towards the second active section protrusion, the first active section by the hinged point articulated of articulated section and ways, from
And it interlinks with the tail portion of the second active section.
5. cam rotation joint of robot according to claim 4, it is characterised in that：The tail portion two of second active section
Side is equipped with the catch portion extended towards the first active section protrusion, catch portion and articulated section fit engagement, and the both sides of articulated section is made to be hidden
It covers.
6. cam rotation joint of robot according to claim 1, it is characterised in that：The peripheral both sides of the ways
Equipped with the locating stop piece for outwardly protruding extension, the two sides of tail of second active section is equipped with the locating groove of recess, positioning card
Slot is matched with locating stop piece, and the internal gearing that locating stop piece is arranged in locating groove is fixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810562399.0A CN108673552B (en) | 2018-06-04 | 2018-06-04 | Cam swing robot joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810562399.0A CN108673552B (en) | 2018-06-04 | 2018-06-04 | Cam swing robot joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108673552A true CN108673552A (en) | 2018-10-19 |
| CN108673552B CN108673552B (en) | 2021-09-14 |
Family
ID=63809844
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810562399.0A Active CN108673552B (en) | 2018-06-04 | 2018-06-04 | Cam swing robot joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108673552B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102049786A (en) * | 2009-11-05 | 2011-05-11 | 鸿富锦精密工业（深圳）有限公司 | Rotating mechanism and robot with same |
| CN201843779U (en) * | 2010-11-03 | 2011-05-25 | 刘大磊 | Oscillating drum type positive-displacement pump adopting universal joint oscillating bearings |
| KR20120122069A (en) * | 2011-04-28 | 2012-11-07 | 한국과학기술원 | Surgery instrument and method for controlling triangulation for laparoscopic surgery |
| CN203817011U (en) * | 2014-04-29 | 2014-09-10 | 三明市港乐水晶电子有限公司 | Cleaning device for high-pressure kettle for crystal growth |
| CN204954827U (en) * | 2015-10-07 | 2016-01-13 | 陈超 | Tentacle robot |
| CN105805263A (en) * | 2016-05-16 | 2016-07-27 | 济南大学 | Driving device for realizing indexing, swinging and lifting linkage in assembly line for production |
| CN106214258A (en) * | 2016-07-12 | 2016-12-14 | 天津大学 | A kind of dexterous wrist mechanism for single hole minimally invasive robot |
-
2018
- 2018-06-04 CN CN201810562399.0A patent/CN108673552B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102049786A (en) * | 2009-11-05 | 2011-05-11 | 鸿富锦精密工业（深圳）有限公司 | Rotating mechanism and robot with same |
| CN201843779U (en) * | 2010-11-03 | 2011-05-25 | 刘大磊 | Oscillating drum type positive-displacement pump adopting universal joint oscillating bearings |
| KR20120122069A (en) * | 2011-04-28 | 2012-11-07 | 한국과학기술원 | Surgery instrument and method for controlling triangulation for laparoscopic surgery |
| CN203817011U (en) * | 2014-04-29 | 2014-09-10 | 三明市港乐水晶电子有限公司 | Cleaning device for high-pressure kettle for crystal growth |
| CN204954827U (en) * | 2015-10-07 | 2016-01-13 | 陈超 | Tentacle robot |
| CN105805263A (en) * | 2016-05-16 | 2016-07-27 | 济南大学 | Driving device for realizing indexing, swinging and lifting linkage in assembly line for production |
| CN106214258A (en) * | 2016-07-12 | 2016-12-14 | 天津大学 | A kind of dexterous wrist mechanism for single hole minimally invasive robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108673552B (en) | 2021-09-14 |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20210827 Address after: 225300 Yongcheng Science and Technology Incubation Industrial Park, Gaogang District, Taizhou City, Jiangsu Province Applicant after: Jiangsu Zhongke code automation technology Co., Ltd Address before: 510380 403, South Lane two, village of Baihe cave, Liwan District, Guangzhou, Guangdong, 20 Applicant before: Guo Jiahui |
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