CN109940658A - A kind of mechanical wrist of built-in spherical joint - Google Patents
A kind of mechanical wrist of built-in spherical joint Download PDFInfo
- Publication number
- CN109940658A CN109940658A CN201910294231.0A CN201910294231A CN109940658A CN 109940658 A CN109940658 A CN 109940658A CN 201910294231 A CN201910294231 A CN 201910294231A CN 109940658 A CN109940658 A CN 109940658A
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- CN
- China
- Prior art keywords
- magnetosheath
- electric pushrod
- turntable
- swing rod
- central axis
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Abstract
The invention discloses a kind of mechanical wrists of built-in spherical joint, including pedestal, pedestal is equipped with central axis, rotation is cased with turntable on central axis, central axis top is equipped with magnetosheath, and ball-joint component is rotatably connected on magnetosheath, and ball-joint component includes magnetic bulb, swing rod and connected unit, magnetic bulb and magnetosheath are collectively formed a pair of of spherical pair, and opposite one pendant polar opposite of magnetic bulb and magnetosheath；Disk edge is equipped with guide rail, sliding is equipped with sliding block on guide rail, slider top is equipped with electric pushrod, the bar portion of electric pushrod is flexibly connected by jointing with the swing rod of ball-joint component, turntable rotation is driven by driving mechanism, and then electric pushrod rotation is driven, swing rod movement is finally pushed by electric pushrod, entire ball-joint component is rotated around the centre of sphere of magnetic bulb；Meanwhile swing rod reciprocally swinging can be driven by electric pushrod.Advantages of the present invention: direction movement planar is realized in the case where not changing the original pose of manipulator.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of mechanical wrists of built-in spherical joint.
Background technique
Manipulator is a kind of certain holding functions that can imitate manpower and arm, to by fixed routine crawl, carrying object
Or the automatic pilot of operational instrument.Manipulator is the industrial robot occurred earliest, and the modern machines occurred earliest
People, it can replace the heavy labor of people to realize the mechanization and automation of production, can operate under hostile environment to protect people
Body safety, thus it is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.Mechanical wrist part is manipulator
Critical component, flexibility, accuracy have been largely fixed the flexibility of manipulator, accuracy.Freedom degree is mechanical
The key parameter of hand design.Freedom degree is more, and the flexibility of manipulator is bigger, and versatility is wider, and structure is also more complicated.Generally
Special manipulator has 2~3 freedom degrees, but limitation of the movement angle of manipulator due to wrist in the prior art, activity
Range is smaller.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of mechanical wrist of built-in spherical joint,
To realize the direction movement realized in the case where not changing the original pose of manipulator planar.
The present invention is achieved by the following technical solutions:
A kind of mechanical wrist of built-in spherical joint, including pedestal, the pedestal are equipped with the central axis upwardly extended, institute
It states turning set on central axis and one turntable concentric with central axis is housed, the central axis top is equipped with a magnetosheath, the magnetic
Set is located on turntable, is connected with a ball-joint component on the magnetosheath, and the ball-joint component includes from the bottom up successively
Magnetic bulb, swing rod and the connected unit of connection, the magnetic bulb lower part quartile of the ball-joint component is in magnetosheath, the magnetosheath
Inner cavity matches with magnetic bulb shape, and a pair of of spherical pair, and the magnetic bulb is collectively formed in the magnetism bulb and magnetosheath
With opposite one pendant polar opposite of magnetosheath；
The disk edge is equipped with a guide rail, and the guide rail extends outwardly along the radial direction of turntable, on the guide rail
Sliding is provided with the sliding block extended straight up, and the slider top is equipped with an electric pushrod, the electric pushrod
Bar portion is flexibly connected by a jointing with the swing rod of the ball-joint component, drives the turntable to revolve by driving mechanism
Turn, and then with the electric pushrod rotation on movable slider and sliding block, swing rod movement is finally pushed by electric pushrod, so that entire ball closes
Section component can be rotated around the centre of sphere of magnetic bulb；Meanwhile bar portion can be driven flexible by electric pushrod, and then swing rod is driven to exist
Around the centre of sphere reciprocally swinging of magnetic bulb in vertical plane.
Further, the pedestal includes a ring frame and the cross support frame in ring frame, the center
The center of cross support frame is arranged in axis.
Further, the driving mechanism includes motor, transmission gear, follower gear, and the motor is mounted on cross
On support frame, the output shaft of the motor upwardly extends and fixes the suit transmission gear, the fixed suit in the turntable bottom
The follower gear, the follower gear and turntable are concentric, and the transmission gear is meshed with follower gear.
Further, the guide rail bottom is equipped with a bar shaped sliding slot, and the bar shaped sliding slot prolongs along the radial direction of turntable
It stretches, the slider bottom is equipped with the guide rod extended downwardly, and the guide rod is downwardly into the bar shaped sliding slot and can be in item
Sliding in shape sliding slot, and guide rod bottom is screwed in by nut and is pressed on guide rail bottom, realize determining on guide rail for sliding block
Position.
Further, described jointing one end sliding sleeve on the swing rod, the other end by hinge axis with it is electronic
Push rod inner end is hinged, the axis perpendicular of the hinge axis and swing rod.
Further, the cover for preventing magnetic bulb abjection is equipped at the top of the magnetosheath, the hood top is provided with
The top of perforation, the magnetism bulb is stretched out from the perforation of the cover.
Further, one section of annular groove is provided on the central axis, the turntable turning set is mounted in the annular of central axis
On groove.
The present invention has the advantage that compared with prior art
1, the mechanical wrist of a kind of built-in spherical joint provided by the invention, drives electric pushrod to turn by driving mechanism
It is dynamic, and then swing rod movement is pushed, and then entire ball-joint component is driven to rotate around the centre of sphere of magnetic bulb, realize manipulator
Wrist can reduce the movement process of point-to-point similar to the same direction movement that can without restriction in the horizontal plane of human body wrist,
Increase the flexibility of movement；And without the mobile direction movement that wrist can be realized of mechanical arm cooperation, machinery will not be changed
Pose before hands movement changes and increases the movement angle range of manipulator, improves the flexibility ratio of manipulator.
2, the mechanical wrist of a kind of built-in spherical joint provided by the invention, forms the magnetic bulb and magnetosheath of spherical pair
Opposite one is pendant polar on the contrary, both make mutually exclusive, reduces the friction generated in movement by maglev mode, makes
Mechanical wrist movement is more flexible, mating spherical surfaces between sphere are also more solid and reliable compared to general cooperation.
3, the mechanical wrist of a kind of built-in spherical joint provided by the invention, can be by adjusting position of the sliding block on guide rail
It sets, to adjust electric pushrod at a distance from magnetosheath, and then can change the oscillating stroke of ball-joint component, and then can be adapted to
The movement angle of various demands, so that the mechanical wrist is more flexible, it is versatile.
Detailed description of the invention
Fig. 1 is perspective view of the invention.
Fig. 2 is schematic diagram of base structure of the invention.
Fig. 3 is the structural schematic diagram of ball-joint component of the invention.
Fig. 4 is turntable structure schematic diagram of the invention.
Figure label: 1- pedestal, 2- motor, 3- transmission gear, 4- turntable, 5- the cover, 6- ball-joint component, 61- are magnetic
Bulb, 62- swing rod, 63- connected unit, 7- jointing, 8- hinge axis, 9- screw, 10- electric pushrod, 11- follower gear, 12-
Central axis, 13- annular groove, 14- magnetosheath, 15- guide rail, 151- bar shaped sliding slot, 16- sliding block, 161- guide rod.
Specific embodiment
It elaborates below to the embodiment of the present invention, the present embodiment carries out under the premise of the technical scheme of the present invention
Implement, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to following implementation
Example.
Referring to Fig. 1 to Fig. 4, present embodiment discloses a kind of mechanical wrist of built-in spherical joint, including pedestal 1, pedestals 1
It is equipped with the central axis 12 upwardly extended, pedestal 1 includes a ring frame and the cross support frame in ring frame, center
The center of cross support frame is arranged in axis 12, and pedestal 1 adopts the structure design, can reduce integrally-built weight.Center
Turning set is equipped with a turntable 4 concentric with central axis 12 on axis 12, is provided with one section of annular groove 13, turntable 4 on central axis 12
Turning set is on the annular groove 13 of central axis 12.12 top of central axis be equipped with a magnetosheath 14, magnetosheath 14 be located at turntable 4 it
On, be connected with a ball-joint component 6 on magnetosheath 14, ball-joint component 6 include magnetic bulb 61 sequentially connected from the bottom up,
Swing rod 62 and connected unit 63, the 61 lower part quartile of magnetic bulb of ball-joint component 6 is in magnetosheath 14,14 inner cavity of magnetosheath and magnetic ball
First 61 shape matches, and a pair of of spherical pair is collectively formed with magnetosheath 14 in magnetic bulb 61, and magnetic bulb 61 is opposite with magnetosheath 14
It is one pendant polar opposite.It is equipped with the cover 5 for preventing magnetic bulb 61 from deviating from the top of magnetosheath 14, is provided with perforation at the top of the cover 5,
The top of magnetic bulb 61 is stretched out from the perforation of the cover 5, can weld connection between the cover 5 and magnetosheath 14.
4 edge of turntable is equipped with a guide rail 15, and guide rail 15 extends outwardly along the radial direction of turntable 4, slides on guide rail 15
It is provided with the sliding block extended straight up 16, is equipped with an electric pushrod 10 at the top of sliding block 16, electric pushrod 10 passes through spiral shell
Nail 9 is mounted on sliding block 16,62 activity of swing rod that the bar portion of electric pushrod 10 passes through a jointing 7 and ball-joint component 6
Connection, 7 one end sliding sleeve of jointing is on swing rod 62, the other end is hinged by hinge axis 8 and 10 inner end of electric pushrod, hinge
The axis perpendicular of chain rivet 8 and swing rod 62.Turntable 4 is driven to rotate by driving mechanism, and then on movable slider 16 and sliding block 16
Electric pushrod 10 rotate, finally push swing rod 62 to move by electric pushrod 10, enable entire ball-joint component 6 around magnetism
The centre of sphere of bulb 61 rotates；Meanwhile bar portion can be driven flexible by electric pushrod 10, and then drive swing rod 62 in vertical plane around
The centre of sphere reciprocally swinging of magnetic bulb 61.
Specifically, driving mechanism includes motor 2, transmission gear 3, follower gear 11, motor 2 is mounted on cross support frame
On, the output shaft of motor 2 upwardly extends and fixes suit transmission gear 3, and the fixed suit follower gear 11 in 4 bottom of turntable is servo-actuated
Gear 11 and turntable 4 are concentric, and transmission gear 3 is meshed with follower gear 11.
Specifically, 15 bottom of guide rail is equipped with a bar shaped sliding slot 151, bar shaped sliding slot 151 prolongs along the radial direction of turntable 4
It stretches, 16 bottom of sliding block is equipped with the guide rod 161 extended downwardly, and guide rod 161 is downwardly into bar shaped sliding slot 151 and can be in bar shaped
Sliding in sliding slot 151, and 161 bottom of guide rod is screwed in by nut and is pressed on 15 bottom of guide rail, realize leading for sliding block 16
Positioning on rail 15.
When work, manipulator can be added in connected unit 63.Motor 2 can be rotated with nutating gear 3, and transmission gear 3 drives
Follower gear 11 rotates, and realizes that electric pushrod 10 is rotated around central axis 12, and drive swing rod 62 around central axis by jointing 7
12 rotation, due to 62 bottom of swing rod with magnetism bulb 61 connect, magnetic bulb 61 can in magnetosheath 14 Universal rotary, to realize
Ball-joint component 6 is rotated around the centre of sphere of magnetic bulb 61；Meanwhile electric pushrod 10 will drive bar portion and stretch, and then pass through connection
Connector 7 can free band movable pendulum bar 62 realize reciprocally swinging, and electric pushrod 10 can also move along guide rail 15 and change electronic push away
10 movement travel of bar, to change the reciprocating maximum angle of swing rod 62.It is driven by the rotation of turntable 4 and electric pushrod 10
Compound motion that swing rod 62 moves back and forth, it can be achieved that any direction in the horizontal plane of ball-joint component 6 swing, pass through control electricity
Machine 2 rotate speed and electric pushrod 10 bar portion linear motion speed, it can be achieved that 62 top point-to-point of swing rod movement, and
And this movement will not change original mechanical hand pose.
The above is merely preferred embodiments of the present invention, be not intended to limit the invention, it is all in spirit of the invention and
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within principle.
Claims (7)
1. a kind of mechanical wrist of built-in spherical joint, including pedestal, it is characterised in that: the pedestal, which is equipped with, to be upwardly extended
Central axis, turning set is equipped with a turntable concentric with central axis on the central axis, and the central axis top is equipped with a magnetic
Set, the magnetosheath are located on turntable, a ball-joint component are connected on the magnetosheath, the ball-joint component includes under
Up sequentially connected magnetic bulb, swing rod and connected unit, the magnetic bulb lower part quartile of the ball-joint component in magnetosheath,
The magnetosheath inner cavity matches with magnetic bulb shape, and a pair of of spherical pair is collectively formed in the magnetism bulb and magnetosheath, and described
Opposite one pendant polar opposite of magnetic bulb and magnetosheath；
The disk edge is equipped with a guide rail, and the guide rail extends outwardly along the radial direction of turntable, slides on the guide rail
It is provided with the sliding block extended straight up, the slider top is equipped with an electric pushrod, the bar portion of the electric pushrod
It is flexibly connected by a jointing with the swing rod of the ball-joint component, drives the turntable to rotate by driving mechanism,
And then with the electric pushrod rotation on movable slider and sliding block, swing rod movement is finally pushed by electric pushrod, so that entire ball-joint
Component can be rotated around the centre of sphere of magnetic bulb；Meanwhile bar portion can be driven flexible by electric pushrod, and then drive swing rod perpendicular
Around the centre of sphere reciprocally swinging of magnetic bulb in facing directly.
2. a kind of mechanical wrist of built-in spherical joint as described in claim 1, it is characterised in that: the pedestal includes one
The center of cross support frame is arranged in ring frame and the cross support frame in ring frame, the central axis.
3. a kind of mechanical wrist of built-in spherical joint as claimed in claim 2, it is characterised in that: the driving mechanism includes
Motor, transmission gear, follower gear, the motor are mounted on cross support frame, and the output shaft of the motor upwardly extends
And the fixed suit transmission gear, the turntable bottom is fixed to be set with the follower gear, and the follower gear and turntable are same
Axle center, the transmission gear are meshed with follower gear.
4. a kind of mechanical wrist of built-in spherical joint as described in claim 1, it is characterised in that: the guide rail bottom is equipped with
One bar shaped sliding slot, the bar shaped sliding slot extend along the radial direction of turntable, and the slider bottom is equipped with the guiding extended downwardly
Bar, the guide rod is downwardly into the bar shaped sliding slot and can slide in bar shaped sliding slot, and screws in guide rod by nut
Bottom is simultaneously pressed on guide rail bottom, realizes the positioning on guide rail of sliding block.
5. a kind of mechanical wrist of built-in spherical joint as described in claim 1, it is characterised in that: described jointing one end
Sliding sleeve is on the swing rod, the other end is hinged by hinge axis and electric pushrod inner end, the axis of the hinge axis and swing rod
Line is perpendicular.
6. a kind of mechanical wrist of built-in spherical joint as described in claim 1, it is characterised in that: be equipped at the top of the magnetosheath
One prevents the cover of magnetic bulb abjection, and the hood top is provided with perforation, and the top of the magnetic bulb is from the cover
Perforation in stretch out.
7. a kind of mechanical wrist of built-in spherical joint as described in claim 1, it is characterised in that: be provided on the central axis
One section of annular groove, the turntable turning set is on the annular groove of central axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910294231.0A CN109940658B (en) | 2019-04-12 | 2019-04-12 | Mechanical wrist with built-in spherical joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910294231.0A CN109940658B (en) | 2019-04-12 | 2019-04-12 | Mechanical wrist with built-in spherical joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109940658A true CN109940658A (en) | 2019-06-28 |
| CN109940658B CN109940658B (en) | 2021-04-06 |
Family
ID=67014997
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910294231.0A Active CN109940658B (en) | 2019-04-12 | 2019-04-12 | Mechanical wrist with built-in spherical joint |
Country Status (1)
| Country | Link |
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| CN (1) | CN109940658B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110206684A (en) * | 2019-05-15 | 2019-09-06 | 西北工业大学 | A kind of three-dimensional crank slide block mechanical device |
| CN112476425A (en) * | 2020-10-17 | 2021-03-12 | 广东韶钢工程技术有限公司 | Four-dimensional freedom degree flexible robot joint and arm assembly |
| CN112643663A (en) * | 2020-12-21 | 2021-04-13 | 重庆三峡学院 | Artificial intelligence lift arm is with directional subassembly |
| WO2021111666A1 (en) * | 2019-12-02 | 2021-06-10 | 和樹 角 | Remote control device |
| CN113442161A (en) * | 2021-07-19 | 2021-09-28 | 北京理工大学 | Robot joint, robot bionic hip joint and robot |
| CN114027156A (en) * | 2021-11-29 | 2022-02-11 | 咸阳师范学院 | Circulating water irrigation equipment of bionical nature landscape design |
| CN114536352A (en) * | 2020-11-27 | 2022-05-27 | 三赢科技（深圳）有限公司 | Mechanical positioning structure and manipulator assembly |
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| CN106737820A (en) * | 2017-01-11 | 2017-05-31 | 中国科学院合肥物质科学研究院 | A kind of toe movable type robot foot structure |
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| JPH01318563A (en) * | 1988-06-20 | 1989-12-25 | Hitachi Ltd | Actuator |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110206684A (en) * | 2019-05-15 | 2019-09-06 | 西北工业大学 | A kind of three-dimensional crank slide block mechanical device |
| WO2021111666A1 (en) * | 2019-12-02 | 2021-06-10 | 和樹 角 | Remote control device |
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| CN112476425B (en) * | 2020-10-17 | 2022-05-27 | 广东韶钢工程技术有限公司 | Four-dimensional freedom degree flexible robot joint and arm assembly |
| CN114536352A (en) * | 2020-11-27 | 2022-05-27 | 三赢科技（深圳）有限公司 | Mechanical positioning structure and manipulator assembly |
| CN114536352B (en) * | 2020-11-27 | 2023-09-12 | 三赢科技（深圳）有限公司 | Mechanical positioning structure and manipulator assembly |
| CN112643663A (en) * | 2020-12-21 | 2021-04-13 | 重庆三峡学院 | Artificial intelligence lift arm is with directional subassembly |
| CN112643663B (en) * | 2020-12-21 | 2022-05-06 | 重庆三峡学院 | Artificial intelligence lift arm is with directional subassembly |
| CN113442161A (en) * | 2021-07-19 | 2021-09-28 | 北京理工大学 | Robot joint, robot bionic hip joint and robot |
| CN114027156A (en) * | 2021-11-29 | 2022-02-11 | 咸阳师范学院 | Circulating water irrigation equipment of bionical nature landscape design |
| CN114027156B (en) * | 2021-11-29 | 2023-09-22 | 咸阳师范学院 | Circulating water irrigation equipment of bionical nature landscape design |
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| CN109940658B (en) | 2021-04-06 |
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