CN110722594A

CN110722594A - Locking dynamics adjustable revolute joint

Info

Publication number: CN110722594A
Application number: CN201911027050.8A
Authority: CN
Inventors: 葛军
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-10-27
Filing date: 2019-10-27
Publication date: 2020-01-24
Anticipated expiration: 2039-10-27
Also published as: CN110722594B

Abstract

The invention relates to a rotary joint with adjustable locking force, which comprises a rotary outer shell and a supporting inner frame, wherein the middle part of the supporting inner frame is coaxially and fixedly connected with an oil injection pipe, and a plurality of oil discharge pipes are connected to the side wall of the oil injection pipe in an annular array manner; n groups of oil drain holes are arranged on the outer side wall of the inner supporting frame in an annular array mode, a sealing block is arranged inside the inner supporting frame and fixed to the position, corresponding to the oil drain holes, of the inner wall of the inner supporting frame; an annular spring piece is further arranged outside the supporting inner frame and comprises N groups of locking bulges and N groups of deformation bulges, wherein a tensioning piece is rotatably connected to the outer wall of the oil injection pipe, N connecting pieces are arranged on the tensioning piece, a rotating column is arranged at the end part of each connecting piece, a rotating hook is rotatably connected to each rotating column, and the rotating hook is fixedly connected to the inner wall of the spring piece; the supporting inner frame is arranged in the rotating outer shell; the annular inner wall of the rotary shell is also provided with a plurality of embedded grooves in an annular array.

Description

Locking dynamics adjustable revolute joint

Technical Field

The invention relates to a rotary joint with adjustable locking force, and belongs to the field of industrial robot accessories.

Background

In advanced manufacturing, robot joint frequency of use is higher, and the joint locking and the damping of robot all rely on motor magnetic resistance generally, but to the arm of small dimension, be limited by its volume, the motor specification is limited, and the magnetic resistance output is also comparatively limited, so the locking dynamics can be lower relatively, when removing great weight object, and the motor burden also can increase, relies on motor magnetic resistance locking completely, can make the calorific capacity of motor increase, and the life-span subtracts the weak point.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the technical problem that the magnetic resistance locking force of a small-sized industrial mechanical arm in the prior art is limited is solved, and the rotary joint with the adjustable locking force is provided.

The technical scheme adopted by the invention for solving the technical problems is as follows:

a locking force adjustable rotary joint comprises a rotary outer shell and a supporting inner frame, wherein the middle part of the supporting inner frame is coaxially and fixedly connected with an oil injection pipe, and a plurality of oil discharge pipes are connected to the side wall of the oil injection pipe in an annular array manner; n groups of oil discharge holes are arranged on the outer side wall of the inner supporting frame in an annular array mode, a sealing block is arranged inside the inner supporting frame and fixed to the position, corresponding to the oil discharge holes, of the inner wall of the inner supporting frame, and a connecting hole used for connecting an oil discharge pipe and the oil discharge holes is formed inside the sealing block; an annular spring piece is further arranged outside the supporting inner frame and comprises N groups of locking bulges and N groups of deformation bulges, the deformation bulges are in an arc shape and are of an integral bending structure with the spring piece, the radian of the locking bulges is at least 180 degrees, a tensioning piece is rotatably connected to the outer wall of the oil filling pipe, N connecting pieces are arranged on the tensioning piece, a rotating column is arranged at the end part of each connecting piece, N swinging openings are further formed in the supporting inner frame, a rotating hook is rotatably connected to each rotating column and penetrates through each swinging opening to be fixedly connected to the inner wall of the spring piece, the locking bulges are located at positions, corresponding to the spring piece, between the swinging openings and the oil discharge hole in the supporting inner shell, and the deformation bulges are located between the locking bulges and the fixed positions of the rotating hooks; the supporting inner frame is arranged in the rotary outer shell, the middle part of the rotary outer shell is provided with a rotating hole, and the rotating hole is used for being in rotating connection with the oil filling pipe; the annular inner wall of the rotary shell is also provided with a plurality of embedding grooves in an annular array mode, and the cross sections of the embedding grooves are arc-shaped and correspond to the locking protrusions.

As a further improvement of the invention, the locking bulge is in the shape of an arc and is of an integral bending structure with the spring piece, and the radian of the locking bulge is at least 180 degrees.

As a further improvement of the invention, an integral casting structure is arranged between the oil filling pipe and the oil discharge pipe.

As a further improvement of the invention, the rotating hook is formed by bending an elastic plate, the rotating hook comprises a fixed hook with an opening structure, one end of the fixed hook is integrally provided with a connecting sheet, and the connecting sheet is welded on the spring sheet.

As a further improvement of the invention, the sealing block is made of nylon and is adhered to the inner wall of the supporting inner frame.

As a further improvement of the invention, the inner wall of the rotary shell is also provided with a residual oil collecting hole which is communicated with an oil collecting pipe fixed on the outer wall of the rotary shell.

The invention has the beneficial effects that:

1. according to the invention, the hydraulic pipe is connected to the mechanical arm through hydraulic pressure, on the premise of not increasing the size and load of the mechanical arm of the robot, the rotary joint capable of being used for locking the mechanical arm and adjusting the locking force is designed, the locking is realized by utilizing the oil pressure driving reed structure, the structure is simple, after the oil pressure is locked, the locking process does not depend on extra energy, no heat is generated, and the service life is longer.

2. The size of the locking protrusion is large enough not to be too flat, so that a better locking force can be provided.

3. The integral casting structure can bear larger oil pressure, and can provide good axial spacing for the oil injection pipe, so that the spacing strength is ensured.

4. The rotating hook is also of an elastic structure, can provide deformation compensation for the spring piece during stretching, and prevents the connecting piece and the spring piece from falling off due to excessive tension.

5. The residual oil collecting hole can collect hydraulic oil seeped out from the position between the spring piece and the side wall of the rotary shell, and pressure difference is guaranteed.

Drawings

The invention is further illustrated with reference to the following figures and examples.

FIG. 1 is a schematic structural view of the present invention;

in the figure: 1. a support inner frame; 2. an oil filling pipe; 3. an oil discharge pipe; 4. a sealing block; 5. an oil drain hole; 6. connecting holes; 7. connecting sheets; 8. rotating the column; 9. a fixed hook; 10. connecting sheets; 11. rotating the housing; 12. embedding a groove; 13. a locking projection; 14. deforming the bulge; 15. an oil collecting pipe.

Detailed Description

The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.

As shown in fig. 1, the invention relates to a turning joint with adjustable locking force, which comprises a rotary outer shell and a supporting inner frame, wherein the middle part of the supporting inner frame is coaxially and fixedly connected with an oil filling pipe, and the side wall of the oil filling pipe is connected with a plurality of oil discharge pipes in an annular array manner; n groups of oil discharge holes are arranged on the outer side wall of the inner supporting frame in an annular array mode, a sealing block is arranged inside the inner supporting frame and fixed to the position, corresponding to the oil discharge holes, of the inner wall of the inner supporting frame, and a connecting hole used for connecting an oil discharge pipe and the oil discharge holes is formed inside the sealing block; an annular spring piece is further arranged outside the supporting inner frame and comprises N groups of locking bulges and N groups of deformation bulges, the deformation bulges are in an arc shape and are of an integral bending structure with the spring piece, the radian of the locking bulges is at least 180 degrees, a tensioning piece is rotatably connected to the outer wall of the oil filling pipe, N connecting pieces are arranged on the tensioning piece, a rotating column is arranged at the end part of each connecting piece, N swinging openings are further formed in the supporting inner frame, a rotating hook is rotatably connected to each rotating column and penetrates through each swinging opening to be fixedly connected to the inner wall of the spring piece, the locking bulges are located at positions, corresponding to the spring piece, between the swinging openings and the oil discharge hole in the supporting inner shell, and the deformation bulges are located between the locking bulges and the fixed positions of the rotating hooks; the supporting inner frame is arranged in the rotary outer shell, the middle part of the rotary outer shell is provided with a rotating hole, and the rotating hole is used for being in rotating connection with the oil filling pipe; the annular inner wall of the rotary shell is also provided with a plurality of embedding grooves in an annular array mode, and the cross sections of the embedding grooves are arc-shaped and correspond to the locking bulges;

furthermore, the locking bulge is arc-shaped and is of an integral bending structure with the spring piece, and the radian of the locking bulge is at least 180 degrees;

furthermore, an integral casting structure is arranged between the oil filling pipe and the oil discharging pipe;

furthermore, the rotating hook is formed by bending an elastic plate, the rotating hook comprises a fixed hook with an opening structure, one end of the fixed hook is integrally provided with a connecting piece, and the connecting piece is welded on the spring piece.

Furthermore, the sealing block is made of nylon and is bonded to the inner wall of the supporting inner frame;

furthermore, a residual oil collecting hole is formed in the inner wall of the rotary shell, and the residual oil collecting hole is communicated with an oil collecting pipe fixed on the outer wall of the rotary shell.

When the oil filling device is used, the supporting inner frame and the oil filling pipe are welded or fixedly connected through bolts, then the rotating outer shell is fixed on the supporting inner frame through the bearing, and cover plates are arranged on the supporting inner frame and the rotating outer shell to ensure sealing; when needs are locked, through carrying out the oiling to the notes oil pipe, the oil pressure of notes oil pipe transmits the oil drain hole through arranging oil pipe afterwards, extrudees the spring leaf afterwards, utilizes the bellied evagination of spring leaf deformation realization locking to make the locking protruding with certain pressure embedding inlay the locking that realizes this mechanism in the groove.

The rotating tension piece can correct the change of the tension direction of the spring piece when the spring piece deforms through self rotation.

In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.

Claims

1. A locking dynamics adjustable revolute joint, characterized by: the oil injection device comprises a rotary outer shell and a supporting inner frame, wherein the middle part of the supporting inner frame is coaxially and fixedly connected with an oil injection pipe, and a plurality of oil discharge pipes are connected to the side wall of the oil injection pipe in an annular array manner; n groups of oil discharge holes are arranged on the outer side wall of the inner supporting frame in an annular array mode, a sealing block is arranged inside the inner supporting frame and fixed to the position, corresponding to the oil discharge holes, of the inner wall of the inner supporting frame, and a connecting hole used for connecting an oil discharge pipe and the oil discharge holes is formed inside the sealing block; an annular spring piece is further arranged outside the supporting inner frame and comprises N groups of locking bulges and N groups of deformation bulges, the deformation bulges are in an arc shape and are of an integral bending structure with the spring piece, the radian of the locking bulges is at least 180 degrees, a tensioning piece is rotatably connected to the outer wall of the oil filling pipe, N connecting pieces are arranged on the tensioning piece, a rotating column is arranged at the end part of each connecting piece, N swinging openings are further formed in the supporting inner frame, a rotating hook is rotatably connected to each rotating column and penetrates through each swinging opening to be fixedly connected to the inner wall of the spring piece, the locking bulges are located at positions, corresponding to the spring piece, between the swinging openings and the oil discharge hole in the supporting inner shell, and the deformation bulges are located between the locking bulges and the fixed positions of the rotating hooks; the supporting inner frame is arranged in the rotary outer shell, the middle part of the rotary outer shell is provided with a rotating hole, and the rotating hole is used for being in rotating connection with the oil filling pipe; the annular inner wall of the rotary shell is also provided with a plurality of embedding grooves in an annular array mode, and the cross sections of the embedding grooves are arc-shaped and correspond to the locking protrusions.

2. The rotational joint with adjustable locking force of claim 1, which is characterized in that: the locking bulge is arc-shaped and is of an integral bending structure with the spring piece, and the radian of the locking bulge is at least 180 degrees.

3. The rotational joint with adjustable locking force of claim 1, which is characterized in that: the oil filling pipe and the oil discharging pipe are of an integral casting structure.

4. The rotational joint with adjustable locking force of claim 1, which is characterized in that: the rotating hook is formed by bending an elastic plate, the rotating hook comprises a fixed hook with an opening structure, one end of the fixed hook is integrally provided with a connecting piece, and the connecting piece is welded on the spring piece.

5. The rotational joint with adjustable locking force of claim 1, which is characterized in that: the sealing block is made of nylon and is bonded to the inner wall of the supporting inner frame.

6. The rotational joint with adjustable locking force of claim 1, which is characterized in that: and the inner wall of the rotary shell is also provided with a residual oil collecting hole, and the residual oil collecting hole is communicated with an oil collecting pipe fixed on the outer wall of the rotary shell.