CN111070238A - Combined weak torsion continuous mechanical arm connecting joint - Google Patents
Combined weak torsion continuous mechanical arm connecting joint Download PDFInfo
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- CN111070238A CN111070238A CN202010037677.8A CN202010037677A CN111070238A CN 111070238 A CN111070238 A CN 111070238A CN 202010037677 A CN202010037677 A CN 202010037677A CN 111070238 A CN111070238 A CN 111070238A
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- Prior art keywords
- ball
- base flange
- rotary
- ball socket
- rotary ball
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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
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
Abstract
The invention relates to a combined weak torsion continuous mechanical arm connecting joint, belonging to the technical field of robots; the rotary ball type vibration absorber comprises a ball socket base flange, a ball socket, a rotary ball fixing cover, 3 torsion springs and a rotary ball base flange; the ball socket base flange is of a horizontally placed disc-shaped structure; the ball socket is fixedly arranged at the central position of the upper surface of the flange of the ball socket base; the top of the ball socket is provided with a spherical groove; the rotating ball extends into the spherical groove; the rotary ball fixing cover is fixedly arranged at the top of the ball socket to limit the rotary ball in the vertical direction; the rotary ball base flange is fixedly connected with the top of the rotary ball; 3 torsion springs are axially and vertically arranged between the ball socket base flange and the rotary ball base flange; and 3 torsion springs are uniformly annularly and annularly wound on the outer side of the ball socket; the continuous mechanical arm connecting joint provided by the invention can realize combined installation and weak torsion universal rotation.
Description
Technical Field
The invention belongs to the technical field of robots, and relates to a combined weak torsion continuous mechanical arm connecting joint.
Background
Need adopt special joint to connect between the continuous type arm joint, adopt the hooke joint alone under the general condition, spring or universal ball joint's mode is connected, but there is certain drawback, adopt the hooke joint alone and only can realize the motion of 2 degrees of freedom, adopt the spring alone to connect, its bearing capacity is relatively poor, adopt universal ball joint to connect alone, it twists reverse can't realize effectual control, and simultaneously, more joint's spare part structure is the integral type, make replacement cost rise and availability factor reduce.
Disclosure of Invention
The technical problem solved by the invention is as follows: the defects of the prior art are overcome, and the combined weak torsion continuous mechanical arm connecting joint is provided, so that combined installation can be realized, and weak torsion universal rotation can be realized.
The technical scheme of the invention is as follows:
a combined weak torsion continuous mechanical arm connecting joint comprises a ball socket base flange, a ball socket, a rotary ball fixing cover, 3 torsion springs and a rotary ball base flange; the ball socket base flange is of a horizontally placed disc-shaped structure; the ball socket is fixedly arranged at the central position of the upper surface of the flange of the ball socket base; the top of the ball socket is provided with a spherical groove; the rotating ball extends into the spherical groove; the rotary ball fixing cover is fixedly arranged at the top of the ball socket to limit the rotary ball in the vertical direction; the rotary ball base flange is fixedly connected with the top of the rotary ball; 3 torsion springs are axially and vertically arranged between the ball socket base flange and the rotary ball base flange; and 3 torsion springs are uniformly annularly and annularly wound on the outer side of the ball socket; the lower surface of the ball socket base flange is fixedly connected with an external mechanical arm; the upper surface of the rotary ball base flange is fixedly connected with another external mechanical arm; the relative swinging of the outer two mechanical arms is realized.
In the above combined weak torsion continuous mechanical arm connecting joint, the upper surface of the ball socket base flange is provided with 3 bottom bosses; the lower surface of the rotary ball base flange is provided with 3 top bosses; each bottom boss corresponds to 1 top boss respectively; the axial bottom end of each torsion spring is sleeved on the outer wall of the 1 bottom boss; the top end is sleeved on the outer wall of the corresponding top boss.
In the above-mentioned combined weak torsion continuous mechanical arm connecting joint, the ball socket is a columnar structure; the profile of the spherical groove at the top of the ball socket is consistent with the profile of the rotating ball, so that the rotating ball can swing freely in the spherical groove.
In the above-mentioned combined weak torsion continuous mechanical arm connection joint, the rotary ball includes a ball body and a connection rod; wherein, the sphere is a spherical structure; the connecting rod is axially and vertically fixedly arranged at the top of the sphere; the ball body extends into the spherical groove of the ball socket; the axial top of the connecting rod is fixedly connected with the center of the lower surface of the rotary ball base flange.
In the above-mentioned combined weak torsion continuous type mechanical arm connection joint, the radius of the sphere is set to be R; the groove depth of the spherical groove at the top of the ball socket is R.
In the above-mentioned combined weak torsion continuous mechanical arm connection joint, the rotary ball fixing cover is of an annular structure; the rotary ball fixing cover is fixedly arranged on the outer side of the spherical groove; the inner wall of the rotary ball fixing cover is arc-shaped; the arc inner wall of the rotary ball fixing cover corresponds to the outer surface of the ball body; the top of the sphere is limited.
In the above-mentioned combined weak torsion continuous type mechanical arm connection joint, the axial thickness of the rotary ball fixing cover is 0.1R-0.2R.
In the above-mentioned combined weak torsion continuous type mechanical arm connecting joint, the swing angle of the rotary ball base flange relative to the ball socket base flange is 0 ° to 60 °.
In the above-mentioned combined weak torsion continuous mechanical arm connection joint, the bearing capacity of each torsion spring is not less than 4000N; the elastic coefficient is not less than 20000kg/mm2。
In the above-mentioned combined weak torsion continuous type arm connection joint, the ball socket, the rotary ball and the rotary ball fixing cover are removed from between the ball socket base flange and the rotary ball base flange, so as to realize quick replacement.
Compared with the prior art, the invention has the beneficial effects that:
(1) the invention is composed of a ball socket base flange, a ball socket, a rotary ball fixing cover, a rotary ball base flange and a torsion spring, realizes the combined installation of a plurality of independent parts, reduces the replacement cost and improves the use efficiency;
(2) the rotary ball can perform universal motion in the ball socket, and when torsion occurs, the torsion spring provides certain reverse torsion resistance to realize a weak torsion function;
(3 in the invention, the automatic reset function is realized by the torsion spring under the condition that the ball socket base flange and the rotary ball base flange are not affected by external force.
Drawings
FIG. 1 is a schematic view of the connection joint of the present invention in its entirety;
FIG. 2 is an exploded view of the joint of the present invention;
FIG. 3 is a top view of the ball and socket base flange of the present invention;
fig. 4 is a bottom view of the spin ball base flange of the present invention.
Detailed Description
The invention is further illustrated by the following examples.
The invention provides a combined weak torsion continuous mechanical arm connecting joint, which not only realizes combined installation, but also can realize weak torsion universal rotation.
As shown in fig. 1 and 2, the connecting joint comprises a ball socket base flange 1, a ball socket 2, a rotating ball 3, a rotating ball fixing cover 4, 3 torsion springs 5 and a rotating ball base flange 6; the ball socket base flange 1 is of a horizontally placed disc-shaped structure; the ball socket 2 is fixedly arranged at the central position of the upper surface of the ball socket base flange 1; the ball socket base flange 1 is fixedly connected with the ball socket 2 through a bolt; the top of the ball socket 2 is provided with a spherical groove; the rotating ball 3 extends into the spherical groove; the ball 3 is rotated in a universal direction in the ball socket 2. The rotary ball fixing cover 4 is fixedly arranged at the top of the ball socket 2 and fixedly connected with the top of the ball socket 2 through a bolt; the rotary ball 3 is fastened through the rotary ball fixing cover 4, so that the vertical limit of the rotary ball 3 is realized; the rotary ball base flange 6 is fixedly connected with the top of the rotary ball 3; the rod part of the rotary ball 3 is fixedly connected with a rotary ball base flange 6 through threads; 3 torsion springs 5 are vertically arranged between the ball socket base flange 1 and the rotary ball base flange 6 in the axial direction; and 3 torsion springs 5 are uniformly encircled outside the ball socket 2 in a ring shape; the lower surface of the ball socket base flange 1 is fixedly connected with an external mechanical arm; the upper surface of the rotary ball base flange 6 is fixedly connected with another external mechanical arm; the relative swinging of the outer two mechanical arms is realized. The ball socket 2, the rotary ball 3 and the rotary ball fixing cover 4 are detached from the ball socket base flange 1 and the rotary ball base flange 6, so that quick replacement is realized.
As shown in fig. 3, the upper surface of the ball socket base flange 1 is provided with 3 bottom bosses 11; as shown in fig. 4, the lower surface of the rotary ball seat flange 6 is provided with 3 top bosses 61; each bottom boss 11 corresponds to 1 top boss 61 respectively; the axial bottom end of each torsion spring 5 is sleeved on the outer wall of the 1 bottom boss 11; the top end is sleeved on the outer wall of the corresponding top boss 61. The ball socket 2 is of a columnar structure; the profile of the spherical groove at the top of the ball socket 2 is consistent with the profile of the rotary ball 3, so that the rotary ball 3 can swing freely in the spherical groove.
As shown in fig. 2, the spin ball 3 includes a ball body 31 and a connecting rod 32; wherein, the sphere 31 is a spherical structure; the connecting rod 32 is axially and vertically fixedly arranged at the top of the sphere 31; the ball 31 extends into the spherical recess of the socket 2; the axial top of the connecting rod 32 is fixedly connected with the center of the lower surface of the rotary ball base flange 6. Setting the radius of the sphere 31 to be R; the groove depth of the spherical groove at the top of the ball socket 2 is R.
The rotary ball fixing cover 4 is of an annular structure; the rotary ball fixing cover 4 is fixedly arranged on the outer side of the spherical groove; the inner wall of the rotary ball fixing cover 4 is arc-shaped; the arc inner wall of the rotary ball fixing cover 4 corresponds to the outer surface of the ball body 31; the top of the sphere 31 is limited. The axial thickness of the rotary ball fixing cover 4 is 0.1R-0.2R.
When the ball socket base flange 1 and the rotary ball base flange 6 are rotated by external force, the rotary ball 3 can perform universal motion in the ball socket 2, and when the rotary ball 3 is twisted in the ball socket 2, the 3 torsion springs 5 jointly provide certain reverse torsion resistance, so that the weak torsion function is realized. Finally, the swing angle of the rotary ball base flange 6 relative to the ball socket base flange 1 is 0-60 degrees. When the ballUnder the condition that the socket base flange 1 and the rotary ball base flange 6 are not affected by external force, the connection joint realizes automatic reset under the combined action of the 3 torsion springs 5. The bearing capacity of each torsion spring 5 is not less than 4000N; the elastic coefficient is not less than 20000kg/mm2。
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (10)
1. A combined weak torsion continuous mechanical arm connecting joint is characterized in that: the rotary ball type ball joint comprises a ball joint base flange (1), a ball joint (2), a rotary ball (3), a rotary ball fixing cover (4), 3 torsion springs (5) and a rotary ball base flange (6); the ball socket base flange (1) is of a horizontally placed disc-shaped structure; the ball socket (2) is fixedly arranged at the central position of the upper surface of the ball socket base flange (1); the top of the ball socket (2) is provided with a spherical groove; the rotating ball (3) extends into the spherical groove; the rotating ball fixing cover (4) is fixedly arranged at the top of the ball socket (2) to limit the rotating ball (3) in the vertical direction; the rotary ball base flange (6) is fixedly connected with the top of the rotary ball (3); 3 torsion springs (5) are axially and vertically arranged between the ball socket base flange (1) and the rotary ball base flange (6); and 3 torsion springs (5) are uniformly annularly and annularly wound on the outer side of the ball socket (2); the lower surface of the ball socket base flange (1) is fixedly connected with an external mechanical arm; the upper surface of the rotary ball base flange (6) is fixedly connected with another external mechanical arm; the relative swinging of the outer two mechanical arms is realized.
2. The combined weak torsion continuous robot arm joint according to claim 1, wherein: the upper surface of the ball socket base flange (1) is provided with 3 bottom bosses (11); the lower surface of the rotary ball base flange (6) is provided with 3 top bosses (61); each bottom boss (11) corresponds to 1 top boss (61) in position respectively; the axial bottom end of each torsion spring (5) is sleeved on the outer wall of the 1 bottom boss (11); the top end is sleeved on the outer wall of the corresponding top boss (61).
3. The combined weak torsion continuous robot arm joint according to claim 2, wherein: the ball socket (2) is of a columnar structure; the profile of the spherical groove at the top of the ball socket (2) is consistent with the profile of the rotating ball (3), so that the rotating ball (3) can swing freely in the spherical groove.
4. A combined weak torsion continuous robot arm joint according to claim 3, wherein: the rotating ball (3) comprises a ball body (31) and a connecting rod (32); wherein, the sphere (31) is a spherical structure; the connecting rod (32) is axially and vertically fixedly arranged at the top of the sphere (31); the ball body (31) extends into the spherical groove of the ball socket (2); the axial top of the connecting rod (32) is fixedly connected with the center of the lower surface of the rotary ball base flange (6).
5. The combined weak torsion continuous mechanical arm connecting joint according to claim 4, wherein: setting the radius of the sphere (31) as R; the groove depth of the spherical groove at the top of the ball socket (2) is R.
6. The combined weak torsion continuous mechanical arm connecting joint according to claim 5, wherein: the rotary ball fixing cover (4) is of an annular structure; the rotary ball fixing cover (4) is fixedly arranged on the outer side of the spherical groove; the inner wall of the rotary ball fixing cover (4) is arc-shaped; the arc inner wall of the rotary ball fixing cover (4) corresponds to the outer surface of the ball body (31); the top of the sphere (31) is limited.
7. The combination weak torsion continuous type robot arm joint according to claim 6, wherein: the axial thickness of the rotary ball fixing cover (4) is 0.1R-0.2R.
8. The combination weak torsion continuous robot arm joint according to claim 7, wherein: the swing angle of the rotary ball base flange (6) relative to the ball socket base flange (1) is 0-60 degrees.
9. The combination weak torsion continuous robot arm joint according to claim 8, wherein: the bearing capacity of each torsion spring (5) is not less than 4000N; the elastic coefficient is not less than 20000kg/mm2。
10. The combination weak torsion continuous robot arm joint according to claim 9, wherein: the ball socket (2), the rotary ball (3) and the rotary ball fixing cover (4) are detached from the ball socket base flange (1) and the rotary ball base flange (6), and quick replacement is achieved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010037677.8A CN111070238A (en) | 2020-01-14 | 2020-01-14 | Combined weak torsion continuous mechanical arm connecting joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010037677.8A CN111070238A (en) | 2020-01-14 | 2020-01-14 | Combined weak torsion continuous mechanical arm connecting joint |
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| Publication Number | Publication Date |
|---|---|
| CN111070238A true CN111070238A (en) | 2020-04-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010037677.8A Pending CN111070238A (en) | 2020-01-14 | 2020-01-14 | Combined weak torsion continuous mechanical arm connecting joint |
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| CN (1) | CN111070238A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN113459086A (en) * | 2021-05-28 | 2021-10-01 | 北京精密机电控制设备研究所 | Super-redundant mechanical arm path planning method |
| CN113752295A (en) * | 2021-09-30 | 2021-12-07 | 北京交通大学 | Two-degree-of-freedom composite flexible bionic ball socket joint |
| CN113799167A (en) * | 2021-09-30 | 2021-12-17 | 北京交通大学 | Three-degree-of-freedom composite flexible bionic ball socket joint |
-
2020
- 2020-01-14 CN CN202010037677.8A patent/CN111070238A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| CN113459086A (en) * | 2021-05-28 | 2021-10-01 | 北京精密机电控制设备研究所 | Super-redundant mechanical arm path planning method |
| CN113459086B (en) * | 2021-05-28 | 2022-07-29 | 北京精密机电控制设备研究所 | Super-redundancy mechanical arm path planning method |
| CN113752295A (en) * | 2021-09-30 | 2021-12-07 | 北京交通大学 | Two-degree-of-freedom composite flexible bionic ball socket joint |
| CN113799167A (en) * | 2021-09-30 | 2021-12-17 | 北京交通大学 | Three-degree-of-freedom composite flexible bionic ball socket joint |
| CN113752295B (en) * | 2021-09-30 | 2022-10-14 | 北京交通大学 | Two-degree-of-freedom composite flexible bionic ball socket joint |
| CN113799167B (en) * | 2021-09-30 | 2022-10-14 | 北京交通大学 | Three-degree-of-freedom composite flexible bionic ball socket joint |
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