CN112809735A - Compound joint mechanism that deflects of robot - Google Patents
Compound joint mechanism that deflects of robot Download PDFInfo
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- CN112809735A CN112809735A CN202110306984.6A CN202110306984A CN112809735A CN 112809735 A CN112809735 A CN 112809735A CN 202110306984 A CN202110306984 A CN 202110306984A CN 112809735 A CN112809735 A CN 112809735A
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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
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Abstract
A robot composite deflection joint mechanism belongs to the technical field of robots. The robot composite deflection joint mechanism comprises a first joint, a second joint, a cylindrical cam mechanism, a steering driving motor, a spring rod mechanism and a rotation mechanism, wherein the first joint comprises a first joint outer connecting seat and a first joint shaft, the second joint comprises a second joint outer connecting seat and a second joint shaft, the cylindrical cam mechanism comprises a cylindrical cam, a roller push rod and a descending platform, an upper side motor shaft of the steering driving motor is connected with a driving rocker, the driving rocker is connected with a moving sliding block, the moving sliding block is installed in an arc-shaped slideway, a lower side motor shaft of the steering driving motor is connected with the cylindrical cam, the spring rod mechanism comprises a spring, a spring rod and a spring seat, and the rotation mechanism comprises a rotation block, a pin connection connecting rod and a pin connection block. The robot composite deflection joint mechanism can effectively adapt to various obstacles under different working environments, is reasonable in stress condition, larger in deflection angle compared with a traditional rotation joint, and more flexible in working space.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a composite deflection joint mechanism of a robot.
Background
The multi-unit serial robot structure has good obstacle avoidance capability and fault tolerance capability, and is widely applied to robots in the fields of disaster rescue, complex environment inspection monitoring and the like. A traditional tandem type robot deflection joint mostly adopts a single rotating shaft, the rotating center is arranged in the symmetry plane of the robot, a steering driving motor directly drives the rotating shaft to rotate or indirectly drives the rotating shaft to rotate through a speed reducer, a synchronous belt and other intermediate transmission mechanisms, the rotating shaft is fixedly connected or in key connection with a member on one side of the joint and is hinged with a member on the other side. The joint deflection angle of the joint robot is limited by the width of the robot rod pieces on the two sides of the joint, and under the condition that the size of the rotary joint of the robot is fixed, the larger the width of the rod pieces on the two sides is, the smaller the deflection angle of the joint is, and the motion capability and the flexibility of the robot are limited. Especially, special robot structures in special fields have higher requirements on the flexibility and the structural size of the robot, and the structural form of the deflection joint of the traditional robot is difficult to meet the design requirements for improving the performance of the robot, such as a rescue search robot, a power transmission line inspection robot and the like.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention provides a robot composite deflection joint mechanism which can effectively adapt to various obstacles in different working environments, is more reasonable in stress condition, is larger in deflection angle compared with the traditional rotation joint, and is more flexible in working space.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a robot composite deflection joint mechanism comprises a first joint, a second joint, a cylindrical cam mechanism, a steering driving motor, a spring rod mechanism and a swing mechanism;
the first joint comprises a first joint outer connecting seat and a first joint shaft which are in rotary connection, and the first joint shaft is a hollow shaft; the joint II comprises a joint outer connecting seat II and a joint shaft II which are rotatably connected, and the joint shaft I is connected with the joint shaft II through a joint connecting rod;
the roller push rod is arranged on the cylindrical cam and is positioned in a notch of the first joint outer connecting seat, the landing platform is arranged below the roller push rod, the push rod part of the roller push rod corresponds to the pin hole position of the landing platform and is used for realizing pin joint of the push rod part of the roller push rod and the pin hole of the landing platform, and the landing platform is fixedly connected with the joint connecting rod;
the steering driving motor is arranged on the first joint outer connecting seat, an upper motor shaft of the steering driving motor is fixedly connected with one end of a driving rocker, the other end of the driving rocker is fixedly connected with a moving sliding block, the moving sliding block is arranged in an arc-shaped slide way at the top of the second joint outer connecting seat, and an arc-shaped convex block is arranged below the driving rocker; a motor shaft at the lower side of the steering driving motor is fixedly connected with the cylindrical cam;
the spring rod mechanism comprises a spring, a spring rod and a spring seat, the spring rod is arranged in the first joint shaft, the top end of the spring rod is fixedly connected with the spring seat, and the spring is arranged below the spring seat;
the swing mechanism comprises a swing block, a pin joint connecting rod and a pin joint block, the swing block is arranged at the bottom of the second joint outer connecting seat, the swing block is connected with the pin joint block through the pin joint connecting rod, and the pin joint block is located below the spring rod.
Further, the arc slide includes circular arc slide portion and sets up in the straight slide portion of circular arc slide portion both sides, circular arc slide portion is for using the center that turns to driving motor shaft as the centre of a circle, using to turn to the distance that driving motor shaft center to remove the slider center as radial circular arc structure.
Furthermore, a lug end cover is arranged at the top of the joint of the first joint outer connecting seat and the first joint shaft, and a baffle end cover is arranged at the bottom of the joint of the first joint outer connecting seat and the first joint shaft; an upper end cover is arranged at the top of the joint of the second joint outer connecting seat and the second joint shaft, and a lower end cover is arranged at the bottom of the joint of the second joint outer connecting seat and the second joint shaft.
Furthermore, the two sides of the upper part of the spring rod are provided with sliding grooves which are used for being matched with the lug end covers.
Further, the number of the springs is two, and the springs are fixedly connected with the lug end covers.
Furthermore, the two ends of the joint connecting rod are both provided with connecting sleeves, the connecting sleeve at one end of the joint connecting rod is fixedly connected with the first joint shaft, the connecting sleeve at the other end of the joint connecting rod is fixedly connected with the second joint shaft, and the joint connecting rod is perpendicular to the first joint shaft and the second joint shaft.
Furthermore, a round baffle is installed at the bottom end of the spring rod.
Furthermore, the steering driving motor is a double-shaft driving motor, and a motor shaft on the upper side and a motor shaft on the lower side run synchronously at the same rotating speed.
Furthermore, the driving rocker penetrates through the cylindrical pipe of the arc-shaped convex block, so that the arc-shaped convex block is positioned below the driving rocker and is fixedly connected with the driving rocker.
The invention has the beneficial effects that:
1) the invention shortens the whole length of the robot, increases the rotation angle of the joint of the robot, increases the working space of the arm connected with the joint, increases the adaptability of the robot to obstacles used under various situations, leads the robot to flexibly avoid the obstacles and effectively avoid larger obstacles;
2) the invention comprises two joint shafts which are arranged in parallel and symmetrically, ensures the stable operation of deflection, and increases the stability of the joint when crossing obstacles compared with the common rotary joint, wherein the main stress is averagely distributed on the two joints;
3) the steering and resetting of the joint are driven by a single-steering driving motor, the joint shaft freedom degree is changed through the rotation of the steering driving motor to deflect the right side, and the joint connecting rod is kept fixed in position to achieve the purpose of deflecting the left side of the joint, so that a driving control system of the joint is simplified, the cost is saved, and the adaptability of the rotary joint is improved;
4) the lug end cover is fixedly connected with two springs, elastic potential energy is stored when the spring rod moves downwards, and the spring automatically rebounds when the spring rod moves upwards;
5) the invention can be applied to various robots, such as disaster relief robots, power transmission line inspection robots and rotary joints of inspection detection robots in complex environments, for example, when the robot is used for inspecting the robots, the length of the whole inspection robot can be effectively shortened, the stability of the robot on the power transmission line is increased, and the inspection robot can smoothly advance on various power transmission lines.
Additional features and advantages of the invention will be set forth in part in the detailed description which follows.
Drawings
Fig. 1 is a schematic structural diagram of a composite yaw joint mechanism of a robot according to an embodiment of the present invention;
FIG. 2 is a schematic view of an angle of a first joint according to an embodiment of the present invention;
FIG. 3 is a schematic view of another angle of the first joint according to the embodiment of the present invention;
FIG. 4 is a cross-sectional view of a first joint shaft provided in an embodiment of the present invention;
FIG. 5 is a schematic view of an angle of a second joint according to an embodiment of the present invention;
FIG. 6 is a schematic view of another angle of the second joint according to the embodiment of the present invention;
FIG. 7 is a schematic cross-sectional view of a cylindrical cam mechanism provided by an embodiment of the present invention;
FIG. 8 is a schematic front view of a cylindrical cam according to an embodiment of the present invention;
FIG. 9 is a schematic structural diagram of an arcuate chute provided in accordance with an embodiment of the present invention;
FIG. 10 is a schematic perspective view of a bump end cap according to an embodiment of the present invention;
FIG. 11 is a schematic diagram illustrating a top view of a bump end cap according to an embodiment of the present invention;
FIG. 12 is a schematic bottom view of a bump end cap according to an embodiment of the invention;
FIG. 13 is a schematic perspective view of a baffle end cap according to an embodiment of the present invention;
FIG. 14 is a schematic top view of a baffle end cap according to an embodiment of the present invention;
FIG. 15 is a schematic bottom view of a baffle endcap according to an embodiment of the present invention;
FIG. 16 is an initial position and posture diagram of a compound yaw joint mechanism of a robot according to an embodiment of the present invention;
FIG. 17 is a right side view of a compound yaw joint mechanism of a robot according to an embodiment of the present invention;
FIG. 18 is a left side view of a compound yaw joint mechanism of a robot according to an embodiment of the present invention;
fig. 19 is a diagram illustrating an example of connection between a robot compound deflection joint mechanism and a power transmission line inspection robot according to an embodiment of the present invention.
Reference numerals in the drawings of the specification include:
1-joint one, 2-joint two, 3-steering drive motor, 4-joint external connecting seat one, 5-joint shaft one, 6-joint external connecting seat two, 7-joint shaft two, 8-joint connecting rod, 9-cylindrical cam, 10-roller push rod, 11-landing platform, 12-notch, 13-driving rocker, 14-moving slide block, 15-arc slideway, 16-arc lug, 17-spring, 18-spring rod, 19-spring seat, 20-revolving block, 21-pin connecting rod, 22-pin connecting block, 23-arc slideway part, 24-straight slideway part, 25-lug end cover, 26-lug, 27-baffle end cover, 28-upper end cover, 29-lower end cover, 30-chute, 31-connecting sleeve, 32-round baffle, 33-coupling, 34-angular contact ball bearing, 35-robot unit body and 36-joint connecting 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.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are used only for convenience in describing the present invention and for simplification of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "a" and "an" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, unless otherwise specified and limited, it is to be noted that the terms "mounted," "connected," and "connected" are to be interpreted broadly, and may be, for example, a mechanical connection or an electrical connection, a communication between two elements, a direct connection, or an indirect connection via an intermediate medium, and specific meanings of the terms may be understood by those skilled in the art according to specific situations.
In order to solve the problems in the prior art, as shown in fig. 1 to 19, the invention provides a composite deflection joint mechanism of a robot, which comprises a first joint 1, a second joint 2, a cylindrical cam 9 mechanism, a steering driving motor 3, a spring rod mechanism and a swing mechanism;
the joint I1 comprises a joint outer connecting seat I4 and a joint shaft I5 which are in rotary connection, and the joint shaft I5 is a hollow shaft; the joint II 2 comprises a joint outer connecting seat II 6 and a joint shaft II 7 which are rotatably connected, and the joint shaft I5 is connected with the joint shaft II 7 through a joint connecting rod 8;
the cylindrical cam 9 mechanism comprises a cylindrical cam 9, a roller push rod 10 and a landing platform 11, the roller push rod 10 is installed on the cylindrical cam 9, the roller push rod 10 is located in a notch 12 of the first joint outer connecting seat 4, the landing platform 11 is arranged below the roller push rod 10, the push rod part of the roller push rod 10 corresponds to the pin hole of the landing platform 11 in position and is used for realizing pin joint of the push rod part of the roller push rod 10 and the pin hole of the landing platform 11, and the landing platform 11 is fixedly connected with the joint connecting rod 8;
the steering driving motor 3 is arranged on the first joint outer connecting seat 4, an upper motor shaft of the steering driving motor 3 is fixedly connected with one end of a driving rocker 13, the other end of the driving rocker 13 is fixedly connected with a movable sliding block 14, the movable sliding block 14 is arranged in an arc-shaped slide way 15 at the top of the second joint outer connecting seat 6, and an arc-shaped convex block 16 is arranged below the driving rocker 13; a motor shaft at the lower side of the steering driving motor 3 is fixedly connected with the cylindrical cam 9;
the spring rod mechanism comprises a spring 17, a spring rod 18 and a spring seat 19, the spring rod 18 is arranged in the first joint shaft 5, the top end of the spring rod 18 is fixedly connected with the spring seat 19, and the spring 17 is arranged below the spring seat 19;
the rotating mechanism comprises a rotating block 20, a pin joint connecting rod 21 and a pin joint block 22, wherein the rotating block 20 is arranged at the bottom of the second joint outer connecting seat 6, the rotating block 20 is connected with the pin joint block 22 through the pin joint connecting rod 21, and the pin joint block 22 is positioned below the spring rod 18. Specifically, the rotary block 20 is located at the bottom of the second joint outer connecting seat 6 and fixedly connected with the lower end cover 29 through a screw, the rotary block 20 and the second joint shaft 7 are coaxially arranged, when the composite rotary joint mechanism is located at an initial position, the pin joint block 22 and the spring rod 18 are located at concentric positions, namely, the bottom end of the spring rod 18 and the pin joint block 22 keep a concentric pin joint position at the initial position, but are not in pin joint; when the left side is deviated, the bottom end of the spring rod 18 is pinned with the pin joint block 22; in a right-hand offset, the bottom end of the spring lever 18 is separated from the pin block 22.
As shown in fig. 9, the arc-shaped slide way 15 includes an arc-shaped slide way portion 23 and straight slide way portions 24 provided on both sides of the arc-shaped slide way portion 23, and the arc-shaped slide way portion 23 has an arc-shaped structure with a center of a motor shaft of the steering drive motor 3 as a center and a radius of a distance from the center of the motor shaft of the steering drive motor 3 to the center of the moving slider 14.
As shown in fig. 10 to 15, a convex block end cover 25 is arranged at the top of the joint of the first joint outer connecting seat 4 and the first joint shaft 5, and a baffle plate end cover 27 is arranged at the bottom of the joint of the first joint outer connecting seat 4 and the first joint shaft 5; an upper end cover 28 is arranged at the top of the joint of the second joint outer connecting seat 6 and the second joint shaft 7, and a lower end cover 29 is arranged at the bottom of the joint of the second joint outer connecting seat 6 and the second joint shaft 7. The upper end cover 28 and the lower end cover 29 both adopt common end covers, the lug end cover 25 is fixedly connected with two lugs 26 at the center of the common end cover, and the baffle end cover 27 is fixedly connected with a baffle at one side of the common end cover.
The upper two sides of the spring rod 18 are provided with sliding grooves 30 for matching with the lug end covers 25, and the lugs 26 of the lug end covers 25 are matched with the sliding grooves 30 of the spring rod 18 to restrict the spring rod 18 to only move up and down but not rotate circumferentially. The bottom end of the spring rod 18 is provided with a round stop piece 32 to ensure the working stability of the spring rod 18 and prevent the lower end of the spring rod 18 from entering the inside of the joint shaft one 5. Specifically, the bottom end of the spring rod 18 is threaded and engages with a circular stop 32 having an internal thread, and the circular stop 32 is screwed into the threaded position of the spring rod 18 to prevent the spring rod 18 from being disengaged.
Two springs 17 are provided, and the springs 17 are fixedly connected with the bump end caps 25. When the composite rotary joint mechanism is located at the initial position, namely the moving slide 14 is located at the middle position of the arc-shaped slide way 15, the spring 17 is in a relaxed state.
The two ends of the joint connecting rod 8 are both provided with connecting sleeves 31, the connecting sleeve 31 at one end of the joint connecting rod 8 is fixedly connected with the first joint shaft 5, the connecting sleeve 31 at the other end of the joint connecting rod 8 is fixedly connected with the second joint shaft 7, and the joint connecting rod 8 is perpendicular to the first joint shaft 5 and the second joint shaft 7.
The steering driving motor 3 is a double-shaft driving motor, and a motor shaft on the upper side and a motor shaft on the lower side synchronously rotate at the same rotating speed.
The driving rocker 13 passes through the cylindrical tube of the arc-shaped projection 16, so that the arc-shaped projection 16 is positioned below the driving rocker 13 and is fixedly connected with the driving rocker 13.
According to the invention, the first joint external connecting seat 4 and the second joint external connecting seat 6 are used for being connected with a robot, the first joint external connecting seat 4 and the first joint shaft 5 are connected through an angular contact ball bearing 34, and the second joint external connecting seat 6 and the second joint shaft 7 are also connected through the angular contact ball bearing 34. The joint I1 is provided with a steering driving motor 3, a cylindrical cam 9 mechanism and a spring rod mechanism, the steering driving motor 3 is fixedly arranged in a joint outer connecting seat I4, an upper side motor shaft of the steering driving motor 3 is fixedly connected with a driving rocker 13 through a coupling 33, when the steering driving motor 3 works, the coupling 33 is driven to deflect left and right, the coupling 33 drives the driving rocker 13 to move left and right, an arc-shaped convex block 16 moves left and right along with the driving rocker 13, and meanwhile, a moving slide block 14 at the other end of the driving rocker 13 moves along an arc-shaped slide way 15, preferably, the arc-shaped slide way 15 is fixedly connected with a joint outer connecting seat; the lower motor shaft of the steering driving motor 3 is fixedly connected with the cylindrical cam 9 in a key connection mode. The notch 12 of the first joint outer connecting seat 4 limits the push rod part of the roller push rod 10, and the push rod part of the roller push rod 10 is prevented from swinging left and right along with the rotation of the cylindrical cam 9.
The working principle of the robot composite deflection joint mechanism of the invention is as follows:
(1) as shown in fig. 16, when the composite rotary joint mechanism is at an initial position, the moving slider 14 is located at the middle position of the arc-shaped slideway 15, the roller part of the roller push rod 10 is located at the middle position of the spiral groove of the cylindrical cam 9, the push rod part of the roller push rod 10 is located in the notch 12 of the first joint outer connecting seat 4, at this time, the baffle end cover 27 blocks the pin joint block 22 from rotating to the left, so that the second joint outer connecting seat 6 and the joint connecting rod 8 are relatively fixed, the positioning accuracy when the spring rod 18 is in pin joint with the pin joint block 22 is improved, the pin joint block 22 is prevented from excessively deflecting, a condition is created for the successful internal pin joint between the spring rod 18 and the pin joint block 22 in left deflection, the spring rod 18 cannot rotate due to the constraint of the sliding groove 30 of the spring rod 18 and the lug 26 of the lug end cover 25;
(2) as shown in fig. 17, one right-side deflection process of the compound revolute joint mechanism:
the main structure of the composite rotary joint mechanism during right-side deflection is as follows: the steering driving motor 3, the first joint outer connecting seat 4, the first joint shaft 5, the second joint shaft 7, the coupler 33, the driving rocker 13, the moving slide block 14, the arc-shaped slide way 15 and the cylindrical cam 9 mechanism;
when the composite rotary joint mechanism is at an initial position and the composite rotary joint mechanism is ready to be deflected to the right, the degree of freedom of the first joint shaft 5 needs to be limited, so that the second joint outer connecting seat 6 rotates clockwise around the axis of the second joint shaft 7 to deflect the right of the composite rotary joint mechanism, specifically, when the steering driving motor 3 starts to rotate clockwise, the coupler 33 deflects to the right to drive the driving rocker 13 to move rightwards, and further drive the moving slide block 14 to slide rightwards in the arc-shaped slide way 15, and as the middle position of the arc-shaped slide way 15 is provided with an arc structure (namely an arc-shaped slide way part 23) which takes the center of a motor shaft of the steering driving motor 3 as the center of a circle and takes the distance from the center of the motor shaft of the steering driving motor 3 to the center of the moving; meanwhile, the steering driving motor 3 drives the motor shaft to rotate clockwise, and further drives the lower cylindrical cam 9 to rotate clockwise, so that the roller part of the roller push rod 10 is located below the spiral groove of the cylindrical cam 9, the cylindrical cam 9 drives the push rod part of the roller push rod 10 to move downwards along the notch 12 of the first joint outer connecting seat 4 and to be in pin joint with the pin hole of the descending platform 11, the degree of freedom of rotation of the first joint outer connecting seat 4 around the axis of the first joint shaft 5 is limited, and the joint connecting rod 8 and the first joint outer connecting seat 4 are relatively fixed;
when the steering driving motor 3 continues to rotate clockwise, the steering driving motor 3 drives the driving rocker 13 connected with the coupler 33 to move towards the right side, the driving rocker 13 drives the moving slide block 14 to slide towards the right in the straight slide way part 24 of the arc-shaped slide way 15, the arc-shaped slide way 15 is fixedly connected with the joint outer connecting seat II 6, the joint outer connecting seat II 6 rotates around the self axis of the joint shaft II 7 to start rotating, the rotating mechanism also rotates along with the joint outer connecting seat II 6, and the composite rotating joint mechanism finishes a right deviation process;
(3) the process of returning the compound rotary joint mechanism from the right deflection position to the initial position is as follows:
after the composite rotary joint mechanism finishes right-side deflection action and needs to be restored to an initial position, the steering driving motor 3 rotates anticlockwise, the steering driving motor 3 drives the driving rocker 13 connected with the coupler 33 to move towards the left side, the driving rocker 13 drives the moving slide block 14 to slide towards the left in the straight slide way portion 24 of the arc-shaped slide way 15, the arc-shaped slide way 15 is fixedly connected with the joint outer connecting seat II 6, the joint outer connecting seat II 6 rotates around the axis of the joint shaft II 7 to start to rotate towards the left, and the rotary mechanism also rotates along with the joint outer connecting seat II 6; meanwhile, when the sliding block slides to the middle position of the arc-shaped slideway 15 (namely, in the arc-shaped slideway part 23), the steering driving motor 3 continues to drive the lower motor shaft to rotate anticlockwise so as to drive the lower cylindrical cam 9 to rotate anticlockwise, so that the roller part of the roller push rod 10 is restored to the middle position of the spiral line groove of the cylindrical cam 9, and the cylindrical cam 9 drives the push rod part of the roller push rod 10 to move upwards along the notch 12 of the first joint outer connecting seat 4 and separate from the pin hole of the landing platform 11; when the initial position is recovered, the degree of freedom of the first joint outer connecting seat 4 rotating around the axis of the first joint shaft 5 is achieved, the rotary mechanism returns to the initial position along with the rotation of the second joint outer connecting seat 6, and therefore the composite rotary joint mechanism returns to the initial position from the right deflection position;
(4) as shown in fig. 18, one left side deflection process of the compound revolute joint mechanism:
the main structure of the composite rotary joint mechanism during left-side deflection is as follows: the steering driving motor 3, a joint outer connecting seat II 6, a joint connecting rod 8, a swing mechanism, a joint shaft I5, a joint shaft II 7, a coupling 33, a driving rocker 13, a moving slide block 14, an arc-shaped slideway 15, a cylindrical cam 9 mechanism, a spring rod mechanism, a bump end cover 25 and a circular baffle 32;
when the composite rotary joint mechanism is at an initial position and the composite rotary joint mechanism is ready for left deflection, the steering driving motor 3 starts to rotate anticlockwise, the coupler 33 deflects leftwards to drive the driving rocker 13 to move leftwards, and further drive the moving slide block 14 to slide leftwards in the straight slide way part 24 of the arc-shaped slide way 15; because the middle position of the arc-shaped slideway 15 is provided with an arc structure (namely, an arc slideway part 23) which takes the center of the motor shaft of the steering driving motor 3 as the center of a circle and the distance from the center of the motor shaft of the steering driving motor 3 to the center of the movable sliding block 14 as the radius, the composite rotary joint mechanism cannot rotate leftwards immediately;
the steering driving motor 3 continues to rotate anticlockwise, the first joint outer connecting seat 4 is fixed, the steering driving motor 3 drives the driving rocker 13 connected with the coupler 33 to move towards the left side, the driving rocker 13 drives the moving slide block 14 to slide towards the left in the straight slide way part 24 of the arc slide way 15, the arc convex block 16 connected with the driving rocker 13 downwards extrudes the spring seat 19 because the driving rocker 13 moves towards the left side, so that the spring rod 18 fixedly connected with the spring seat 19 is downwards in pin connection with the inner part of the pin connecting block 22, the swing mechanism is integrally and fixedly connected with the lower end cover 29 at the bottom of the second joint 2, the pin connecting block 22 and the pin connecting rod 21 in the swing mechanism are limited in rotation by the baffle of the baffle end cover 27, when the pin connecting block 22 is in contact with the baffle of the baffle end cover 27, the hole of the pin connecting block 22 is coaxial with the spring rod 18, the spring rod 18 can be guaranteed to be accurately pin-connected into the pin connecting block 22, and at the moment, the spring rod, the left-side deflection mechanism can only rotate, and can ensure that the second joint outer connecting seat 6 cannot rotate around the second joint shaft 7 when the left deflection occurs, the arc-shaped slideway 15 is fixedly connected with the second joint outer connecting seat 6, the second joint 2 starts to rotate to the left around the first joint shaft 5, and the composite rotary joint mechanism finishes a left deflection process;
(5) the process of returning the composite slewing joint mechanism from the left-side deflection position to the initial position is as follows:
when the composite rotary joint mechanism finishes left deflection action and needs to be restored to an initial position, the steering driving motor 3 starts to rotate clockwise, the coupling 33 deflects rightwards to drive the driving rocker 13 to move rightwards, and further drive the moving slide block 14 to slide rightwards in the straight slide way part 24 of the arc slide way 15, the arc slide way 15 is fixedly connected with the joint outer connecting seat II 6, the joint II 2 starts to rotate rightwards around the joint shaft I5, when the moving slide block 14 slides to the middle position (namely the arc slide way part 23) of the arc slide way 15, the arc lug 16 connected with the driving rocker 13 loses the downward pressure on the spring seat 19 because the driving rocker 13 moves rightwards, the spring rod 18 fixedly connected with the spring seat 19 is separated upwards from the inside of the pin connecting block 22, the spring rod 18 is restored to the initial position, and at the moment, the composite rotary joint mechanism returns to the initial position from the left deflection position, thus, the composite rotary joint completes one-time integral rotary process.
In the invention, when the composite rotary joint mechanism deflects to the left side, because the joint II 2 rotates around the joint shaft I5, the joint shaft I5 rotates because the joint II 2 rotates to the left side, because the joint shaft is a hollow shaft, the spring rod 18 in the joint shaft I rotates along with the rotation of the joint shaft I, in order to limit the degree of freedom of the rotation of the spring rod 18, a group of sliding grooves 30 are added at the upper part of the outer side of the spring rod 18, the sliding grooves 30 are matched with a convex block 26 at a convex block end cover 25 on the joint shaft I5, so that the spring rod 18 can only move up and down and limit the degree of freedom of the rotation of the spring rod 18, simultaneously, a thread below the spring rod 18 is matched with a round stop sheet 32 screwed at the position of the thread, when the composite rotary joint mechanism deflects to the initial position from the left side, under the action of the elastic force of the spring 17, after the arc-shaped convex block 16 loses pressure to, in order to limit the movement, the circular baffle 32 is used for blocking the position of the baffle end cover 27, and the circular baffle 32 is used for limiting the up-and-down movement of a part of the spring rod 18 in the joint shaft I5.
Installation and application embodiment of robot composite deflection joint mechanism
As shown in fig. 19, when compound rotary joint mechanism need be used to the power transmission line and patrol and examine the robot on, when the robot need carry out the wide-angle turn on the power transmission line, robot cell cube 35 cooperates through its joint connecting hole 36 with two joint outer connecting seats and is connected, after the installation, only need fixed joint outer connecting seat one 4, make two 6 rotations of joint outer connecting seat can make joint left and right sides turned angle all can reach 120, reach and to increase turned angle when reducing robot length, make the robot can effectively avoid bigger obstacle. In addition, the robot unit body 35 is replaced with a rectangular parallelepiped with a similar shape in fig. 19, and only for the purpose of showing the effect of mounting the composite swing joint mechanism on the robot unit body 35, the details of the robot unit body 35 are not shown here.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (9)
1. A robot composite deflection joint mechanism is characterized by comprising a first joint, a second joint, a cylindrical cam mechanism, a steering driving motor, a spring rod mechanism and a swing mechanism;
the first joint comprises a first joint outer connecting seat and a first joint shaft which are in rotary connection, and the first joint shaft is a hollow shaft; the joint II comprises a joint outer connecting seat II and a joint shaft II which are rotatably connected, and the joint shaft I is connected with the joint shaft II through a joint connecting rod;
the cylindrical cam mechanism comprises a cylindrical cam, a roller push rod and a landing platform, the roller push rod is installed on the cylindrical cam and is located in a notch of the first joint outer connecting seat, the landing platform is arranged below the roller push rod, and the landing platform is fixedly connected with the joint connecting rod;
the steering driving motor is arranged on the first joint outer connecting seat, an upper motor shaft of the steering driving motor is fixedly connected with one end of a driving rocker, the other end of the driving rocker is fixedly connected with a moving sliding block, the moving sliding block is arranged in an arc-shaped slide way at the top of the second joint outer connecting seat, and an arc-shaped convex block is arranged below the driving rocker; a motor shaft at the lower side of the steering driving motor is fixedly connected with the cylindrical cam;
the spring rod mechanism comprises a spring, a spring rod and a spring seat, the spring rod is arranged in the first joint shaft, the top end of the spring rod is fixedly connected with the spring seat, and the spring is arranged below the spring seat;
the swing mechanism comprises a swing block, a pin joint connecting rod and a pin joint block, the swing block is arranged at the bottom of the second joint outer connecting seat, the swing block is connected with the pin joint block through the pin joint connecting rod, and the pin joint block is located below the spring rod.
2. The composite yaw joint mechanism of a robot according to claim 1, wherein the arc-shaped slideway includes an arc-shaped slideway portion and straight slideway portions disposed at both sides of the arc-shaped slideway portion, and the arc-shaped slideway portion is an arc-shaped structure having a center of a motor shaft of the steering driving motor as a center of a circle and a radius of a distance from the center of the motor shaft of the steering driving motor to a center of the moving slider.
3. The compound yaw joint mechanism of robot of claim 1, characterized in that a bump end cover is arranged on the top of the joint of the first joint outer connecting seat and the first joint shaft, and a baffle end cover is arranged on the bottom of the joint of the first joint outer connecting seat and the first joint shaft; an upper end cover is arranged at the top of the joint of the second joint outer connecting seat and the second joint shaft, and a lower end cover is arranged at the bottom of the joint of the second joint outer connecting seat and the second joint shaft.
4. The compound yaw joint mechanism of robot of claim 1, wherein sliding grooves are provided on both sides of the upper portion of the spring rod.
5. The robotic compound yaw joint mechanism of claim 3, wherein there are two of the springs and the springs are secured with lug end caps.
6. The compound yaw joint mechanism of robot of claim 1, wherein the joint link has two ends each provided with a connecting sleeve, the connecting sleeve at one end of the joint link is fixedly connected with the first joint shaft, the connecting sleeve at the other end of the joint link is fixedly connected with the second joint shaft, and the joint link is vertically arranged with both the first joint shaft and the second joint shaft.
7. The compound yaw joint mechanism of robot of claim 1, wherein a circular stop is mounted to a bottom end of the spring rod.
8. The compound yaw joint mechanism of robot of claim 1, wherein the steering driving motor is a dual-axis driving motor, and the upper motor shaft and the lower motor shaft thereof run synchronously at the same speed.
9. The compound yaw joint mechanism of robot of claim 1, wherein the drive rocker passes through the cylindrical tube of the arcuate projection, such that the arcuate projection is located below the drive rocker and is fixedly connected to the drive rocker.
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| CN202110306984.6A CN112809735B (en) | 2021-03-23 | 2021-03-23 | Compound joint mechanism that deflects of robot |
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| CN202110306984.6A CN112809735B (en) | 2021-03-23 | 2021-03-23 | Compound joint mechanism that deflects of robot |
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| CN112809735B CN112809735B (en) | 2022-03-18 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023124394A1 (en) * | 2021-12-31 | 2023-07-06 | 赛诺微医疗科技（浙江）有限公司 | Deflection joint structure, stapler and medical equipment |
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| CN112809735B (en) | 2022-03-18 |
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