CN113829385A - Sucking disc formula ball joint machinery wrist - Google Patents
Sucking disc formula ball joint machinery wrist Download PDFInfo
- Publication number
- CN113829385A CN113829385A CN202111281967.8A CN202111281967A CN113829385A CN 113829385 A CN113829385 A CN 113829385A CN 202111281967 A CN202111281967 A CN 202111281967A CN 113829385 A CN113829385 A CN 113829385A
- Authority
- CN
- China
- Prior art keywords
- rod
- ball joint
- sucker
- spherical
- electric push
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a sucker type ball joint mechanical wrist which comprises a base, a central shaft, a rotary disc, a sucker type ball joint part, an upper platform and an electric push rod, wherein the central shaft is arranged on the base; sucking disc formula ball joint part includes bulb, sucking disc, convex nut and pendulum rod, and the sucking disc forms a pair of sphere pair with the bulb jointly, and through electric putter's flexible and the rotation of carousel center pin, it can rotate round the vertical axle of sucking disc formula ball joint to drive the upper platform to can overturn at vertical face and horizontal plane simultaneously. The invention can realize the flexible movement of the mechanical wrist in a three-dimensional space under the condition of not changing the original pose of the mechanical arm, and has large working space and simple structure.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a sucker type ball joint mechanical wrist.
Background
With the advent of the artificial intelligence era, robots are widely applied in the fields of industry, agriculture, service, medical treatment, military and the like. Manipulators are an important branch of robotics and perform a variety of desired tasks, such as grasping, carrying, or manipulating other tools, by mimicking certain actions, structures, and functions of a human arm. The manipulator extends and expands the functions of hands, feet and brain of a person, can replace the person to work in dangerous, harmful, toxic, low-temperature, high-temperature and other severe environments, replaces the human to finish heavy and monotonous repeated work, improves the labor productivity and ensures the product quality. The mechanical wrist is an important structure for connecting the mechanical arm and the end effector, the position of the end effector can be precisely adjusted, and the flexibility and the accuracy of the structure of the mechanical wrist greatly influence the functions of the mechanical arm. For example, patent CN109940658B discloses a mechanical wrist with built-in spherical joint, which has insufficient flexibility and small range of motion and working space, so that the motion control of the mechanical hand is more complicated.
Disclosure of Invention
The invention aims to overcome the defect that the existing mechanical wrist has a small moving range, realize the movement of the mechanical wrist in any direction in a three-dimensional space under the condition of ensuring the current pose of the mechanical hand, and ensure that the movement of the mechanical wrist is more flexible and has more working space.
The invention provides the following technical scheme: a sucking disc formula ball joint machinery wrist, its characterized in that: be equipped with a center pin that upwards extends on the base, the cover is equipped with one and the endocentric carousel of center pin on the center pin, the center pin top is connected with a sucking disc formula ball joint part, sucking disc formula ball joint part has bulb, sucking disc, convex nut and pendulum rod from up having in proper order down, the bulb of ball joint part is located the sucking disc, the sucking disc forms a pair of sphere pair jointly with the bulb, sucking disc upper portion is connected with the pendulum rod to be located the circular arc of convex nut, convex nut connects on the pendulum rod, an upper mounting plate is connected to the pendulum rod upper end.
The upper end of the turntable is provided with two spherical rod end joint bearings, the spherical rod end joint bearings are installed around a central shaft at an angle not smaller than 90 degrees, the two spherical rod end joint bearings can not be arranged on the same circumference, the upper ends of the spherical rod end joint shafts are respectively connected with an electric push rod I and an electric push rod II, the top ends of the electric push rod I and the electric push rod II are respectively connected with a ball head, and the ball heads are respectively connected with ball sockets in a U-shaped boss on the side surface of the upper platform to jointly form a pair of spherical pairs; the lower end of the rotary table is provided with a driving device, the driving device drives the rotary table to rotate so as to drive the electric push rod to rotate, and finally the upper platform is driven to rotate, so that the whole sucker type ball joint component can rotate around the central shaft; meanwhile, the rod parts are driven to respectively stretch by the two electric push rods, so that the upper platform is driven to swing on the vertical surface and the horizontal surface, and the swing rod is driven to swing around the spherical center of the ball head on the vertical surface and the horizontal surface.
Further, actuating mechanism includes motor, planetary gear, sun gear, the motor is installed on the carousel bottom surface, the output shaft downwardly extending of motor and fixed suit planetary gear, the fixed cover of being equipped with sun gear on the center pin between carousel and the base, sun gear and carousel coaxial, planetary gear meshes with sun gear mutually.
Further, the base center is equipped with the center pin that upwards extends, and the center shaft that tells is equipped with the carousel, the bearing is installed at the carousel center, the bearing suit is on the center pin of base.
Further, the motor is installed on the bottom surface of the rotary table, the two spherical rod end joint bearings are installed on the top surface of the rotary table, the spherical rod end joint bearings are installed around the central shaft at an angle not smaller than 90 degrees, and the two spherical rod end joint bearings can be not located on the same circumference.
Furthermore, the bottom end of the electric push rod is connected with a ball head rod of the spherical rod end joint bearing, and the top end of the electric push rod is connected with the ball head.
Furthermore, a horizontal reinforcing rod is arranged at the center of the upper platform, the center of the reinforcing rod is connected with a swing rod of the sucker type ball joint, two adjacent side surfaces of the upper platform are respectively provided with a U-shaped boss, a ball socket structure is arranged at the center of the U-shaped boss, and the ball socket structure is connected with a ball head at the top end of the electric push rod to jointly form a pair of spherical pairs.
Furthermore, the upper end of the swing rod is connected with a reinforcing rod of the upper platform, the tail end of the swing rod is connected with the sucker, the swing rod is connected with the arc nut through threads, and the sucker and the ball head of the sucker type ball joint form a spherical pair together.
Compared with the prior art, the invention has the advantages that:
1. according to the sucker type ball joint mechanical wrist, when the rotary table does not rotate, the upper platform is pushed to move through the electric push rod, so that the whole sucker type ball joint component is driven to turn over on the horizontal plane and the vertical plane around the sphere center of the ball head; when the production and processing task is executed, the spatial movement of the wrist can be realized without changing the motion pose of the manipulator, the motion range and flexibility of the manipulator are increased, and the production efficiency is improved.
2. According to the sucker type ball joint mechanical wrist provided by the invention, the rotating component forms a spherical pair by utilizing the atmospheric pressure generated by the sucker. The upper end of the sucker is provided with an arc nut which is extruded with the sucker to adjust the exhaust air quantity, so that the exhaust air quantity can be adjusted according to actual requirements; the sucker type ball joint increases the range of joint motion, improves the flexibility of the joint, and has simpler structure, convenient assembly and disassembly and stronger applicability.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a schematic structural view of the suction cup ball joint component of the present invention;
FIG. 3 is a schematic view of the upper platform structure of the present invention;
FIG. 4 is an enlarged view of the upper platform side boss of the present invention;
FIG. 5 is an example of a motion analysis 1 of the present invention;
FIG. 6 is an example of the motion analysis of the present invention 2;
FIG. 7 is an example of a motion analysis 3 according to the present invention;
FIG. 8 is an example of the motion analysis 4 of the present invention;
FIG. 9 illustrates various circumferentially mounted spherical rod end knuckle bearings in accordance with an example of the present invention.
Reference numbers in the figures: 1-planet gear, 2-motor, 3-turntable, 4-bearing, 5-sucker type ball joint component, 6-swing rod, 7-upper platform, 8-boss, 9-stiffener, 10-ball socket, 11-electric push rod I, 12-electric push rod II, 13-central shaft, 14-spherical rod end joint bearing, 15-sun gear, 16-base, 51-ball head, 52-sucker and 53-circular arc nut.
Detailed Description
The embodiments of the present invention will be described in detail below with reference to the drawings, which are only a part of the embodiments of the present invention and not all of the embodiments. The scope of protection of the invention is not limited to the following examples.
Referring to fig. 1 to 3, the embodiment discloses a sucker type ball joint mechanical wrist, a base (16) is provided with an upward extending central shaft (13), the central shaft (13) is sleeved with a turntable (3) concentric with the central shaft (13), the top end of the central shaft (13) is connected with a sucker type ball joint component (5), the sucker type ball joint component (5) comprises a ball head (51), a sucker (52), an arc nut (53) and a swing rod (6), the end part of the swing rod (6) is provided with a thread, the sucker (52) of the sucker type ball joint component (5) coats the ball head (51), the sucker (52) and the ball head (51) form a pair of spherical pairs, the upper part of the sucker (52) is connected with the swing rod (6) and is positioned in an arc of the arc nut (53), the arc nut (53) and the swing rod (6) are connected with each other through the thread, and move downwards on the swing rod (6) through the arc nut (53), air in the sucker (52) is squeezed out, the sucker (52) is adsorbed on the ball head (51) by utilizing atmospheric pressure, a spherical pair is finally formed, and the upper end of the swing rod (6) is connected with the upper platform (7) through the reinforcing rod (9).
Two spherical rod end joint bearings (14) are arranged at the upper end of the rotary table (3), the spherical rod end joint bearings (14) can be installed around the central shaft (13) at a certain angle, and the angle is not less than 90 degrees; the upper end of a spherical rod end joint bearing (14) is respectively connected with an electric push rod I (11) and an electric push rod II (12), the upper ends of the electric push rod I (11) and the electric push rod II (12) are respectively connected with a ball head and are respectively connected with a ball socket (10) in a U-shaped boss (8) on the side surface of an upper platform to form a pair of spherical pairs, the lower end of a turntable (3) is provided with a motor (2), the motor (2) drives the turntable (3) to rotate around a central shaft (13), and a bearing (4) is arranged between the turntable (3) and the central shaft (13) to reduce friction in the rotating process; carousel (3) rotates round center pin (13), and then drives electric putter I (11) and electric putter II (12) and rotate, finally drive upper mounting plate (7) and rotate round center pin (13), make whole sucking disc formula ball joint part (5) can rotate round center (13), and simultaneously, stretch out and draw back respectively through electric putter I (11) and electric putter II (12), it can be at vertical face and horizontal plane swing to drive upper mounting plate (7), and then drive pendulum rod (6) and swing round the centre of sphere of bulb (51) at vertical face and horizontal plane respectively.
Specifically, motor (2) are installed on the carousel bottom surface, the output shaft downwardly extending of motor (2) and fixed suit planetary gear (1), fixed cover is equipped with sun gear (15) on the center pin between carousel (3) and base (16), sun gear (15) and carousel coaxial, planetary gear (1) meshes with sun gear (15) mutually, motor (2) drive planetary gear (1) rotate round sun gear (15), and then drive carousel (3) and rotate round center pin (13).
Specifically, there is a horizontal stiffener (9) at upper platform (7) center, pendulum rod (6) upper end of sucking disc formula ball joint part (5) is connected in stiffener (9), two adjacent sides of upper platform (7) respectively have a U type boss (8), U type boss (8) central point puts respectively has a ball socket (10), ball socket (10) are connected with the top bulb of electric putter I (11) and electric putter II (12), form a pair of sphere pair jointly, upper platform (7) can add the manipulator structure according to the actual work requirement.
In practical application, in order to achieve a better motion state, the spherical rod end joint bearing (14) is installed around the central shaft (13) at an angle of 90 degrees, the motor (2) can drive the planetary gear (1) to rotate around the sun gear (15), so as to drive the rotary disc (3) to rotate around the central shaft (13), and the rotary disc (3) drives the upper platform (7) connected with the electric push rod (12) to rotate around the ball head (51) of the sucker type ball joint component (5), as shown in fig. 5; when the turntable (3) is fixed and the electric push rod I (11) is not telescopic, the electric push rod II (12) drives the rod part to be telescopic, and then is connected with the ball socket (10) of the upper platform (7) through the ball head, and drives the upper platform (7) to turn over around the ball head (51) of the sucker type ball joint part (5) through the swing rod to form a vertical surface, as shown in figure 6; similarly, when the turntable (3) is fixed and the electric push rod II (12) is not stretched, the electric push rod I (11) drives the rod part to stretch, so that the upper platform (7) can turn over around the ball head (51) of the sucker type ball joint component (5) through the swing rod in a horizontal plane, as shown in fig. 7; when the turntable (3) is fixed, the electric push rod I (11) and the electric push rod II (12) stretch simultaneously, so that the upper platform can move in any direction in a two-dimensional space position, as shown in fig. 8; when the rotation motion of the turntable (3) and the telescopic motion of the electric push rod I (11) and the electric push rod II (12) are combined with each other, the upper platform can move in any direction in a three-dimensional space position, and meanwhile, the pose of an original manipulator is not influenced, so that the wrist structure is more flexible.
The above description is only intended to illustrate and describe the preferred embodiments of the present invention, and not to limit the present invention, and any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A sucking disc formula ball joint machinery wrist, its characterized in that: the base (16) is provided with a central shaft (13) extending upwards, a turntable (3) concentric with the central shaft is sleeved on the central shaft (13), the top end of the central shaft (13) is connected with a sucker type ball joint component (5), the sucker type ball joint component (5) is sequentially provided with a ball head (51), a sucker (52), an arc nut (53) and a swing rod (6) from bottom to top, the ball head (51) of the sucker type ball joint component (5) is positioned in the sucker (52), the sucker (52) and the ball head (51) jointly form a pair of spherical pairs, the upper part of the sucker (52) is connected with the swing rod (6) and positioned in an arc of the arc nut (53), the arc nut (53) is connected with the swing rod (6), and the upper end of the swing rod (6) is connected with an upper platform (7);
the upper end of the rotary table (3) is provided with two spherical rod end joint bearings (14), the spherical rod end joint bearings (14) are installed around a central shaft (13) at an angle not smaller than 90 degrees, the two spherical rod end joint bearings (14) can not be arranged on the same circumference, the upper ends of the spherical rod end joint bearings (14) are respectively connected with an electric push rod I (11) and an electric push rod II (12), the top ends of the electric push rod I (11) and the electric push rod II (12) are respectively connected with a ball head (51), and the ball heads (51) are respectively connected with ball sockets (10) in a U-shaped boss (8) on the side surface of the upper platform (7) to form a pair of spherical pairs; the lower end of the rotary table (3) is provided with a driving device, the driving device drives the rotary table (3) to rotate, further drives the electric push rod (12) to rotate, and finally drives the upper platform (7) to rotate, so that the whole sucker type ball joint component (5) can rotate around the central shaft (13); meanwhile, the rod parts are driven to respectively stretch by the electric push rod I (11) and the electric push rod II (12), so that the upper platform (7) is driven to swing on a vertical surface and a horizontal surface, and the swing rod (6) is driven to swing around the center of the ball head (51) on the vertical surface and the horizontal surface.
2. The suction cup type ball joint mechanical wrist of claim 1, wherein: drive arrangement includes motor (2), planetary gear (1), sun gear (15), install in carousel (3) bottom surface motor (2), the output shaft downwardly extending of motor (2) and fixed suit planetary gear (1), fixed cover is equipped with sun gear (15) on center pin (13) between carousel (3) and base (16), sun gear (15) are coaxial with carousel (3), planetary gear (1) meshes with sun gear (15) mutually.
3. The suction cup type ball joint mechanical wrist of claim 1, wherein: the base (16) center is equipped with center pin (13) that upwards extends, center pin (13) cover is equipped with carousel (3), bearing (4) are installed at carousel (3) center, the bearing suit is on center pin (13) of base (16).
4. The suction cup type ball joint mechanical wrist of claim 1, wherein: the motor (2) is installed on the bottom surface of the rotary table (3), the two spherical rod end joint bearings (14) are installed on the top surface of the rotary table, the spherical rod end joint bearings (14) are installed around the central shaft (13) at an angle not smaller than 90 degrees, and the two spherical rod end joint bearings (14) can not be located on the same circumference.
5. The suction cup type ball joint mechanical wrist of claim 1, wherein: the bottom end of the electric push rod (12) is connected with a ball head rod of the spherical rod end joint bearing (14), and the top end of the electric push rod is connected with the ball head.
6. The suction cup type ball joint mechanical wrist of claim 1, wherein: the upper platform (7) center has a horizontal stiffener (9), the pendulum rod (6) of sucking disc formula ball joint part (5) is connected in stiffener (9) center, two adjacent sides of upper platform (7) have a U type boss (8) respectively, U type boss (8) central point puts ball socket (10) structure, ball socket (10) structure is connected with electric putter (12) top bulb, forms a pair of sphere pair jointly.
7. The suction cup type ball joint mechanical wrist of claim 1, wherein: the upper end of the swing rod (6) is connected with a reinforcing rod (9) of the upper platform (7), the tail end of the swing rod is connected with a sucker (52), the swing rod (6) is connected with a circular arc nut (53) through threads, and the sucker (52) and a ball head (51) of the sucker type ball joint component (5) form a spherical pair together.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111281967.8A CN113829385A (en) | 2021-11-01 | 2021-11-01 | Sucking disc formula ball joint machinery wrist |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111281967.8A CN113829385A (en) | 2021-11-01 | 2021-11-01 | Sucking disc formula ball joint machinery wrist |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113829385A true CN113829385A (en) | 2021-12-24 |
Family
ID=78966622
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111281967.8A Pending CN113829385A (en) | 2021-11-01 | 2021-11-01 | Sucking disc formula ball joint machinery wrist |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113829385A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116038754A (en) * | 2023-03-28 | 2023-05-02 | 之江实验室 | Arm wrist joint, arm and humanoid robot |
| CN117191245A (en) * | 2023-11-06 | 2023-12-08 | 正元大川测控技术(山东)有限公司 | Stability measuring device for assembled building connection structure |
-
2021
- 2021-11-01 CN CN202111281967.8A patent/CN113829385A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116038754A (en) * | 2023-03-28 | 2023-05-02 | 之江实验室 | Arm wrist joint, arm and humanoid robot |
| CN117191245A (en) * | 2023-11-06 | 2023-12-08 | 正元大川测控技术(山东)有限公司 | Stability measuring device for assembled building connection structure |
| CN117191245B (en) * | 2023-11-06 | 2024-02-02 | 戚军 | Stability measuring device for assembled building connection structure |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113829385A (en) | Sucking disc formula ball joint machinery wrist | |
| CN107010136B (en) | Six-degree-of-freedom walking robot single-leg structure capable of performing leg-arm fusion operation | |
| CN108818502B (en) | Two-movement one-rotation parallel mechanism with spherical surface rotation freedom degree | |
| CN107253188B (en) | A kind of multiple degrees of freedom Simple mechanical arm based on IPMC driving | |
| CN207522634U (en) | The wrist joint of robot mechanism of omnidirectional's wheel drive | |
| CN112720545A (en) | Humanoid parallel robot dexterous hand | |
| CN103203741B (en) | Three-degree-of-freedom parallel robot mechanism | |
| CN107030728B (en) | Multi-connecting-rod robot head and neck control mechanism | |
| CN103495971A (en) | Five degree-of-freedom combined robot platform | |
| CN109922929A (en) | Apparatus for work and dual-arm apparatus for work | |
| CN105563458B (en) | A kind of parallel robot of four-bar linkage | |
| CN103802094A (en) | Parallel robot | |
| CN106671062A (en) | Three-translation one-rotation four-degree-of-freedom parallel mechanism | |
| CN106903710B (en) | Humanoid dexterous hand base joint mechanism | |
| US7765892B2 (en) | Multi-degree-of-freedom motion mechanism | |
| CN107639647A (en) | The wrist joint of robot mechanism of omnidirectional's wheel drive | |
| CN216372272U (en) | Sucking disc formula ball joint machinery wrist | |
| CN202071080U (en) | Pneumatic muscle flexible elbow joint device with buffer spring and flexible shaft sleeve | |
| CN208246812U (en) | A kind of wu-zhi-shan pig | |
| CN112918583A (en) | Pipeline inner wall four-foot wall-climbing robot and kinematics analysis method thereof | |
| CN110394777B (en) | Multi-degree-of-freedom parallel grabbing robot for model recovery | |
| CN101045302A (en) | Multi-freedon arm of human imitating robot | |
| CN113561157B (en) | Two-rotation two-movement four-degree-of-freedom parallel mechanism | |
| CN108714887B (en) | Spatial parallel mechanism with three degrees of freedom | |
| CN214823733U (en) | Pipeline inner wall four-foot wall-climbing robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |