CN115871020B - Micro-robot joint with heavy load - Google Patents
Micro-robot joint with heavy load Download PDFInfo
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- CN115871020B CN115871020B CN202310213083.1A CN202310213083A CN115871020B CN 115871020 B CN115871020 B CN 115871020B CN 202310213083 A CN202310213083 A CN 202310213083A CN 115871020 B CN115871020 B CN 115871020B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
The invention discloses a micro-robot joint with a large load, and particularly relates to the field of robots, comprising a first movable arm; a second movable arm; a fixed block; the sliding rod penetrates through the second movable arm; the driving device is arranged on the second movable arm and is used for driving the sliding rod to move; and the hinge rod is hinged to the sliding rod, and one end far away from the sliding rod is hinged to the fixed block. According to the invention, the sliding rod, the fixed block and the hinge rod are arranged, and the sliding rod, the fixed block and the hinge rod form the crank block mechanism, so that the hinge rod can be driven to swing through the movement of the sliding rod, and the fixed block can be driven to rotate around the rotating pivot of the first movable arm on the second movable arm.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a miniature robot joint with a large load.
Background
Micro robots, i.e. robots with smaller volumes, are related art industrial robots with movable joints that are more focused on higher degrees of freedom and thus have a larger swing amplitude. However, the joints are controlled by a servo motor with larger volume, and in order to realize larger load capacity, the reduction transmission gear train is relatively heavy, so that the volume cannot be reduced. Once miniature motors are employed to reduce the volume, the load capacity will be greatly reduced.
Through retrieval, chinese patent No. CN108705557B discloses a micro-robot joint, comprising a first movable joint, a second movable joint, a unit motor, a driving member and a cam; the unit motor is fixedly arranged in the first movable joint, and a driving component is connected to the upper transmission of the unit motor; the front side and the rear side of the driving component are provided with driving parts which extend outwards in a protruding way; the front side and the rear side of the cam are respectively provided with a first guide rail and a second guide rail, the first guide rail on one side is an upper arch with the middle part arched upwards and the left side and the right side protruding downwards, the second guide rail on the other side is a lower arch with the middle part arched downwards and the left side and the right side recessed upwards, and the two driving parts are respectively in contact transmission with the two guide rails; the cam is fixedly arranged at the tail part of the second movable joint and hinged with the first movable joint, so that the cam can swing in a left-right rotation mode based on the first movable joint, and the first movable joint and the second movable joint are hinged with each other. The invention realizes the swing of the joint with small volume and high load by the cam.
When the joint of the micro-robot in the prior art moves, the motor drives the cam to rotate, and then the cam structure drives the joint to move, so that the joint load of the micro-robot is increased, but the swing range of the conventional micro-robot joint is limited by the axial movement distance of the rolling wheels on the guide roller, so that the swing range of the micro-robot joint is smaller.
Disclosure of Invention
In order to overcome the above-mentioned drawbacks of the prior art, an embodiment of the present invention provides a micro-robot joint with a large load, and the technical problems to be solved by the present invention are as follows: the swing range of the micro-robot joint in the prior art is limited by the axial moving distance of the rolling wheel rolling on the guide roller, so that the swing range of the micro-robot joint is smaller.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a micro-robot joint with heavy load, includes first movable arm, second movable arm, be equipped with the fixed block on the first movable arm, the fixed block rotates to be connected in the second movable arm, still includes:
the sliding rod is arranged on the second movable arm in a penetrating manner and can slide freely on the second movable arm;
the driving device is arranged on the second movable arm and is used for driving the sliding rod to move;
and the hinge rod is hinged to the sliding rod, and one end far away from the sliding rod is hinged to the fixed block.
As shown in fig. 1 to 8, the embodiment specifically includes: the actuating mechanism is installed on the first movable arm, the second movable arm is connected with the micro-robot body, when the micro-robot is operated, the driving device drives the sliding rod to move, so that the sliding rod moves along the length direction of the second movable arm, in addition, the sliding rod, the fixed block and the hinge rod form a crank sliding block mechanism, at the moment, the hinge rod can be driven to swing through the movement of the sliding rod, and then the fixed block can be driven to rotate around the rotating pivot of the first movable arm on the second movable arm, and due to the crank sliding block mechanism, the load born by the first movable arm can be increased, and in addition, the rotating range of the first movable arm is increased through the crank sliding block mechanism, so that the swinging stroke of the first movable arm and the second movable arm is increased.
In a preferred embodiment, the driving means comprises:
the motor is arranged in a motor mounting cavity formed in the second movable arm;
the connecting shaft is in driving connection with a motor shaft of the motor, and a mounting cavity through which the connecting shaft can freely pass is formed in the second movable arm;
the driving sleeve is movably connected in the mounting cavity, a sliding cavity through which the connecting shaft can freely pass is coaxially arranged in the driving sleeve, the sliding cavity and the connecting shaft form sliding fit, and the driving sleeve is connected with one end of the sliding rod penetrating into the second movable arm;
the two short pins are fixedly connected to one end, far away from the motor, of the connecting shaft, a limiting groove for inserting the short pins is formed in the outer wall of the driving sleeve, the short pins slide freely in the limiting groove, and when the short pins slide, the connecting shaft can be driven to move along the axial direction of the driving sleeve and rotate around the connecting shaft.
When carrying out the operation, when needs first movable arm produces the swing action around the second movable arm, at first start and drive the connecting axle rotation by the motor, and then make two short round pins slide in two spacing grooves of drive sleeve respectively, during the slip, can make the drive sleeve follow its axial displacement in step, and then drive the slide bar horizontal migration and just, when the slide bar horizontal migration, can drive first movable arm rotate along the rotation fulcrum with the second movable arm, because turn into the rotation of motor the horizontal migration of drive slide bar, make second movable arm overall structure set up compactly like this, and conveniently control first movable arm along the pivoted scope size with the rotation fulcrum of second movable arm through the rotational speed of control motor, turn to.
In a preferred embodiment, two of said short pins are arranged in an axial array along the connecting shaft.
Because the two short pins are arranged in the axial array of the connecting shaft, the acting force born by the two short pins can be uniformly dispersed, and the abrasion born by the short pins is reduced.
In a preferred embodiment, a detection structure is provided between the drive sleeve and the slide bar, the detection structure being used to detect the load of the first movable arm.
The load of the first movable arm is detected through the detection structure, so that the load born by the actuating mechanism installed on the first movable arm can be detected, the weights of products operated by the actuating mechanism are different, and when the detected load reaches or exceeds the upper limit of the threshold, the products in the wrong model can be timely found and controlled, and the actuating mechanism is prevented from operating the products in the wrong model.
In a preferred embodiment, the detection structure comprises:
the detection seat is coaxially and fixedly connected to the driving sleeve and is arranged at one end, far away from the motor, of the driving sleeve, and can slide in the mounting cavity and form sliding fit with the mounting cavity;
the limiting ring is fixedly sleeved at one end of the sliding rod penetrating into the second movable arm, a cavity for clamping the limiting ring is formed in the second movable arm, the limiting ring and the cavity form sliding fit, and the sliding rod can penetrate into the detection seat in a sliding manner;
the pressure detection unit is arranged in the cavity of the detection seat and is used for detecting the moving stroke of the limiting ring towards the direction of the first movable arm.
The first movable arm swings upwards when acting, so that the first movable arm can bear the load born by the actuating mechanism, meanwhile, in the swinging process, the sliding rod is acted by the load to slide towards the outer side direction of the second movable arm, the limiting ring slides towards the outer side direction of the second movable arm in the cavity, meanwhile, the pressure detection unit detects the sliding process of the limiting ring, when the limiting ring slides, the pressure detection unit detects the pressure of the pressure detection unit when detecting the movement of the limiting ring, and the load born by the first movable arm can be analyzed through the analysis of the pressure change.
In a preferred embodiment, the pressure detection unit includes:
the pressure sensor is fixedly connected to the inner wall of the cavity, and the sliding rod can freely penetrate out of a middle hole of the pressure sensor;
the pressurizing ring is movably sleeved on the sliding rod and positioned between the pressure sensor and the limiting ring, and the pressurizing ring and the cavity form sliding fit;
the elastic element is arranged in the cavity and is positioned between the pressurizing ring and the limiting ring.
In the initial state, the elastic propping force of the elastic element to the limiting ring is used for enabling the limiting ring to have a pulling force on the sliding rod, so that the load of the first movable arm born by the sliding rod is increased, meanwhile, the elastic propping force is generated on the pressing ring through the elastic element, the pressing ring can continuously prop against the pressure sensor, so that the pressure sensor generates a pressure signal and feeds back the pressure signal to the external controller, the maximum value of the pressure data of the pressure sensor is observed, the data value of the pressure sensor is compared with the data value of the preset pressure sensor, whether the load of the actuating mechanism on the first movable arm is consistent or not is analyzed, if the load of the actuating mechanism on the first movable arm is inconsistent, the fact that the product signal is wrong is indicated, the processing is needed, and otherwise, the problem of mixed model is easy to generate.
In a preferred embodiment, the elastic element is a spring sleeved on the sliding rod, and two ends of the elastic direction of the spring respectively elastically abut against the pressing ring and the limiting ring. The spring has simple structure and lower cost.
In a preferred embodiment, the driving device further includes a damping structure for generating a damping force to the fixed block, the damping structure including:
the damping block is rotationally connected with the second movable arm through the mounting rotating shaft, and can prop against the surface of the fixed block when rotating around a rotating pivot point of the second movable arm;
the swing arm is fixedly connected with the damping block;
the push rod is hinged to the swing arm;
and the overturning unit is used for driving the push rod to move and driving the damping block to overturn along a rotating fulcrum with the second movable arm.
When the first movable arm swings, the overturning unit drives the push rod to horizontally correspond, and when the push rod horizontally moves, the push rod can drive the swing arm to rotate, so that the swing arm drives the damping block to rotate, the damping block is abutted against the surface of the fixed block, and damping force is generated on the rotation of the fixed block, so that after the first movable arm and the second movable arm swing in place, the damping force on the surface of the fixed block is generated through the damping block, and the first movable arm cannot automatically rotate.
In a preferred embodiment, the flipping unit comprises:
the driving gear is sleeved on the connecting shaft, and the second movable arm is provided with a clearance groove for the free passing of the rotation of the driving gear;
the driven gear is rotationally connected with the second movable arm and meshed with the driving gear;
the screw rod is coaxially fixedly connected with the driven gear and synchronously rotates with the driven gear;
the screw sleeve is sleeved on the screw rod in a threaded manner and hinged with one end, far away from the swing arm, of the push rod.
The motor drives the connecting shaft to rotate, so that the first movable arm can be driven to swing, meanwhile, the rotation of the connecting shaft can synchronously drive the driven gear to rotate, and when the driven gear rotates, the screw rod is driven to rotate, so that the screw sleeve drives the push rod to move, and then the push rod drives the damping block to rotate, the structure is simple, and the damping block can synchronously carry out along with the swinging process of the first movable arm, so that the damping block can synchronously abut against the fastening block after the first movable arm swings in place, and the first movable arm is prevented from loosening when an executing mechanism executes actions.
The invention has the technical effects and advantages that:
according to the invention, the sliding rod, the fixed block and the hinge rod are arranged, and the sliding rod, the fixed block and the hinge rod form a crank block mechanism, so that the hinge rod can be driven to swing through the movement of the sliding rod, and the fixed block can be driven to rotate around the rotating pivot of the first movable arm on the second movable arm;
according to the invention, the motor, the connecting shaft, the short pin and the driving sleeve are arranged, and the rotation of the motor is converted into the horizontal movement of the driving sliding rod, so that the whole structure of the second movable arm is compactly arranged, and the rotation range of the first movable arm along the rotation pivot of the second movable arm is conveniently controlled by controlling the rotation speed and the rotation direction of the motor;
according to the invention, the motor, the screw rod, the nut sleeve, the driving gear and the driven gear are arranged, the connecting shaft is driven to rotate by the motor, so that the first movable arm can be driven to swing, meanwhile, the driven gear can be synchronously driven to rotate by the rotation of the connecting shaft, and when the driven gear rotates, the screw rod is driven to rotate, the nut sleeve drives the push rod to move, and then the push rod drives the damping block to rotate.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of the structure of FIG. 1 from the bottom;
FIG. 3 is a schematic cross-sectional view of the structure of FIG. 1;
FIG. 4 is an enlarged schematic view of a partial structure at A in FIG. 3;
FIG. 5 is a schematic cross-sectional view of a second movable arm of the present invention;
FIG. 6 is a schematic view of the structure of the driving sleeve according to the present invention;
FIG. 7 is a schematic cross-sectional view of the structure of FIG. 6;
FIG. 8 is a schematic view of a damper block according to the present invention.
The reference numerals are: the device comprises a first movable arm, a second movable arm, a 3-driven gear, a 4-screw rod, a 5-screw sleeve, a 6-push rod, a 7-fixed block, an 8-swing arm, a 9-connecting shaft, a 10-motor, an 11-driving gear, a 12-installation cavity, a 13-driving sleeve, a 14-sliding rod, a 15-hinge rod, a 16-damping block, a 17-short pin, a 18-sliding cavity, a 19-limiting ring, a 20-spring, a 21-pressing ring, a 22-pressure sensor, a 23-cavity, a 24-detection seat and a 25-limiting groove.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 to 8, the present invention provides a micro-robot joint with a heavy load, comprising a first movable arm 1 and a second movable arm 2, wherein the first movable arm 1 is provided with a fixed block 7, the fixed block 7 is connected to the second movable arm 2 through a mounting pivot, a part of the outer wall of the fixed block 7 is arc-shaped, the arc center of the arc is coaxial with the rotation pivot of the fixed block 7 on the second movable arm 2, the second movable arm 2 is connected with the body of the micro-robot, the first movable arm 1 is connected with an actuating mechanism (such as a gripper) of the micro-robot, the actuating mechanism can act and approach a product through the relative swing of the second movable arm 2 and the first movable arm 1, in addition, the second movable arm 2 is provided with a notch through which the rotation of the fixed block 7 can freely pass, a sliding rod 14 is arranged on the second movable arm 2 in a penetrating manner, the sliding rod 14 can freely slide in the second movable arm 2, specifically, a sliding hole is formed on the second movable arm 2, the sliding rod 14 and the sliding hole form sliding fit, in addition, one end of the sliding rod 14 penetrating out of the second movable arm 2 to the notch is hinged with a hinge rod 15 through a mounting hinge shaft, one end of the hinge rod 15 away from the sliding rod 14 is hinged with a hinge seat, and the hinge seat is welded on the fixed block 7, so that the hinge rod 5, the sliding rod 14 and the fixed block 7 form a crank slider mechanism, namely, when the sliding rod 14 moves horizontally, the hinge rod 5 can act and drive the fixed block 7 to swing, so that the first movable arm 1 rotates along a rotating fulcrum with the second movable arm 2 to realize the action of the micro-robot executing mechanism, in addition, as the sliding rod 14 moves a smaller distance, the swinging amplitude of the fixed block 7 can be driven to be larger, so that the load of the first movable arm 1 can be lifted, the swing stroke of the first movable arm 1 is increased;
because the sliding rod 14 is required to horizontally move during the swinging of the first movable arm 1, the structure commonly used in the prior art is usually an air cylinder, an oil cylinder and the like, the telescopic rod of the air cylinder and the oil cylinder is connected with the sliding rod 14 and drives the sliding rod 14 to move through the telescopic rod, but the driving mode of the air cylinder and the oil cylinder needs to be additionally matched with air source equipment and a hydraulic station, so that the cost is high, and the air cylinder and the oil cylinder are required to be connected with air pipes and oil pipes, so that the installation is inconvenient, in addition, the air cylinder and the oil cylinder are usually large in size and occupy large installation space, therefore, based on the defect, as shown in fig. 3, in the embodiment, by arranging a motor installation cavity on the second movable arm 2, a motor 10 is installed in the motor installation cavity in a screw mode, a connecting shaft 9 is installed on a motor shaft of the motor 10 through a coupling, and the motor 10 and the connecting shaft 9 are coaxially connected in a driving mode, when the motor 10 is externally connected with a power supply and is electrified, the connecting shaft 9 can be driven to rotate, in addition, the second movable arm 2 is provided with an installation cavity 12 through which the connecting shaft 9 can freely pass, the connecting shaft 9 can freely slide in the installation cavity 12, in addition, one end of the sliding rod 14 penetrating into the second movable arm 2 is connected with a driving sleeve 13, the driving sleeve 13 is coaxial with the sliding rod 14, the driving sleeve 13 can freely slide in the installation cavity 12, one end of the connecting shaft 9 far away from the motor 10 can be telescopically inserted into the driving sleeve 13, the driving sleeve 13 is internally provided with a sliding cavity 18 for the telescopic insertion of the connecting shaft 9, the sliding cavity 18 and the connecting shaft 9 form sliding fit, in addition, one end of the connecting shaft 9 penetrating into the sliding cavity 18 is provided with two short pins 17, the two short pins 17 are arranged in an axial array along the connecting shaft 9, the axial directions of the two short pins 17 are perpendicular to the axial directions of the connecting shaft 9, the outer wall of the driving sleeve 13 is provided with two limit grooves 25 for inserting the two short pins 17 respectively, the outline of the limit grooves 25 is curved, the short pins 17 can slide in the limit grooves 25, when the short pins 17 slide in the limit grooves 25, the driving sleeve 13 can move along the axial direction of the driving sleeve 13 in the sliding cavity 18, namely, the rotation of the connecting shaft 9 driven by the motor 10 can be converted into the rotation of the driving sleeve 13, the connecting shaft 9 can be driven to rotate through the rotation of the motor 10, the two short pins 17 slide in the two limit grooves 25, the driving sleeve 13 is driven to move horizontally along the axial direction of the driving sleeve, the sliding rod 14 is driven to move, the sliding rod 14 can drive the hinge rod to swing, the hinge rod drives the fixed block 7 to swing, and the relative swing of the first movable arm 1 and the second movable arm 2 is realized;
because the weight of the products of different types is different when the actuating mechanism on the first movable arm 1 grabs the products of different types, and the current micro-robot is not provided with the function for detecting the model of the products grabbed by the actuating mechanism, as shown in fig. 3 and 4, in the embodiment, the detection seat 24 is coaxially welded on the driving sleeve 13, the detection seat 24 is fixedly connected with one end of the driving sleeve 13 far away from the motor 10, in addition, the detection seat 24 can freely slide in the mounting cavity 12 and form sliding fit with the mounting cavity 12, one end of the sliding rod 14 penetrates into the detection seat 24, the detection seat 24 is provided with a through hole through which the sliding rod 14 freely passes, the sliding rod 14 and the through hole form sliding fit, one end of the sliding rod 14 penetrating into the detection seat 24 is fixedly sleeved with the limiting ring 19, in addition, the detection seat 24 is provided with a cavity 23 for the clamping of the limiting ring 19, the limiting ring 19 can freely slide in the cavity 23, the limiting ring 19 and the cavity 23 form sliding fit, a pressure sensor 22 is arranged in the cavity 23, one end face of the pressure sensor 22 is welded on the inner wall of the cavity 23, the sliding rod 14 can freely pass through a middle hole of the pressure sensor 22, in addition, a pressing ring 21 is movably sleeved on the sliding rod 14, the middle hole on the pressing ring 21 can freely pass through the sliding rod 14, the pressing ring 21 can freely slide on the sliding rod 14, the pressing ring 21 is positioned between the pressure sensor 22 and the limiting ring 19, in addition, a spring 20 is sleeved on the sliding rod 14, two ends of the spring 20 in the elastic force direction respectively elastically abut against the pressure sensor 22 and the limiting ring 19, so that the dead weight of the product is large when an actuating mechanism on the first movable arm 1 grabs the product, the load born by the first movable arm 1 is increased, at the moment, the sliding rod 14 slides towards the outer side of the second movable arm 2, the limiting ring 19 is moved synchronously, the limiting ring 19 compresses the spring 20, the spring 20 presses the pressing ring 21, the pressing ring 21 presses the pressure sensor 22, the pressure sensor 22 generates a pressure signal and feeds the pressure signal back to the external controller, the external controller displays the pressure signal, a manager can monitor the load of the first movable arm 1 according to the pressure data of the pressure sensor, when the pressure data reaches a certain degree, the controller judges that the load of the first movable arm 1 reaches the maximum value, and the limiting ring is arranged in such a way, on one hand, the weights corresponding to different products are different, and the pressure data fed back to the controller by the pressure sensor are different, so that the products grabbed by the executing mechanism on the first movable arm can be monitored, the mixed model phenomenon caused by grabbing different models of products is avoided, and on the other hand, the maximum load of the first movable arm can be monitored, and the overload phenomenon is avoided;
because the elastic propping force is generated on the limiting ring 19 through the spring 20, and the spring 20 has scalability, the first movable arm 1 can possibly generate a certain swing to affect the grabbing of a product when an actuating mechanism on the first movable arm 1 grabs the product, therefore, as shown in fig. 2 and 3, in the embodiment, a driving gear 11 is fixedly sleeved on the connecting shaft 9, a clearance groove for the free passing of the rotation of the driving gear 11 is formed on the second movable arm 2, the clearance groove is in a communicating state with the mounting cavity 12, two bearing seats are welded on the second movable arm 2, a screw rod 4 is jointly inserted on the two bearing seats, a driven gear 3 is fixedly sleeved on the screw rod 4, the driven gear 3 is meshed with the driving gear 11 to rotate, a rotating shaft is horizontally welded on the second movable arm 2, a damping block 16 is rotatably sleeved on the rotating shaft, the damping block 16 is made of a rubber material, the damping block 16 can rotate around a rotating pivot or the rotating shaft of the second movable arm 2, so that the damping block 16 can prop against the fixed block 7, when the surface of the fixed block 7 rotates, the screw rod 4 is driven by the sliding sleeve 5, and the sliding sleeve 5 is further meshed with the fixed on the screw rod 4, and the screw rod 4 is further driven by the sliding sleeve 5, after the first movable arm 1 swings in place, the damping block 16 abuts against the surface of the fixed block 7 at this time, so as to generate abutting force on the surface of the fixed block 7, and therefore the first movable arm 1 is subjected to friction force between the damping block and the surface of the fixed block 7, and further self-swinging of the first movable arm is avoided.
The last points to be described are: first, in the description of the present application, it should be noted that, unless otherwise specified and defined, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be mechanical or electrical, or may be a direct connection between two elements, and "upper," "lower," "left," "right," etc. are merely used to indicate relative positional relationships, which may be changed when the absolute position of the object being described is changed;
secondly: in the drawings of the disclosed embodiments, only the structures related to the embodiments of the present disclosure are referred to, and other structures can refer to the common design, so that the same embodiment and different embodiments of the present disclosure can be combined with each other under the condition of no conflict;
finally: the foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (5)
1. The utility model provides a micro-robot joint with heavy load, includes first movable arm (1), second movable arm (2), be equipped with fixed block (7) on first movable arm (1), fixed block (7) rotate and connect in second movable arm (2), its characterized in that still includes:
the sliding rod (14) is arranged in the second movable arm (2) in a penetrating manner, and the sliding rod (14) can freely slide on the second movable arm (2);
the driving device is arranged on the second movable arm (2) and is used for driving the sliding rod (14) to move;
a hinge rod (15) hinged to the sliding rod (14), and one end far away from the sliding rod (14) is hinged to the fixed block (7);
the motor (10) is arranged in a motor installation cavity formed in the second movable arm (2);
the connecting shaft (9) is in driving connection with a motor shaft of the motor (10), and an installation cavity (12) through which the connecting shaft (9) can freely pass is formed in the second movable arm (2);
the driving sleeve (13) is movably connected in the mounting cavity (12), a sliding cavity (18) through which the connecting shaft (9) can freely pass is coaxially arranged in the driving sleeve (13), the sliding cavity (18) and the connecting shaft (9) form sliding fit, and the driving sleeve (13) is connected with one end of the sliding rod (14) penetrating into the second movable arm (2);
the two short pins (17) are fixedly connected to one end, far away from the motor (10), of the connecting shaft (9), a limiting groove (25) for inserting the short pins (17) is formed in the outer wall of the driving sleeve (13), the short pins (17) slide freely in the limiting groove (25), and when the short pins slide, the connecting shaft (9) can be driven to move along the axial direction of the driving sleeve (13) and rotate around the axial direction of the connecting shaft;
a detection structure is arranged between the driving sleeve (13) and the sliding rod (14), and the detection structure is used for detecting the load of the first movable arm (1);
the detection seat (24) is coaxially and fixedly connected to the driving sleeve (13) and is arranged at one end, far away from the motor (10), of the driving sleeve (13), and the detection seat (24) can slide in the mounting cavity (12) and is in sliding fit with the mounting cavity (12);
the limiting ring (19) is fixedly sleeved at one end of the sliding rod (14) penetrating into the second movable arm (2), a cavity (23) for clamping the limiting ring (19) is formed in the second movable arm (2), the limiting ring (19) and the cavity (23) form sliding fit, and the sliding rod (14) slidably penetrates into the detection seat (24);
the pressure detection unit is arranged in the cavity (23) of the detection seat (24) and is used for detecting the moving stroke of the limiting ring (19) towards the first movable arm (1);
the pressure detection unit includes:
the pressure sensor (22) is fixedly connected to the inner wall of the cavity (23), and the sliding rod (14) can freely penetrate out of a middle hole of the pressure sensor (22);
the pressing ring (21) is movably sleeved on the sliding rod (14) and is positioned between the pressure sensor (22) and the limiting ring (19), and the pressing ring (21) and the cavity (23) form sliding fit;
and the elastic element is arranged in the cavity (23) and is positioned between the pressing ring (21) and the limiting ring (19).
2. A micro-robot joint with heavy load according to claim 1, characterized in that two of said short pins (17) are arranged along an axial array of connecting shafts (9).
3. The micro-robot joint with the large load according to claim 1, wherein the elastic element is a spring (20) sleeved on the sliding rod (14), and two ends of the spring (20) in the elastic direction elastically abut against the pressing ring (21) and the limiting ring (19) respectively.
4. A micro-robot joint with a large load according to claim 1, characterized in that the driving means further comprises a damping structure for generating a damping force to the fixed block (7), the damping structure comprising:
the damping block (16) is rotationally connected to the second movable arm (2) through an installation rotating shaft, and when the damping block (16) rotates around a rotating pivot point with the second movable arm (2), the damping block can be propped against the surface of the fixed block (7);
a swing arm (8) fixedly connected to the damping block (16);
a push rod (6) hinged to the swing arm (8);
and the overturning unit is used for driving the push rod (6) to move and driving the damping block (16) to overturn along a rotation pivot point with the second movable arm (2).
5. The micro-robot joint with a large load according to claim 4, wherein the flipping unit comprises:
the driving gear (11) is sleeved on the connecting shaft (9), and the second movable arm (2) is provided with a clearance groove for the driving gear (11) to freely pass through in a rotating way;
a driven gear (3) rotatably connected to the second movable arm (2) and meshed with the driving gear (11);
the screw rod (4) is coaxially fixedly connected with the driven gear (3) and synchronously rotates with the driven gear (3);
the screw sleeve (5) is sleeved on the screw rod (4) in a threaded manner and hinged with one end, far away from the swing arm (8), of the push rod (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310213083.1A CN115871020B (en) | 2023-03-08 | 2023-03-08 | Micro-robot joint with heavy load |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310213083.1A CN115871020B (en) | 2023-03-08 | 2023-03-08 | Micro-robot joint with heavy load |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115871020A CN115871020A (en) | 2023-03-31 |
| CN115871020B true CN115871020B (en) | 2023-05-12 |
Family
ID=85761941
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310213083.1A Active CN115871020B (en) | 2023-03-08 | 2023-03-08 | Micro-robot joint with heavy load |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104552336A (en) * | 2013-10-21 | 2015-04-29 | 苏茂 | Minitype finger joint force feedback unit |
| JP2016074060A (en) * | 2014-10-07 | 2016-05-12 | 株式会社東芝 | Automatic remote work machine and working method thereof |
| US10350767B2 (en) * | 2015-11-18 | 2019-07-16 | Canon Kabushiki Kaisha | Sensor, driving mechanism, and robot |
| CN105835041B (en) * | 2016-05-23 | 2018-07-13 | 深圳先进技术研究院 | A kind of exoskeleton robot hip joint, exoskeleton robot and its control method |
| EP3522813A2 (en) * | 2016-10-04 | 2019-08-14 | Imperial Innovations Limited | Coupling for a robotic surgical instrument |
| CN108705557B (en) * | 2018-06-04 | 2021-09-07 | 刘超 | Micro robot joint |
| CN111347458B (en) * | 2018-12-21 | 2021-10-22 | 深圳市奇诺动力科技有限公司 | Joint mechanism and robot with same |
| CN111113381B (en) * | 2019-12-17 | 2021-05-04 | 清华大学 | Walking auxiliary robot with outer limb bearing load |
| CN111071735B (en) * | 2019-12-31 | 2024-05-10 | 中冶北方（大连）工程技术有限公司 | Device and method for detecting operation and slipping of power frequency transmission adhesive tape |
| CN112407095B (en) * | 2020-10-30 | 2022-02-22 | 深圳市优必选科技股份有限公司 | Joint energy storage power assisting mechanism, robot joint structure and robot |
| CN215881697U (en) * | 2021-08-17 | 2022-02-22 | 无锡兰丹机械有限公司 | Industrial robot robotic arm joint driving mechanism |
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