CN1436638A - Electric cord transverse joint of robot - Google Patents
Electric cord transverse joint of robot Download PDFInfo
- Publication number
- CN1436638A CN1436638A CN 03117455 CN03117455A CN1436638A CN 1436638 A CN1436638 A CN 1436638A CN 03117455 CN03117455 CN 03117455 CN 03117455 A CN03117455 A CN 03117455A CN 1436638 A CN1436638 A CN 1436638A
- Authority
- CN
- China
- Prior art keywords
- cord
- pair
- output
- screw mandrel
- nut
- 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.)
- Granted
Links
Images
Abstract
The present invention relates to electric cord transverse robot joint includes frame, servo motor installed on the frame, cord-wheel pair, input terminal and output terminal. The electric cord transverse robot joint features that toothed belt pulley of the toothed belt pair is fixed on the output shaft of the servo motor and is integrated with the nut of nut-screw pair; and that the cord-wheel pair includes the cord wheel installed on the frame and the steel cord and includes output cord wheel fixed to the output terminal, steel cord wound around two cord wheels and with two ends connected to the ends of screw, and output cord wheel with fixed point. The present invention realize the rotation of the transverse joint by means of the motor, the nut-screw pair to increase force and the drive steel cord and joint cord wheel.
Description
Technical field:
The present invention relates to robot electric cord transverse joint with the transmission of driven by servomotor wire rope traction.
Background of invention:
Horizontal joint refers to the joint of actuating arm bending.At present the driving mechanism in the horizontal joint of robot has worm-and-wheel, planetary gear train type, cycloidal-pin wheel formula etc. multiple, but majority all has mechanism's complexity or output torque is little or size big or precision is low or shortcoming such as poor stability.
Summary of the invention:
The objective of the invention is: provide a kind of simple in structure, output torque is big, and size is less, the horizontal joint of robot that the horizontal joint of apery replaces muscle to draw by steel cable.
For addressing the above problem, the technical solution used in the present invention is such, and promptly a kind of robot electric cord transverse joint comprises total support and is installed in the interior servomotor of total support, cord-wheel pair and input adapter and out splice going splice; It is characterized in that: the output shaft of department's clothes motor is the belt pulley with tooth of cog belt pair fixedly, the nut one of the belt pulley of cog belt pair and nut screw pair; Cord-wheel pair comprises rope sheave and the steel wire rope that is installed in total support two ends, and wherein: output rope sheave and out splice going splice are fixed, and steel wire rope is walked around two rope sheaves, at the output rope sheave fixing point is arranged, and the two ends of steel wire rope are connected the two ends of the screw mandrel of nut screw pair.
In the said structure, copy the human muscle mode of drawing to adopt the structure in the horizontal joint of steel cable pulling fly wheel simulation.Steel wire rope around mode and fixed structure, guarantee the corner of 160 ° of the energy-conservation outputs in horizontal pass, and guarantee not rotate.Owing to adopt the secondary boosting system of forming with the threaded screw rod pair of cog belt, satisfy the pulling force requirement of apery muscle.
Description of drawings:
Fig. 1 is the horizontal main cross section figure of robot cord, and it also is the B-B sectional view of Fig. 2;
Fig. 2 is the A-A sectional view of Fig. 1.
In the accompanying drawing: 1-out splice going splice, 2-output rope sheave, 3-axle, 4-steel wire rope, the total support of 5-, 6-spiral shell pin, 7-screw mandrel, 8-left side guiding channel-section steel, 9-belt pulley, 10-toothed timing belt, 11-belt pulley with tooth, 12-fixed cover, 13-nut 14-end cap, the right guiding of 15-channel-section steel, 16-department clothes motor, 17-retainer ring, 18-and fixing guide finger, 19-input adapter, the 20-rope sheave of screw mandrel.
The specific embodiment:
Below by accompanying drawing the specific embodiment of the present invention is further specified.
Out splice going splice in Fig. 1 (1) is fixed on the output rope sheave (2).The middle part installation department clothes motor (16) of total support (5), its right-hand member has input adapter (19).Constitute the cog belt pair by active belt pulley with tooth (11), toothed timing belt (10) and driven pulley (9).In the course of the work, active belt pulley with tooth (11), the toothed timing belt (10) by the cog belt pair drives driven pulley (9) and rotates.Form the nut screw pair by nut (13), screw mandrel (7), owing to be fixed with guide finger (18) on screw mandrel (7), guide finger (18) is positioned at guiding channel-section steel (8) again, so screw mandrel (7) can not rotate.Therefore, when driven pulley (9) drives nut (13) rotation, screw mandrel (7) will move axially.Two ends at screw mandrel (7) connect steel wire rope (4), and steel wire rope is walked around two rope sheaves.Its coiling design is such: the steel wire rope of screw mandrel left end is to walking around 270 ° of output rope sheaves counterclockwise, enter then in the hole of output rope sheave, compress by spiral shell pin (6), pass this hole then, walk around 270 ° counterclockwise at the output rope sheave again, to rope sheave descend point most after, turn right again around to right rope sheave, fixing with the right-hand member of screw mandrel (7).This structure has guaranteed that rope sheave drives out splice going splice and can change 160 °.
Because said structure when servomotor rotates, through cog belt pair, nut screw pair and cord-wheel pair, can be rotated by out splice going splice (1) output.
Claims (4)
1, a kind of robot electric cord transverse joint comprises total support and is installed in servomotor in total support, cord-wheel pair and input adapter and out splice going splice; It is characterized in that: the output shaft of department's clothes motor is the belt pulley with tooth of cog belt pair fixedly, the nut one of the belt pulley of cog belt pair and nut screw pair; Cord-wheel pair comprises rope sheave and the steel wire rope that is installed in total support two ends, and wherein: output rope sheave and out splice going splice are fixed, and steel wire rope is walked around two rope sheaves, at the output rope sheave fixing point is arranged, and the two ends of steel wire rope are connected the two ends of the screw mandrel of nut screw pair.
2, robot according to claim 1 electric cord transverse joint is characterized in that constituting the cog belt pair by active belt pulley with tooth (11), toothed timing belt (10) and driven pulley (9).
3, robot according to claim 1 electric cord transverse joint is characterized in that: form the nut screw pair by nut (13), screw mandrel (7); Wherein: be fixed with guide finger (18) on screw mandrel (7), guide finger (18) is positioned at guiding channel-section steel (8) again, makes screw mandrel (7) can not rotate and can only move axially.
4, robot according to claim 1 electric cord transverse joint, it is characterized in that: the two ends at screw mandrel (7) connect steel wire rope (4), wherein: the steel wire rope of screw mandrel left end is to walking around 270 ° of output rope sheaves counterclockwise, enter then in the hole of output rope sheave, compress by spiral shell pin (6), pass this hole then, walk around 270 ° counterclockwise at the output rope sheave again, to rope sheave descend point most after, turn right again around to right rope sheave, fixing with the right-hand member of screw mandrel (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03117455 CN1272147C (en) | 2003-03-13 | 2003-03-13 | Electric cord transverse joint of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03117455 CN1272147C (en) | 2003-03-13 | 2003-03-13 | Electric cord transverse joint of robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1436638A true CN1436638A (en) | 2003-08-20 |
| CN1272147C CN1272147C (en) | 2006-08-30 |
Family
ID=27634365
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 03117455 Expired - Fee Related CN1272147C (en) | 2003-03-13 | 2003-03-13 | Electric cord transverse joint of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1272147C (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100425409C (en) * | 2006-12-13 | 2008-10-15 | 北京航空航天大学 | Rope-driven two-dimensional virtual center rotation mechanism |
| CN100460165C (en) * | 2007-03-22 | 2009-02-11 | 上海交通大学 | Electric cord driver for artificial joint |
| CN107901075A (en) * | 2017-11-28 | 2018-04-13 | 天津扬天科技有限公司 | The joint module that the hollow cooperation mechanical arm of multiple degrees of freedom uses |
| CN110116402A (en) * | 2019-06-06 | 2019-08-13 | 哈尔滨工业大学 | Three-freedom mechanical arm based on coupling wire rope gearing |
| CN112643709A (en) * | 2020-12-24 | 2021-04-13 | 东莞理工学院 | Light foldable one-way driving robot joint |
-
2003
- 2003-03-13 CN CN 03117455 patent/CN1272147C/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100425409C (en) * | 2006-12-13 | 2008-10-15 | 北京航空航天大学 | Rope-driven two-dimensional virtual center rotation mechanism |
| CN100460165C (en) * | 2007-03-22 | 2009-02-11 | 上海交通大学 | Electric cord driver for artificial joint |
| CN107901075A (en) * | 2017-11-28 | 2018-04-13 | 天津扬天科技有限公司 | The joint module that the hollow cooperation mechanical arm of multiple degrees of freedom uses |
| CN107901075B (en) * | 2017-11-28 | 2023-12-01 | 天津扬天科技有限公司 | Joint module adopted by multi-degree-of-freedom hollow cooperative mechanical arm |
| CN110116402A (en) * | 2019-06-06 | 2019-08-13 | 哈尔滨工业大学 | Three-freedom mechanical arm based on coupling wire rope gearing |
| CN110116402B (en) * | 2019-06-06 | 2022-03-25 | 哈尔滨工业大学 | Three-degree-of-freedom mechanical arm based on coupling steel wire rope transmission |
| CN112643709A (en) * | 2020-12-24 | 2021-04-13 | 东莞理工学院 | Light foldable one-way driving robot joint |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1272147C (en) | 2006-08-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102179817B (en) | Double-flexibility piece composite under-actuated double-joint finger device for robot | |
| CN102197977A (en) | Multiple-wire-casing single-layer lifting mechanism | |
| CN1436638A (en) | Electric cord transverse joint of robot | |
| CN107973234A (en) | A kind of haulage gear of rope-like constructed and a kind of driving mechanism | |
| CN109262632B (en) | Multi-joint light wheelchair mechanical arm | |
| CN2254378Y (en) | Slow-speed rotating unit for ball mill | |
| FR2840377B1 (en) | TWO-MOTOR ACTUATOR, DIFFERENTIAL REDUCER AND TORQUE LIMITER | |
| CN2344373Y (en) | Integral screw-driven friction brake hoister | |
| CN2180625Y (en) | Electric and manual two-purpose hoist | |
| CN112134207B (en) | A disassemble recovery unit for making somebody a mere figurehead high-voltage line | |
| CN100460165C (en) | Electric cord driver for artificial joint | |
| CN206219099U (en) | A kind of haulage gear of rope-like constructed and a kind of drive mechanism | |
| CN102145862A (en) | Windlass | |
| CN202208618U (en) | Cable arranging device of winch | |
| CN208776245U (en) | A kind of portable lifting traction device | |
| CN216266086U (en) | Bionic finger and bionic manipulator with novel structure | |
| CN2601303Y (en) | Oil pumping workover rig | |
| CN217997895U (en) | Large-torque swing gate movement | |
| CN215711346U (en) | Double-lifting-point lifting system | |
| CN217867419U (en) | Wire take-up device | |
| CN101367205A (en) | Wedge booster | |
| CN2218500Y (en) | Electric driven curtain | |
| CN215617747U (en) | Electric power wire pulling assembler | |
| CN108775392A (en) | A kind of Novel reducer | |
| CN218841291U (en) | Haulage rope electric capstan |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |