CN202985580U - Passive compliance impedance mechanism applied to service robot mechanical arm - Google Patents
Passive compliance impedance mechanism applied to service robot mechanical arm Download PDFInfo
- Publication number
- CN202985580U CN202985580U CN 201220733077 CN201220733077U CN202985580U CN 202985580 U CN202985580 U CN 202985580U CN 201220733077 CN201220733077 CN 201220733077 CN 201220733077 U CN201220733077 U CN 201220733077U CN 202985580 U CN202985580 U CN 202985580U
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- base
- spring guide
- slide block
- mechanical arm
- support
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Abstract
The utility model discloses a passive compliance impedance mechanism applied to a service robot mechanical arm. The passive compliance impedance mechanism comprises a baffle, an eccentric cam, a bearing, a support, a roller, a first sliding block, a linear guide track, a first spring guide rod sleeved with a first spring, a base, a base sliding block arranged on the base, a fixing plate, a second spring guide rod sleeved with a second spring and a base sliding groove. The eccentric cam is arranged on a support shaft of the support in rotating mode, the roller is arranged on the first sliding block, the first sliding block is arranged on the linear guide track, and the baffle and the support are fixed on the base. One end of the first spring guide rod is fixed on the baffle, and the other end of the first spring guide rod is sleeved in a through hole of the first sliding block. One end of the second spring guide rod is fixed on a lateral wall of the base sliding groove, and the other end of the second spring guide rod is sleeved in the through hole of the base sliding block. A first limit switch is arranged on the baffle, and a second limit switch is arranged in the base sliding groove. When the passive compliance impedance mechanism is subject to outer impact, outer impact can be relieved fast, and people can not be hurt by the outside.
Description
Technical field
The invention belongs to the Robotics field, be specifically related to a kind of passive type compliance impedance mechanisms that is applied on the service robot mechanical arm.
Background technology
Development and extensive use along with robot, the chance that the machine person to person contacts in equivalent environment is more and more, contact collision inevitably can occur with the people and cause injury to human body in it, so it must have certain flexibility and adaptability to produce the response of some compliances, reduce the mankind's suffered injury in collision with this.At present, most research all concentrates on the impedance Control field, utilize the induction elements such as strength, torque sensor to carry out FEEDBACK CONTROL, but electronic component easily damages, and needs the reaction time, can not in time reflect to external world.So need in a hurry the mechanism of a novel alleviation foreign impacts power of design, this mechanism can make a response soon to external world, and plays the effect of to protect mankind.
Summary of the invention
The technical problem that (one) will solve
The technical problem to be solved in the present invention is to provide a kind of passive type compliance impedance mechanisms that is applied on the service robot mechanical arm, and it has solved the problems such as the existing robot impedance mechanisms reaction time is long, and induction element is fragile.
(2) technical scheme
For solving the problems of the technologies described above, the technical solution adopted in the present invention is:
A kind of passive type compliance impedance mechanisms that is applied on the service robot mechanical arm comprises baffle plate (1), cam (3), bearing (4), support (5), roller bearing (6), the first slide block (7), line slideway (8), the first spring guide (10) that is arranged with the first spring (9), base (11), is located at base slide block, fixed disk (12) on described base (11), is arranged with the second spring guide (16), the chute of base of the second spring (13); Described cam (3) is rotatably installed on the support shaft (501) of described support (5) by described bearing (4); Described roller bearing (6) is located on described the first slide block (7); Described the first slide block (7) is located on described line slideway (8); Described baffle plate (1) and support (5) are fixed on described base (11); Described the first spring guide (10) one ends are fixed on described baffle plate (1), and the other end is sheathed in the through hole of described the first slide block (7); Described the second spring guide (16) one ends are fixed on the sidewall of chute of base, and the other end is sheathed in the through hole of described base slide block; Described baffle plate (1) is provided with the first limit switch (2); Be provided with the second limit switch (14) in described chute of base.
Described chute of base comprises base master chute (17) and base sideslip groove (15), described base slide block comprises base master slider (111) and base side slide (112), be provided with the second limit switch (14) in described base sideslip groove (15), described base side slide (112) is stuck in described base sideslip groove (15), described the second spring guide (16) one ends are fixed on the sidewall of described base master chute (17), and the other end is sheathed in the through hole of described base master slider (111).
Described cam (3) is provided with the concave-arc part (301) that is embedded on described roller bearing (6).
Described cam (3) is provided be used to the stopper protrusion (302) of touching described the first limit switch (2).
Described cam (3) and ball bearing (4) lateral surface interference fit, described support (5) and the interior ring of ball bearing (4) interference fit.
(3) beneficial effect
The present invention is compared to prior art, and have following beneficial effect: apparatus of the present invention are simple in structure, when being subject to external impact, can alleviate rapidly external impact force, realizes the security of mechanical arm, and the guarantor is not subject to extraneous injury.
Description of drawings
The present invention is further described below in conjunction with drawings and Examples.
Fig. 1 is the structural representation of the embodiment of the present invention.
Fig. 2 is the fixed flange structure chart in Fig. 1.
Fig. 3 is the structural representation of the base in Fig. 1.
The specific embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples are used for explanation the present invention, but are not used for limiting the scope of the invention.
As shown in Figure 1 to Figure 3, a kind of passive type compliance impedance mechanisms that is applied on the service robot mechanical arm comprises baffle plate 1, cam 3, bearing 4, support 5, roller bearing 6, the first slide block 7, line slideway 8, the first spring guide 10 that is arranged with the first spring 9, base 11, is located at base slide block, fixed disk 12 on described base 11, is arranged with the second spring guide 16, the chute of base of the second spring 13; Described cam 3 is rotatably installed on the support shaft 501 of described support 5 by described bearing 4; Described roller bearing 6 is located on described the first slide block 7; Described the first slide block 7 is located on described line slideway 8; Described baffle plate 1 and support 5 are fixed on described base 11; Described the first spring guide 10 1 ends are fixed on described baffle plate 1, and the other end is sheathed in the through hole of described the first slide block 7; Described the second spring guide 16 1 ends are fixed on the sidewall of chute of base, and the other end is sheathed in the through hole of described base slide block; Described baffle plate 1 is provided with the first limit switch 2; Be provided with the second limit switch 14 in described chute of base.
Described chute of base comprises base master chute 17 and base sideslip groove 15, described base slide block comprises base master slider 111 and base side slide 112, be provided with the second limit switch 14 in described base sideslip groove 15, described base side slide 112 is stuck in described base sideslip groove 15, described the second spring guide 16 1 ends are fixed on the sidewall of described base master chute 17, and the other end is sheathed in the through hole of described base master slider 111.
Described cam 3 is provided with the concave-arc part 301 that is embedded on described roller bearing 6.
Described cam 3 is provided be used to the stopper protrusion 302 of touching described the first limit switch 2.
Described cam 3 and ball bearing 4 lateral surface interference fit, described support 5 and the interior ring interference fit of ball bearing 4.
its operation principle is: cam 3 is connected by bearing 4 with the support shaft 501 of support 5, mechanical arm is connected on cam, when mechanical arm is subject to Y-direction power, cam 3 rotates along support shaft 501, the concave-arc part 301 of cam 3 is embedded in and makes roller bearing 6 be subject to the power of directions X on roller bearing 6, then promoting the first slide block 7 moves along line slideway 8, the first slide block 7 compresses the first spring 9 on the first spring guide 10 thus, when the first spring 9 is compressed to certain position, stopper protrusion 302 on cam 3 is touched the first limit switch 2, realize that motion stops, the compressive force offsets external impact force of while the first spring 9.When mechanical arm is subject to power along directions X; base 11 moves along base sideslip groove 15 and base master chute 17; compress the second spring 13; make the opposing force of its generation and impulsive force, lower extraneous impulsive force, simultaneously; when base side slide 112 arrives certain position; encounter the second limit switch 14, by controlling to realize that motion stops, and realizes bidirectional protective people's effect.
The above is only the preferred embodiment of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the technology of the present invention principle; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (5)
1. passive type compliance impedance mechanisms that is applied on the service robot mechanical arm is characterized in that: comprise baffle plate (1), cam (3), bearing (4), support (5), roller bearing (6), the first slide block (7), line slideway (8), the first spring guide (10) that is arranged with the first spring (9), base (11), be located at base slide block, fixed disk (12) on described base (11), be arranged with the second spring guide (16), the chute of base of the second spring (13); Described cam (3) is rotatably installed on the support shaft (501) of described support (5) by described bearing (4); Described roller bearing (6) is located on described the first slide block (7); Described the first slide block (7) is located on described line slideway (8); Described baffle plate (1) and support (5) are fixed on described base (11); Described the first spring guide (10) one ends are fixed on described baffle plate (1), and the other end is sheathed in the through hole of described the first slide block (7); Described the second spring guide (16) one ends are fixed on the sidewall of chute of base, and the other end is sheathed in the through hole of described base slide block; Described baffle plate (1) is provided with the first limit switch (2); Be provided with the second limit switch (14) in described chute of base.
2. the passive type compliance impedance mechanisms that is applied on the service robot mechanical arm according to claim 1, it is characterized in that: described chute of base comprises base master chute (17) and base sideslip groove (15), described base slide block comprises base master slider (111) and base side slide (112), be provided with the second limit switch (14) in described base sideslip groove (15), described base side slide (112) is stuck in described base sideslip groove (15), described the second spring guide (16) one ends are fixed on the sidewall of described base master chute (17), the other end is sheathed in the through hole of described base master slider (111).
3. the passive type compliance impedance mechanisms that is applied on the service robot mechanical arm according to claim 1, it is characterized in that: described cam (3) is provided with the concave-arc part (301) that is embedded on described roller bearing (6).
4. the passive type compliance impedance mechanisms that is applied on the service robot mechanical arm according to claim 1, it is characterized in that: described cam (3) is provided be used to the stopper protrusion (302) of touching described the first limit switch (2).
5. the passive type compliance impedance mechanisms that is applied on the service robot mechanical arm according to claim 1, it is characterized in that: described cam (3) and ball bearing (4) lateral surface interference fit, described support (5) and the interior ring of ball bearing (4) interference fit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220733077 CN202985580U (en) | 2012-12-27 | 2012-12-27 | Passive compliance impedance mechanism applied to service robot mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220733077 CN202985580U (en) | 2012-12-27 | 2012-12-27 | Passive compliance impedance mechanism applied to service robot mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN202985580U true CN202985580U (en) | 2013-06-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220733077 Expired - Lifetime CN202985580U (en) | 2012-12-27 | 2012-12-27 | Passive compliance impedance mechanism applied to service robot mechanical arm |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103406916A (en) * | 2013-08-16 | 2013-11-27 | 深圳市天轮机械科技有限公司 | Intelligent stamping robot and buffer mechanism of intelligent stamping robot |
| CN103600358A (en) * | 2013-11-29 | 2014-02-26 | 中国科学院合肥物质科学研究院 | Passive compliance impedance mechanism and mechanical arm |
| CN103846930A (en) * | 2012-12-27 | 2014-06-11 | 中国科学院合肥物质科学研究院 | Passive compliance impedance mechanism used on mechanical arm of service robot |
| CN104369198A (en) * | 2014-11-04 | 2015-02-25 | 西安巨浪精密机械有限公司 | Multidirectional collision preventing device of robot |
| CN105500401A (en) * | 2016-01-04 | 2016-04-20 | 山东省科学院自动化研究所 | Flexible rotational joint with torque limitation function |
| CN106395400A (en) * | 2016-05-30 | 2017-02-15 | 广州启帆工业机器人有限公司 | Overload protection device for extrusion loads on connecting rod of palletizing robot |
-
2012
- 2012-12-27 CN CN 201220733077 patent/CN202985580U/en not_active Expired - Lifetime
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103846930A (en) * | 2012-12-27 | 2014-06-11 | 中国科学院合肥物质科学研究院 | Passive compliance impedance mechanism used on mechanical arm of service robot |
| CN103406916A (en) * | 2013-08-16 | 2013-11-27 | 深圳市天轮机械科技有限公司 | Intelligent stamping robot and buffer mechanism of intelligent stamping robot |
| CN103406916B (en) * | 2013-08-16 | 2016-05-11 | 东莞市天轮机器人科技有限公司 | Punching press intelligent machine people and buffer gear thereof |
| CN103600358A (en) * | 2013-11-29 | 2014-02-26 | 中国科学院合肥物质科学研究院 | Passive compliance impedance mechanism and mechanical arm |
| CN104369198A (en) * | 2014-11-04 | 2015-02-25 | 西安巨浪精密机械有限公司 | Multidirectional collision preventing device of robot |
| CN104369198B (en) * | 2014-11-04 | 2016-04-13 | 西安巨浪精密机械有限公司 | The multidirectional anticollision device, collision-prevention device of a kind of robot |
| CN105500401A (en) * | 2016-01-04 | 2016-04-20 | 山东省科学院自动化研究所 | Flexible rotational joint with torque limitation function |
| CN106395400A (en) * | 2016-05-30 | 2017-02-15 | 广州启帆工业机器人有限公司 | Overload protection device for extrusion loads on connecting rod of palletizing robot |
| CN106395400B (en) * | 2016-05-30 | 2018-08-28 | 广州启帆工业机器人有限公司 | A kind of robot palletizer connecting rod extrusion load overload protection arrangement |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130612 |