CN203228241U - Arc guide rail mechanism applicable to joint drive - Google Patents
Arc guide rail mechanism applicable to joint drive Download PDFInfo
- Publication number
- CN203228241U CN203228241U CN 201320166815 CN201320166815U CN203228241U CN 203228241 U CN203228241 U CN 203228241U CN 201320166815 CN201320166815 CN 201320166815 CN 201320166815 U CN201320166815 U CN 201320166815U CN 203228241 U CN203228241 U CN 203228241U
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- CN
- China
- Prior art keywords
- guide rail
- arc guide
- arc
- fixed mount
- rail mechanism
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- 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.)
- Expired - Fee Related
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Abstract
The utility model relates to an arc guide rail mechanism applicable to joint drive. The arc guide rail mechanism comprises an arc guide rail, a rail base and a sliding block, wherein the arc guide rail is fixed on the rail base, the sliding block slides on the arc guide rail, a fixed frame is installed at each end of the rail base, a bearing is connected to each end of each turning wheel, a stepped hole is formed in each fixed frame, a wire pipe is mounted in each stepped hole, a steel wire rope is installed in the wire pipes and separated from the wire pipes through the stepped holes in the fixed frames, the steel wire rope is arranged along grooves in sides of the arc guide rail after being coiled around the turning wheels for a circle, and ends of the steel wire rope are fixed on one side of the sliding block. According to the arc guide rail mechanism, the structure is concise and reliable, a sliding pair is adopted to achieve functions of a revolute pair, the arc guide rail mechanism is applicable to design of joints of an exoskeleton type robot, swing angles of the joints can be accurately measured by sensors, and the arc guide rail mechanism is widely applied to the robot field and other engineering fields with special requirements for design space and aiming at achieving functions of revolute pairs.
Description
Technical field
The utility model belongs to the robot engineering technical field, particularly relates to a kind of arc-shaped guide rail mechanism that is applicable to that the joint drives.
Background technology
Joint designs is widely used in the robot field, for this class of exoskeleton-type robot the design space there is the robot of specific demand when joint designs, need effectively utilize limited design space, adopt moving sets to realize that the joint designs of the function of revolute effectively vacates in-house space undoubtedly, the designing requirement of exoskeleton-type robot can be well met, terseness and the dexterity of mechanism can be effectively realized.
Summary of the invention
Technical problem to be solved in the utility model provides a kind of arc-shaped guide rail mechanism that is applicable to that the joint drives, can realize the function of revolute by moving sets, can accurately measure the angle that swing in the joint by sensor installation, can be widely used in robot field and other design spaces has engineering field special requirement and that will realize the revolute pair function.
The technical scheme that its technical problem that solves the utility model adopts is: comprise railroad shoe, arc track, fixed mount and slide block, the arc that is shaped as bending of described railroad shoe, two bases in the front of railroad shoe have a fixed mount respectively, fixed mount and railroad shoe relative position respectively have an installing hole, two installing holes cooperate by clutch shaft bearing and second bearing respectively installs runner, have shoulder hole on the fixed mount of top, the runner outside, one arc track along the railroad shoe circumferential arrangement is installed on the railroad shoe front between the fixed mount, one slide block is arranged on the arc track, the slide block two ends are connected with an end of steel wire rope respectively, and the steel wire rope other end is walked around the runner below along the groove on the arc track and also introduced in the spool that is installed on the fixed mount.
Also fixedly there is a sensor in the place of corresponding fixed mount installing hole on two bases, the back side of described railroad shoe, and the end of probe of sensor is connected with the rotating shaft of runner.
Fixedly there is a sensor in the place of corresponding fixed mount installing hole by fixing rack for sensor and staple on two bases, the back side of described railroad shoe.
Beneficial effect
The utility model is simple for structure, reliable, adopt moving sets to realize the function of revolute, can accurately measure the angle that swing in the joint by sensor installation, can be widely used in robot field and other design spaces has engineering field special requirement and that will realize the revolute pair function.
Description of drawings
Fig. 1 is the utility model general assembly schematic diagram.
Fig. 2 is the utility model runner place structural scheme of mechanism.
The specific embodiment
Below in conjunction with specific embodiment, further set forth the utility model.Should be understood that these embodiment only are used for explanation the utility model and are not used in the scope of the present utility model that limits.Should be understood that in addition those skilled in the art can make various changes or modifications the utility model after the content of having read the utility model instruction, these equivalent form of values fall within the application's appended claims institute restricted portion equally.
As Fig. 1～shown in Figure 2, a kind of arc-shaped guide rail mechanism that is applicable to that the joint drives comprises railroad shoe 1, arc track 2, spool 3, fixed mount 4, runner 5, slide block 6, steel wire rope 7, clutch shaft bearing 8, second bearing 9, fixing rack for sensor 10, sensor 11, staple 12, the joint that the moving sets that arc-shaped guide rail 2, railroad shoe 1 and slide block 6 constitute realizes having the revolute function.Arc-shaped guide rail 2 is fixed on the railroad shoe 1, slide block 6 slides at arc-shaped guide rail 2, at the railroad shoe two ends fixed mount 4 is installed, runner 5 two ends are connected with bearing 8,9, bearing is installed in respectively on railroad shoe 1 and the fixed mount 4, on fixed mount 4, also be provided with shoulder hole, spool 3 is installed in the shoulder hole, steel wire rope 7 is installed in the spool, by the shoulder hole on the fixed mount 4 steel wire rope is separated from spool 3, steel wire rope is twined a circle back is fixed on the steel wire rope termination slide block at last along the groove wiring of arc-shaped guide rail side a side at runner 5.The both sides of slide block are connected to form a closed-loop path by identical mode, move to realize the driving in joint by pulling rope traction slide block.
The place is equipped with sensor in runner axle center, the railroad shoe back side, sensor is installed on the railroad shoe by the fixing rack for sensor that is fixed on railroad shoe, the end of sensor rotating shaft and runner is fixed together by holding screw, drives sensor rotation generation signal thereby steel wire rope drives the runner rotation by frictional force.
Slide block can smooth and easy slip on arc-shaped guide rail, the circle core shaft of arc-shaped guide rail is the turning cylinder in joint, the slide block two ends fixedly have steel wire rope respectively, steel wire rope is attached on the outer groove of arc-shaped guide rail and after rail end is walked around runner steel wire rope is introduced in the spool that is installed on the fixed mount, draws the driving that slide block is realized the joint by the steel wire rope in the pulling spool.
Claims (3)
1. arc-shaped guide rail mechanism that is applicable to that the joint drives, comprise railroad shoe (1), arc track (2), fixed mount (4) and slide block (6), it is characterized in that: the arc that is shaped as bending of described railroad shoe (1), two bases in the front of railroad shoe (1) have a fixed mount (4) respectively, fixed mount (4) respectively has an installing hole with railroad shoe (1) relative position, two installing holes cooperate by clutch shaft bearing (8) and second bearing (9) respectively installs runner (5), have shoulder hole on the fixed mount (4) of top, runner (5) outside, one arc track (2) along railroad shoe (1) circumferential arrangement is installed on railroad shoe (1) front between the fixed mount (4), one slide block (6) is arranged on the arc track (2), slide block (6) two ends are connected with an end of steel wire rope (7) respectively, and steel wire rope (7) other end is walked around runner (5) below along the groove on the arc track (2) and also introduced in the spool (3) that is installed on the fixed mount.
2. a kind of arc-shaped guide rail mechanism that is applicable to that the joint drives according to claim 1, it is characterized in that: also fixedly there is a sensor (11) in the place of corresponding fixed mount (4) installing hole on two bases, the back side of described railroad shoe (1), and the end of probe of sensor (11) is connected with the rotating shaft of runner (5).
3. a kind of arc-shaped guide rail mechanism that is applicable to that the joint drives according to claim 2, it is characterized in that: fixedly there is a sensor (11) in the place of corresponding fixed mount (4) installing hole by fixing rack for sensor (10) and staple (12) on two bases, the back side of described railroad shoe (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320166815 CN203228241U (en) | 2013-04-07 | 2013-04-07 | Arc guide rail mechanism applicable to joint drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320166815 CN203228241U (en) | 2013-04-07 | 2013-04-07 | Arc guide rail mechanism applicable to joint drive |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203228241U true CN203228241U (en) | 2013-10-09 |
Family
ID=49284390
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320166815 Expired - Fee Related CN203228241U (en) | 2013-04-07 | 2013-04-07 | Arc guide rail mechanism applicable to joint drive |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203228241U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103203758A (en) * | 2013-04-07 | 2013-07-17 | 东华大学 | Arc-shaped guide rail mechanism applicable to joint drive |
| US10230164B2 (en) | 2016-09-14 | 2019-03-12 | Raytheon Company | Antenna positioning mechanism |
| CN110937343A (en) * | 2019-11-26 | 2020-03-31 | 北京工业大学 | Automatic conveyer of meal is got to rail mounted takeaway |
| CN115284327A (en) * | 2022-08-25 | 2022-11-04 | 清华大学 | Multi-degree-of-freedom wrist joint, manipulator and robot |
-
2013
- 2013-04-07 CN CN 201320166815 patent/CN203228241U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103203758A (en) * | 2013-04-07 | 2013-07-17 | 东华大学 | Arc-shaped guide rail mechanism applicable to joint drive |
| US10230164B2 (en) | 2016-09-14 | 2019-03-12 | Raytheon Company | Antenna positioning mechanism |
| CN110937343A (en) * | 2019-11-26 | 2020-03-31 | 北京工业大学 | Automatic conveyer of meal is got to rail mounted takeaway |
| CN110937343B (en) * | 2019-11-26 | 2021-10-01 | 北京工业大学 | Automatic conveyer of meal is got to rail mounted takeaway |
| CN115284327A (en) * | 2022-08-25 | 2022-11-04 | 清华大学 | Multi-degree-of-freedom wrist joint, manipulator and robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131009 Termination date: 20160407 |