CN204183568U - A kind of robot principal and subordinate swing arm revolute pair jockey - Google Patents
A kind of robot principal and subordinate swing arm revolute pair jockey Download PDFInfo
- Publication number
- CN204183568U CN204183568U CN201420543247.3U CN201420543247U CN204183568U CN 204183568 U CN204183568 U CN 204183568U CN 201420543247 U CN201420543247 U CN 201420543247U CN 204183568 U CN204183568 U CN 204183568U
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- China
- Prior art keywords
- faller
- arm
- slave arm
- connecting axle
- revolute pair
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Abstract
The utility model belongs to robot field, particularly relate to a kind of robot principal and subordinate swing arm revolute pair jockey, it is characterized in that: described active armed lever group, driven armed lever group is parallelogram sturcutre, described first angular contact bearing is installed on elbow frame, between connecting axle, described end ring is installed on the outside of the first angular contact bearing, described master arm mobile jib is arranged on the middle part of connecting axle, described slave arm mobile jib one end is connected with slave arm joint, described slave arm joint is fixed on one end of connecting axle, described second angular contact bearing is installed on slave arm joint, between connecting axle, the rotating shaft of described master arm faller is installed on one end of elbow frame, described master arm faller is installed in the rotating shaft of master arm faller, the rotating shaft of described slave arm faller is installed on the other end of elbow frame, described slave arm faller is installed in the rotating shaft of slave arm faller.The utility model is connected and installed simply, and installation accuracy is high, reduces later maintenance dismounting difficulty and is convenient to later stage institutional adjustment.
Description
Technical field
The utility model belongs to robot field, particularly relates to a kind of robot principal and subordinate swing arm revolute pair jockey.
Background technology
Existing parallel robot principal and subordinate swing arm adopts ball pivot, Hooke's hinge or moving sets to realize the spatial movement of the 2-6 free degree as kinematic pair mostly.Chinese patent CN 1355087A provides a kind of only containing the two-degrees-of-freedom translation parallel robot mechanism of revolute pair, and it comprises frame, moving platform and two pairs of side chains; It is characterized in that two driving servomotors are arranged in frame, moving platform is connected with frame by Liang Ge branch, forms parallel closed loop structure; Two side chains are respectively containing two parallel-crank mechanisms, and respectively as group of drive rods and follower lever group, the relative frame of moving platform does translation, adopts turning joint to connect between each movement parts completely.Although this robot mechanism has high speed, low cost, lightweight advantage, but what robot principal and subordinate swing arm revolute pair adopted is rolling bearing, elbow frame employing fraction block structure is connected with principal and subordinate's swing arm, there is installation complexity, precision is difficult to ensure and the problems such as difficulty are dismantled in later maintenance.
Summary of the invention
The utility model is for solution robot principal and subordinate swing arm revolute pair installation accuracy is not high and later maintenance is dismantled difficulty and provided a kind of robot principal and subordinate swing arm revolute pair jockey that can increase installation accuracy and simplification later maintenance dismounting difficulty.
The technical scheme that the utility model adopts is: a kind of robot principal and subordinate swing arm revolute pair jockey, is characterized in that: comprise initiatively armed lever group, driven armed lever group, containing the jockey of revolute pair, described active armed lever group, driven armed lever group is parallelogram sturcutre, and described active armed lever group comprises master arm mobile jib, master arm faller, described driven armed lever group comprises slave arm mobile jib, slave arm faller, the described jockey containing revolute pair comprises elbow frame, connecting axle, first angular contact bearing, second angular contact bearing, end ring, locking nut, slave arm joint, locknut, the rotating shaft of master arm faller, the rotating shaft of slave arm faller, master arm faller spindle nut, slave arm faller spindle nut, seal cover, described connecting axle is installed on the bending place of described elbow frame, and described first angular contact bearing is installed on elbow frame, between connecting axle, described end ring is installed on the outside of the first angular contact bearing and it is positioned at elbow frame, between connecting axle, one end of described master arm mobile jib is arranged on the middle part of connecting axle by locking nut and it is positioned at the outside of the first angular contact bearing, described slave arm mobile jib one end is connected with slave arm joint, described slave arm joint is fixed on one end of connecting axle by locknut, described second angular contact bearing is installed on slave arm joint, between connecting axle, described seal cover is installed on the both sides of the second angular contact bearing and it is positioned at slave arm joint, between connecting axle, the rotating shaft of described master arm faller is installed on one end of elbow frame by master arm faller spindle nut, described master arm faller is installed in the rotating shaft of master arm faller, the rotating shaft of described slave arm faller is installed on the other end of elbow frame by slave arm faller spindle nut, and described slave arm faller is installed in the rotating shaft of slave arm faller.
The quantity of described first angular contact bearing is two, and the quantity of described end ring is two.
Described first angular contact bearing relies on axle journal location and installation in the middle part of described elbow frame.
Described slave arm joint is located by the shaft shoulder of described connecting axle.
Described master arm faller spindle nut, slave arm faller spindle nut are acorn nut.
The described jockey containing revolute pair also comprises bearing adjustable ring, and described bearing adjustable ring is installed on connecting axle and it is positioned at the side of elbow frame.
The described jockey containing revolute pair also comprises master arm faller packing ring, slave arm faller packing ring, and described master arm faller packing ring is installed between master arm faller and elbow frame, and described slave arm faller packing ring is installed between slave arm faller and elbow frame.
The beneficial effects of the utility model are:
1, the utility model proposes a kind of robot principal and subordinate swing arm revolute pair jockey, drive initiatively armed lever group, by realizing the motion of driven armed lever group containing the jockey of revolute pair, this robot principal and subordinate swing arm revolute pair jockey is connected and installed simply, installation accuracy is high, reduces later maintenance dismounting difficulty and is convenient to later stage institutional adjustment;
2, make elbow chord position in connecting axle centre position by bearing adjustable ring, regulate easy;
3, structure is simple, practical, is easy to make, promote, and is of great practical significance.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is frame for movement installation diagram of the present utility model.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described in further detail:
In figure, 1-is armed lever group initiatively, the driven armed lever group of 2-, 3-is containing the jockey of revolute pair, 4-master arm mobile jib, 5-master arm faller, 6-slave arm mobile jib, 7-slave arm faller, 8-elbow frame, 9-connecting axle, 10-first angular contact bearing, 11-end ring, 12-bearing adjustable ring, 13-locking nut, 14-slave arm joint, 15-second angular contact bearing, 16-locknut, the rotating shaft of 17-master arm faller, the rotating shaft of 18-slave arm faller, 19-master arm faller spindle nut, 20-slave arm faller spindle nut, 21-seal cover, 22-slave arm faller packing ring, 23-master arm faller packing ring.
Embodiment
As shown in Figure 1-2, a kind of robot principal and subordinate swing arm revolute pair jockey, comprises initiatively armed lever group 1, driven armed lever group 2, containing the jockey 3 of revolute pair, initiatively armed lever group 1, driven armed lever group 2 is parallelogram sturcutre, and initiatively armed lever group 1 comprises master arm mobile jib 4, master arm faller 5, driven armed lever group 2 comprises slave arm mobile jib 6, slave arm faller 7, the jockey 3 containing revolute pair comprises elbow frame 8, connecting axle 9, first angular contact bearing 10, end ring 11, locking nut 13, slave arm joint 14, second angular contact bearing 15, locknut 16, master arm faller rotating shaft 17, slave arm faller rotating shaft 18, master arm faller spindle nut 19, slave arm faller spindle nut 20, seal cover 21, connecting axle 9 is installed on the bending place of elbow frame 8, and the first angular contact bearing 10 is installed on elbow frame 8, between connecting axle 9, end ring 11 is installed on the outside of the first angular contact bearing 10 and it is positioned at elbow frame 8, between connecting axle 9, one end of master arm mobile jib 4 is arranged on the middle part of connecting axle 9 by locking nut 13 and it is positioned at the outside of the first angular contact bearing 10, slave arm mobile jib 6 one end is connected with slave arm joint 14, slave arm joint 14 is fixed on one end of connecting axle 9 by locknut 16, and the second angular contact bearing 15 is installed on slave arm joint 14, between connecting axle 9, seal cover 21 is installed on the both sides of the second angular contact bearing 15 and it is positioned at slave arm joint 14, between connecting axle 9, master arm faller rotating shaft 17 is installed on one end of elbow frame 8 by master arm faller spindle nut 19, master arm faller 5 is installed in master arm faller rotating shaft 17, slave arm faller rotating shaft 18 is installed on the other end of elbow frame 8 by slave arm faller spindle nut 20, and slave arm faller 7 is installed in slave arm faller rotating shaft 18.
The quantity of the first angular contact bearing 10 is two, and the quantity of end ring 11 is two.
First angular contact bearing 10 relies on axle journal location and installation in the middle part of elbow frame 8.
Slave arm joint 14 is located by the shaft shoulder of connecting axle 9.
Master arm faller spindle nut 19, slave arm faller spindle nut 20 are acorn nut.
Jockey 3 containing revolute pair also comprises bearing adjustable ring 12, and bearing adjustable ring 12 is installed on connecting axle 9 and it is positioned at the side of elbow frame 8.
Jockey 3 containing revolute pair also comprises master arm faller packing ring 23, slave arm faller packing ring 22, and master arm faller packing ring 23 is installed between master arm faller 5 and elbow frame 8, and slave arm faller packing ring 22 is installed between slave arm faller 7 and elbow frame 8.
Operation principle
Initiatively armed lever group 1 and driven armed lever group 2 are parallelogram sturcutre, drive initiatively armed lever group 1, by realizing the motion of driven armed lever group 2 containing the jockey 3 of revolute pair, this robot principal and subordinate swing arm revolute pair jockey is connected and installed simply, installation accuracy is high, reduces later maintenance dismounting difficulty and is convenient to later stage institutional adjustment.
Above an embodiment of the present utility model has been described in detail, but described content being only preferred embodiment of the present utility model, can not being considered to for limiting practical range of the present utility model.All equalizations done according to the utility model application range change and improve, and all should still belong within patent covering scope of the present utility model.
Claims (7)
1. a robot principal and subordinate swing arm revolute pair jockey, is characterized in that: comprise initiatively armed lever group, driven armed lever group, containing the jockey of revolute pair, described active armed lever group, driven armed lever group is parallelogram sturcutre, and described active armed lever group comprises master arm mobile jib, master arm faller, described driven armed lever group comprises slave arm mobile jib, slave arm faller, the described jockey containing revolute pair comprises elbow frame, connecting axle, first angular contact bearing, second angular contact bearing, end ring, locking nut, slave arm joint, locknut, the rotating shaft of master arm faller, the rotating shaft of slave arm faller, master arm faller spindle nut, slave arm faller spindle nut, seal cover, described connecting axle is installed on the bending place of described elbow frame, and described first angular contact bearing is installed on elbow frame, between connecting axle, described end ring is installed on the outside of the first angular contact bearing and it is positioned at elbow frame, between connecting axle, one end of described master arm mobile jib is arranged on the middle part of connecting axle by locking nut and it is positioned at the outside of the first angular contact bearing, described slave arm mobile jib one end is connected with slave arm joint, described slave arm joint is fixed on one end of connecting axle by locknut, described second angular contact bearing is installed on slave arm joint, between connecting axle, described seal cover is installed on the both sides of the second angular contact bearing and it is positioned at slave arm joint, between connecting axle, the rotating shaft of described master arm faller is installed on one end of elbow frame by master arm faller spindle nut, described master arm faller is installed in the rotating shaft of master arm faller, the rotating shaft of described slave arm faller is installed on the other end of elbow frame by slave arm faller spindle nut, and described slave arm faller is installed in the rotating shaft of slave arm faller.
2. a kind of robot principal and subordinate swing arm revolute pair jockey according to claim 1, it is characterized in that: the quantity of described first angular contact bearing is two, the quantity of described end ring is two.
3. a kind of robot principal and subordinate swing arm revolute pair jockey according to claim 1, is characterized in that: described first angular contact bearing relies on axle journal location and installation in the middle part of described elbow frame.
4. a kind of robot principal and subordinate swing arm revolute pair jockey according to claim 1, is characterized in that: described slave arm joint is located by the shaft shoulder of described connecting axle.
5. a kind of robot principal and subordinate swing arm revolute pair jockey according to claim 1, is characterized in that: described master arm faller spindle nut, slave arm faller spindle nut are acorn nut.
6. a kind of robot principal and subordinate swing arm revolute pair jockey according to claim 1, is characterized in that: the described jockey containing revolute pair also comprises bearing adjustable ring, and described bearing adjustable ring is installed on connecting axle and it is positioned at the side of elbow frame.
7. a kind of robot principal and subordinate swing arm revolute pair jockey according to claim 1, it is characterized in that: the described jockey containing revolute pair also comprises master arm faller packing ring, slave arm faller packing ring, described master arm faller packing ring is installed between master arm faller and elbow frame, and described slave arm faller packing ring is installed between slave arm faller and elbow frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420543247.3U CN204183568U (en) | 2014-09-19 | 2014-09-19 | A kind of robot principal and subordinate swing arm revolute pair jockey |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420543247.3U CN204183568U (en) | 2014-09-19 | 2014-09-19 | A kind of robot principal and subordinate swing arm revolute pair jockey |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204183568U true CN204183568U (en) | 2015-03-04 |
Family
ID=52615599
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420543247.3U Expired - Fee Related CN204183568U (en) | 2014-09-19 | 2014-09-19 | A kind of robot principal and subordinate swing arm revolute pair jockey |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204183568U (en) |
-
2014
- 2014-09-19 CN CN201420543247.3U patent/CN204183568U/en not_active Expired - Fee Related
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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 |
Granted publication date: 20150304 Termination date: 20150919 |
|
| EXPY | Termination of patent right or utility model |