CN204248907U - Main hand swinging joint structure - Google Patents
Main hand swinging joint structure Download PDFInfo
- Publication number
- CN204248907U CN204248907U CN201420744174.4U CN201420744174U CN204248907U CN 204248907 U CN204248907 U CN 204248907U CN 201420744174 U CN201420744174 U CN 201420744174U CN 204248907 U CN204248907 U CN 204248907U
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- CN
- China
- Prior art keywords
- sensor
- rotating shaft
- brush
- adjusting nut
- plain bearing
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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.)
- Withdrawn - After Issue
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Abstract
The utility model belongs to robot engineering field, specifically a kind of main hand swinging joint structure, comprise articular shell, plain bearing housing, sliding bearing, adjusting nut, brush locating rack, rotating shaft and sensor, the inside of articular shell one end is built-in with sensor, this sensor comprises sensor diaphragm and sensor brush, sensor diaphragm is fixed on articular shell, plain bearing housing is positioned on shell by position-limitting pin, can play but can not rotate up and down, sliding bearing and brush locating rack are fixed in rotating shaft, sensor brush is fixed on brush locating rack upper end, brush and relative sensors diaphragm rotate when the spindle is rotated, sensor can detect voltage signal, turning cylinder can be limited in articular shell by locking nut, the damping of rotating shaft can be regulated simultaneously, the pickup wire in follow-up joint can pass from the hollow of rotating shaft.The utility model has the advantages such as compact conformation, stable performance, joint resistance-adjustable.
Description
Technical field
The utility model belongs to robot engineering field, specifically a kind of main hand swinging joint structure.
Background technology
At present, remote operating manipulator is widely used in fields such as military affairs, ocean, space flight.The control mode mainly master-slave mode of remote operating manipulator, wherein main hand reduces model from hand, and joint is corresponding with main hand, each joint built-in sensors, by realizing the control from hand main hand manipulation.Main hand is generally containing multiple joint, and wherein swinging joint is conventional joint.
Utility model content
The purpose of this utility model is to provide a kind of main hand swinging joint structure.
The purpose of this utility model is achieved through the following technical solutions:
The utility model comprises articular shell, plain bearing housing, sliding bearing, adjusting nut, brush locating rack, rotating shaft and sensor, wherein the inside of articular shell one end is built-in with sensor, this sensor comprises sensor diaphragm and sensor brush, and the other end of described articular shell is threaded with described adjusting nut; The plain bearing housing that opposed articulation shell only can move up and down is provided with between described sensor and adjusting nut, described rotating shaft is inserted by adjusting nut, by this adjusting nut axial limiting, one end of described brush locating rack is rotationally connected by described sliding bearing and plain bearing housing, and described sensing apparatus brush is installed, the other end and the sliding bearing of described brush locating rack are connected with rotating shaft, respectively with described axis of rotation; Described plain bearing housing abuts with adjusting nut, regulates damping in relative rotation between described plain bearing housing and sliding bearing by this adjusting nut; The data wire in follow-up joint is successively through rotating shaft, brush locating rack, and drawn by articular shell, the pickup wire in described sensor diaphragm is drawn by articular shell.
Wherein: the contact surface between described plain bearing housing and sliding bearing being wedge shape, described sliding bearing is coaxial with described articular shell in axis of rotation process by the contact surface of this wedge shape; Described plain bearing housing is upper and lower two, is provided with the position-limitting pin be located in described articular shell in the side of two plain bearing housings; Described sliding bearing between upper and lower two plain bearing housings, composition sliding pair, be the contact surface of wedge shape with described upper and lower two plain bearing housings; The described plain bearing housing being positioned at below abuts with described adjusting nut, realizes moving up and down, adjust the frictional force between described plain bearing housing and sliding bearing by rotating adjusting nut, and then the damping that adjusting joint rotates; Described sliding bearing by shop bolt and rotating shaft affixed, with described axis of rotation;
Described adjusting nut is that the inversion of hollow is "T"-shaped, and one end is threaded with the other end of described articular shell, and the other end is positioned at the outside of the described articular shell other end; Described rotating shaft is inverted "T"-shaped, and centre has the first through hole that the data wire for described follow-up joint passes, one end of this rotating shaft is inserted by adjusting nut, with described adjusting nut interference fits, the other end of described rotating shaft is positioned at the outside of adjusting nut; One end and the sensor brush of described brush locating rack are affixed, and the other end is connected with described shaft thread, and the centre of described brush locating rack has the second through hole supplying the data wire in described follow-up joint to pass; Described sensor is decoupled sensor, described sensor diaphragm is positioned at the sensor electrical side of brushing, and being fixed on the inside of described articular shell, described sensor brush with axis of rotation, detects by described sensor the signal that magnitude of voltage changes by brush locating rack; The longitudinal center line conllinear of described articular shell, sliding bearing, adjusting nut, brush locating rack and rotating shaft.
Advantage of the present utility model and good effect are:
1. stable performance: the utility model adopts intra articular cabling, and pickup wire folding torsional angle degree is minimum, reliability and stability improve greatly.
2. compact conformation: the sensor in the utility model adopts decoupled sensor, and is placed in articular shell inside, and these designs make whole articulation mechanism closely.
3. joint resistance-adjustable: the adjusting nut in the utility model can the resistance of adjusting joint, can regulate as required, to meet different operational requirements.
4. be the contact surface of wedge shape between the utility model sliding bearing and plain bearing housing, when ensure that articulation, sliding bearing is coaxial with articular shell.
Accompanying drawing explanation
Fig. 1 is internal structure schematic diagram of the present utility model;
Wherein: 1 is articular shell, 2 is plain bearing housing, and 3 is sliding bearing, and 4 is adjusting nut, 5 is brush locating rack, and 6 is rotating shaft, and 7 is sensor diaphragm, and 8 is sensor brush, 9 is limit pin hole nail, and 10 is shop bolt, and 11 is the first through hole, and 12 is the second through hole.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described in further detail.
As shown in Figure 1, the utility model comprises articular shell 1, plain bearing housing 2, sliding bearing 3, adjusting nut 4, brush locating rack 5, rotating shaft 6, sensor, position-limitting pin 9 and shop bolt 10, wherein sensor is decoupled sensor, comprises sensor diaphragm 7 and sensor brush 8.
Articular shell 1 is hollow structure inside, and centre has third through-hole 13.The inside of articular shell 1 one end is built-in with sensor, and sensor diaphragm 7 is fixed on the inside of articular shell 1.The side of plain bearing housing 2 is provided with position-limitting pin 9, and plain bearing housing 2 is positioned in articular shell 1 by position-limitting pin 9, and plain bearing housing 2 only can play up and down relative to articular shell 1, but can not rotate.Plain bearing housing 2 is upper and lower two, sliding bearing 3 between upper and lower two plain bearing housings 2, composition sliding pair, the outward flange at sliding bearing about 3 two ends and upper and lower two plain bearing housings 2 are the contact surface of wedge shape, and when ensure that articulation, sliding bearing 3 is coaxial with articular shell 1.Adjusting nut 4 is that the inversion of hollow is "T"-shaped, and one end is threaded with the other end of articular shell 1, and the other end is positioned at the outside of articular shell 1 other end.
Rotating shaft 6 is inverted "T"-shaped, and centre has the first through hole 11 that the data wire 14 for follow-up joint passes, one end of this rotating shaft 6 is inserted by adjusting nut 4, with adjusting nut 4 interference fits, the other end of rotating shaft 6 is positioned at the outside of adjusting nut 4.Adjusting nut 4 countershaft 6 axial limiting, is limited in the cavity of articular shell 1 by rotating shaft 6; Meanwhile, the plain bearing housing 2 being positioned at below abuts with adjusting nut 4, realizes moving up and down, the frictional force between adjustment plain bearing housing 2 and sliding bearing 3 by rotating adjusting nut 4, and then the damping that adjusting joint rotates.Rotate.
One end of brush locating rack 5 is rotationally connected by sliding bearing 3 and plain bearing housing 2, and affixed with sensor brush 8; The other end of brush locating rack 5 is threaded with rotating shaft 6, and the centre of brush locating rack 5 has the second through hole 12 supplying the data wire 14 in follow-up joint to pass.Sliding bearing 3 is affixed by shop bolt 10 and rotating shaft 6, rotates with rotating shaft 6.
Sensor diaphragm 7 is positioned at above sensor brush 8, and is fixed on the inside of articular shell 1, and the pickup wire 15 in sensor diaphragm 7 is drawn by the third through-hole 13 on articular shell 1; Sensor brush 8 is fixed in one end of brush locating rack 5, is rotated with rotating shaft 6 by brush locating rack 5, and when the rotating shaft 6 opposed articulation shell 1 in joint rotates, sensor can detect the signal that magnitude of voltage changes.
The longitudinal center line conllinear of articular shell 1 of the present utility model, sliding bearing 3, adjusting nut 4, brush locating rack 5 and rotating shaft 6.
Operation principle of the present utility model is:
Sensor diaphragm 7 is fixed in articular shell 1, and sensor brush 8 is rotated with rotating shaft 6 by brush location Ke 5.When the rotating shaft 6 opposed articulation shell 1 in joint rotates, sensor can detect the change of magnitude of voltage, and can pass through to change sliding bearing 3 and the frictional force of plain bearing housing 2 and then the resistance of adjusting joint, to meet different operational requirements by adjusting nut 4.
The utility model can be applicable to master-slave manipulators system, is the important component part of main hand.
Claims (9)
1. a main hand swinging joint structure, it is characterized in that: comprise articular shell (1), plain bearing housing (2), sliding bearing (3), adjusting nut (4), brush locating rack (5), rotating shaft (6) and sensor, wherein the inside of articular shell (1) one end is built-in with sensor, this sensor comprises sensor diaphragm (7) and sensor brush (8), and the other end of described articular shell (1) is threaded with described adjusting nut (4), the plain bearing housing (2) that opposed articulation shell (1) only can move up and down is provided with between described sensor and adjusting nut (4), described rotating shaft (6) is inserted by adjusting nut (4), by this adjusting nut (4) axial limiting, one end of described brush locating rack (5) is rotationally connected by described sliding bearing (3) and plain bearing housing (2), and described sensing apparatus brush (8) is installed, the other end and the sliding bearing (3) of described brush locating rack (5) are connected with rotating shaft (6) respectively, rotate with described rotating shaft (6), described plain bearing housing (2) abuts with adjusting nut (4), regulates damping in relative rotation between described plain bearing housing (2) and sliding bearing (3) by this adjusting nut (4), the data wire (14) in follow-up joint is successively through rotating shaft (6), brush locating rack (5), drawn by articular shell (1), the pickup wire (15) in described sensor diaphragm (7) is drawn by articular shell (1).
2. by main hand swinging joint structure according to claim 1, it is characterized in that: be the contact surface of wedge shape between described plain bearing housing (2) and sliding bearing (3), described sliding bearing (3) is coaxial with described articular shell (1) in rotating shaft (6) rotation process by the contact surface of this wedge shape.
3. by main hand swinging joint structure according to claim 2, it is characterized in that: described plain bearing housing (2) is upper and lower two, be provided with the position-limitting pin (9) be located in described articular shell (1) in the side of two plain bearing housings (2); Described sliding bearing (3) is positioned between upper and lower two plain bearing housings (2), composition sliding pair, is the contact surface of wedge shape with described upper and lower two plain bearing housings (2); The described plain bearing housing (2) being positioned at below abuts with described adjusting nut (4), realize moving up and down by rotating adjusting nut (4), adjust the frictional force between described plain bearing housing (2) and sliding bearing (3), and then the damping that adjusting joint rotates.
4. by the main hand swinging joint structure described in claim 1,2 or 3, it is characterized in that: described sliding bearing (3) is affixed by shop bolt (10) and rotating shaft (6), rotates with described rotating shaft (6).
5. by main hand swinging joint structure according to claim 1, it is characterized in that: the inversion that described adjusting nut (4) is hollow is "T"-shaped, one end is threaded with the other end of described articular shell (1), and the other end is positioned at the outside of described articular shell (1) other end.
6. by main hand swinging joint structure according to claim 1, it is characterized in that: described rotating shaft (6) is for inverted "T"-shaped, centre has the first through hole (11) supplying the data wire (14) in described follow-up joint to pass, one end of this rotating shaft (6) is inserted by adjusting nut (4), with described adjusting nut (4) interference fits, the other end of described rotating shaft (6) is positioned at the outside of adjusting nut (4).
7. by main hand swinging joint structure according to claim 1, it is characterized in that: one end and the sensor brush (8) of described brush locating rack (5) are affixed, the other end is threaded with described rotating shaft (6), and the centre of described brush locating rack (5) has the second through hole (12) supplying the data wire (14) in described follow-up joint to pass.
8. by main hand swinging joint structure according to claim 7, it is characterized in that: described sensor is decoupled sensor, described sensor diaphragm (7) is positioned at sensor brush (8) top, and be fixed on the inside of described articular shell (1), described sensor brush (8) is rotated with rotating shaft (6) by brush locating rack (5), detects by described sensor the signal that magnitude of voltage changes.
9. by main hand swinging joint structure according to claim 1, it is characterized in that: the longitudinal center line conllinear of described articular shell (1), sliding bearing (3), adjusting nut (4), brush locating rack (5) and rotating shaft (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420744174.4U CN204248907U (en) | 2014-11-30 | 2014-11-30 | Main hand swinging joint structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420744174.4U CN204248907U (en) | 2014-11-30 | 2014-11-30 | Main hand swinging joint structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204248907U true CN204248907U (en) | 2015-04-08 |
Family
ID=52953257
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420744174.4U Withdrawn - After Issue CN204248907U (en) | 2014-11-30 | 2014-11-30 | Main hand swinging joint structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204248907U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105710894A (en) * | 2014-11-30 | 2016-06-29 | 中国科学院沈阳自动化研究所 | Master manipulator swing joint structure |
-
2014
- 2014-11-30 CN CN201420744174.4U patent/CN204248907U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105710894A (en) * | 2014-11-30 | 2016-06-29 | 中国科学院沈阳自动化研究所 | Master manipulator swing joint structure |
| CN105710894B (en) * | 2014-11-30 | 2017-09-29 | 中国科学院沈阳自动化研究所 | A kind of main hand swinging joint structure |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20150408 Effective date of abandoning: 20170908 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20150408 Effective date of abandoning: 20170908 |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20150408 Effective date of abandoning: 20170929 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20150408 Effective date of abandoning: 20170929 |