CN204976658U - Robot joint telecontrol equipment - Google Patents
Robot joint telecontrol equipment Download PDFInfo
- Publication number
- CN204976658U CN204976658U CN201520545528.7U CN201520545528U CN204976658U CN 204976658 U CN204976658 U CN 204976658U CN 201520545528 U CN201520545528 U CN 201520545528U CN 204976658 U CN204976658 U CN 204976658U
- Authority
- CN
- China
- Prior art keywords
- screw
- joint
- belt
- flexible band
- telecontrol equipment
- 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.)
- Expired - Fee Related
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Abstract
The utility model relates to a robot joint telecontrol equipment. Including connecting the balance on the body of joint, the cover is equipped with annular flexible band on the balance, flexible band gos back the suit simultaneously and form cyclic annular transmission route on a plurality of synchronizing wheel, the last fixed mounting of flexible band has the screw, the screw passes through the screw -thread fit suit on the lead screw, the one end and the motor drive of lead screw are connected, the outer circumference of balance and synchronizing wheel all is provided with evenly distributed's the teeth of a cogwheel, flexible band is the tooth belt. The device simple structure, make things convenient for manufacturing, the motion clearance is little, and whole force -bearing point are rolling friction in the motion process, can realize the zero clearance motion for driven robot joint motions accuracy is high, the amplitude of fluctuation is big.
Description
Technical field
The utility model relates to a kind of joint of robot telecontrol equipment.
Background technology
The motion of joint of robot mostly adopts motor to pass through cycloid or gear type reductor drives joint motions, inevitably movement clearance is there is in running, this machine error will be amplified by the action being reacted to joint of robot and mechanical arm, cause the precision of action not high.Need the gear of project organization complexity, processing precise for this reason, reduce error as far as possible.As Chinese patent 2012101913253 discloses one " reductor, mechanical arm and manipulator ", it adopts the structure of revolution gear and eccentric cam, and complex structure, design difficulty of processing are greatly, action precision is poor, joints' movement range is limited.
Summary of the invention
The purpose of this utility model be to provide a kind of structure simple, facilitate processing and manufacturing, joint of robot telecontrol equipment that accuracy is high.
A kind of joint of robot telecontrol equipment described in the utility model comprises the escapement be connected on joint body, described escapement is set with the flexible-belt of ring-type, and described flexible-belt is also sleeved on some synchronizing wheels simultaneously and forms ring-type transfer route; Flexible-belt is installed with screw, and described screw is sleeved on leading screw by threaded engagement, and one end of described leading screw is connected with motor-driven; The excircle of described escapement and synchronizing wheel is provided with the equally distributed gear teeth, and described flexible-belt is cog belt.
The axis of described escapement and synchronizing wheel is parallel to each other.
Described leading screw is ball-screw.
Adopt after said structure, this apparatus structure is simple, facilitate processing and manufacturing, movement clearance is little, and whole force part is rolling friction in motion process, can realize zero clearance motion, high for driven machine person joint motion accuracy, joint amplitude of fluctuation is large.
Accompanying drawing explanation
Fig. 1 is the structural representation of the utility model embodiment.
Fig. 2 is the structural representation of another embodiment of the utility model.
Detailed description of the invention
As shown in drawings, joint of robot telecontrol equipment described in the utility model comprises the escapement 1 be connected on joint body, described escapement 1 is set with the flexible-belt 2 of ring-type, and described flexible-belt 2 is also sleeved on some synchronizing wheels 3,4 simultaneously and forms ring-type transfer route; Described synchronizing wheel 3,4 can adopt 1 as shown in Figure 1, also can adopt two as shown in Figure 2, certainly, more synchronizing wheel also can be utilized to form ring-type transfer route.
Described escapement 1 is parallel to each other with the axis of synchronizing wheel 3,4, and the excircle of escapement 1 and synchronizing wheel 3,4 is provided with the equally distributed gear teeth, and described flexible-belt 2 is cog belt.Like this, flexible-belt 2 forms synchronous transmission mechanism with escapement 1 and synchronizing wheel 3,4, and flexible-belt 2 can be avoided to skid.
Flexible-belt 2 is installed with screw 5, described screw 5 is sleeved on leading screw 6 by threaded engagement, and one end and the motor 7 of described leading screw 6 are in transmission connection; Described leading screw 6 is ball-screws.Motor 7 drives screw 5 to move back and forth between two-wheeled by leading screw 6 when working, promote flexible ring set 2 to operate clockwise or counterclockwise, the motor reaction of flexible ring set 2 can form the swing of the joint body on escapement 1 to escapement 1, realizes the motion of joint of robot.The move distance rationally arranging screw 5 can realize the significantly swing of escapement 1, and amplitude of fluctuation can be greater than 360 degree.
As the straight reciprocating motion of joint body need be realized, also joint body can be directly installed on flexible-belt 2.
Claims (3)
1. a joint of robot telecontrol equipment, comprise the escapement (1) be connected on joint body, it is characterized in that: the flexible-belt (2) described escapement (1) being set with ring-type, described flexible-belt (2) is also sleeved on some synchronizing wheels (3,4) upper formation ring-type transfer route simultaneously; Flexible-belt (2) is installed with screw (5), described screw (5) is sleeved on leading screw (6) by threaded engagement, and one end and the motor (7) of described leading screw (6) are in transmission connection; The excircle of described escapement (1) and synchronizing wheel (3,4) is provided with the equally distributed gear teeth, and described flexible-belt (2) is cog belt.
2. joint of robot telecontrol equipment according to claim 1, is characterized in that: described escapement (1) is parallel to each other with the axis of synchronizing wheel (3,4).
3. joint of robot telecontrol equipment according to claim 1 and 2, is characterized in that: described leading screw (6) is ball-screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520545528.7U CN204976658U (en) | 2015-07-27 | 2015-07-27 | Robot joint telecontrol equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520545528.7U CN204976658U (en) | 2015-07-27 | 2015-07-27 | Robot joint telecontrol equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204976658U true CN204976658U (en) | 2016-01-20 |
Family
ID=55111074
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520545528.7U Expired - Fee Related CN204976658U (en) | 2015-07-27 | 2015-07-27 | Robot joint telecontrol equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204976658U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108032326A (en) * | 2017-12-15 | 2018-05-15 | 长沙志唯电子科技有限公司 | Joint of robot telecontrol equipment |
| CN113183183A (en) * | 2021-05-10 | 2021-07-30 | 清华大学深圳国际研究生院 | Friction measuring device and method for rope-driven mechanical arm |
-
2015
- 2015-07-27 CN CN201520545528.7U patent/CN204976658U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108032326A (en) * | 2017-12-15 | 2018-05-15 | 长沙志唯电子科技有限公司 | Joint of robot telecontrol equipment |
| CN113183183A (en) * | 2021-05-10 | 2021-07-30 | 清华大学深圳国际研究生院 | Friction measuring device and method for rope-driven mechanical arm |
| CN113183183B (en) * | 2021-05-10 | 2023-09-08 | 清华大学深圳国际研究生院 | Rope-driven mechanical arm friction measurement device and method |
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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: 20160120 Termination date: 20160727 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |