CN205735007U - A kind of flexible mechanical joint of catching robot - Google Patents
A kind of flexible mechanical joint of catching robot Download PDFInfo
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- CN205735007U CN205735007U CN201620681645.0U CN201620681645U CN205735007U CN 205735007 U CN205735007 U CN 205735007U CN 201620681645 U CN201620681645 U CN 201620681645U CN 205735007 U CN205735007 U CN 205735007U
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- rotating shaft
- bindiny mechanism
- support
- mechanical joint
- catching robot
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Abstract
The utility model discloses the flexible mechanical joint of a kind of catching robot, including the first rotating shaft being coaxially disposed and the second rotating shaft, it is sheathed on the travelling gear in the first rotating shaft, it is arranged on the first support in the first rotating shaft and the second rotating shaft, the second support, and sliding mechanism, sliding mechanism includes the first bindiny mechanism and the second bindiny mechanism that can relatively turn round, and wherein the first bindiny mechanism is set in the first rotating shaft, and the second bindiny mechanism is set in the second rotating shaft；First support is provided with driving means, and driving means is connected with travelling gear.Its simple in construction, low cost, it is not necessary to complicated control system and computational methods, mechanical joint uses purely mechanic structure, it is matched with mechanical finger, it is adaptable to capture difform object, including irregularly shaped object, it is possible to keep stable grasp force.
Description
Technical field
This utility model relates to the technical field of mechanical joint, and the flexible mechanical particularly to a kind of catching robot closes
Joint.
Background technology
Articulated robot, also referred to as joint arm robot or joint Manipulator arm, be modal in current industrial circle
One of form of industrial robot, is suitable for the machine automatization equalization of many industrial circles.For articulated robot, joint
It it is its important component part, it is achieved that the relative motion of mechanical arm.
When utilizing mechanical arm to capture object, end can arrange the mechanical finger of several mutually coordinated motion, mechanical hand
Refer to be respectively divided into several sections of and connected by joint.Currently for capturing different size, difform object, mechanical finger
Self adaptation degree is the highest.
Chinese patent application prospectus CN104303709A discloses a kind of dragonfly pawl with bionic geometric structure feature
Formula end effector, this mechanical hand is by frame-type mechanical platform, intelligence control system, feedback system, drive system, electric power auxiliary
System forms；When mechanical hand contact fruit and vegerable, by the rotation amplitude of the force value feedback regulation servomotor of sensor, thus come
Adjustable claw refers to tightening up or diastole of the high-strength flexible polyamide rope of inside, and then realizes different size, difform fruit
Vegetables carry out the purpose of stable crawl, improve the end effector i.e. adaptive ability of mechanical finger, but the knot of this design
Structure and control method are the most complex, and its intermediate link is the most, break down and the probability that lost efficacy is the biggest, and, tired
The error (include measurement error, calculate error etc.) of meter is the biggest.
Utility model content
The purpose of utility model: this utility model discloses the flexible mechanical joint of a kind of catching robot, its simple in construction,
Low cost, it is not necessary to complicated control system and computational methods, mechanical joint uses purely mechanic structure, it is matched with mechanical finger
Close, it is adaptable to capture difform object, including irregularly shaped object, it is possible to keep stable grasp force.
Technical scheme: in order to realize object above, the flexible mechanical that the utility model discloses a kind of catching robot closes
Joint, including the first rotating shaft being coaxially disposed and the second rotating shaft, is sheathed on the travelling gear in the first rotating shaft, is arranged on the first rotating shaft
With the first support in the second rotating shaft, the second support, and sliding mechanism, sliding mechanism includes the first connection that can relatively turn round
Mechanism and the second bindiny mechanism, wherein the first bindiny mechanism is set in the first rotating shaft, and the second bindiny mechanism is set in second turn
On axle；First support is provided with driving means, and driving means is connected with travelling gear.The mechanical joint of this design is for even
Connecing outside mechanical finger, when capturing object, driving means drives mechanical joint to rotate, thus driving mechanical finger grips thing
Body；When mechanical finger tighten up object reach to a certain degree time, when i.e. object reaches setting value to the counteracting force of mechanical finger, beat
Sliding mechanism starts to skid to play a protective role, and mechanical finger halts simultaneously；So, it is possible not only to protect gear, motor
Without damage Deng parts, more make grasp force keep stable, prevent from grabbing bad object；It addition, when object has loosened, and object is to machinery
The counteracting force of finger reduces, less than setting value time, sliding mechanism stops skidding, and mechanical finger rotates promptly object further,
Stable grasp force can be kept with this, and be applicable to difform object, including irregularly shaped object, make crawl process pacify
Entirely, reliably.
Further, the flexible mechanical joint of above-mentioned a kind of catching robot, described second bindiny mechanism is in the form of annular discs, its
The edge-perpendicular of circular surface is provided with one group of continuous print sawtooth；First bindiny mechanism surface is vertically provided with grab, and first connects machine
Elastic component it is provided with inside structure.This design simple in construction, it is achieved that the function of slipping protection, if applied external force connects second
Enough it overcomes the elastic component thrust to the first bindiny mechanism to the moment of torsion that mechanism produces, then the second bindiny mechanism connects relative to first
Mechanism rotates, and promotes the first attachment structure to keep out of the way simultaneously, and sawtooth slips over grab successively, it is achieved skid；Elastic component has holding and makees
With and reset response.
Further, the flexible mechanical joint of above-mentioned a kind of catching robot, described first support include the first base plate and
Being separately positioned on two first side plates at the first base plate two ends, the second support includes the second base plate and is separately positioned on the second base plate
Two second side plates at two ends；First rotating shaft one end is connected with the first side plate, the second side plate respectively, and second rotating shaft one end is respectively
It is connected with the first side plate, second side plate of opposite side.This design compact conformation and firmly, stable.
Further, the flexible mechanical joint of above-mentioned a kind of catching robot, described driving means includes motor, Yi Jiyu
The train of reduction gears that motor connects, wherein train of reduction gears is connected with travelling gear, and motor is fixedly mounted on the first support.
This design motor is directly installed on the first support, it is possible to reduce component quantity, saves production cost.
Further, the flexible mechanical joint of above-mentioned a kind of catching robot, it is characterised in that: described first support,
Two supports are all connected with outside mechanical finger.
Further, the flexible mechanical joint of above-mentioned a kind of catching robot, described elastic component is compression spring, and it is sheathed
In the first rotating shaft, one end is connected with the first bindiny mechanism, and the other end and the first rotating shaft are connected.The design of this compression spring
There is reset function, push the first bindiny mechanism to second bindiny mechanism, will push between adjacent saw-tooth by grab, the company of being allowed to
Knot；Sliding mechanism is made to keep stability and the reliability of connecting shaft in the case of non-slip.
Further, the flexible mechanical joint of above-mentioned a kind of catching robot, described one group of sawtooth is continuous print waveform,
Corresponding, card chimoto is circular arc.It is two-way that this design makes the rotation of the first bindiny mechanism and the second bindiny mechanism have
Property, except there is slipping protection function when capturing object, when release mechanism finger decontrols object, it may have slipping protection merit
Can, or when reversely capturing object (mechanical finger stretches into and captures object in the hole of object or cavity), also there is slipping protection merit
Energy；Corrugated design makes rotation the most smooth and easy, and can slow down abrasion.
Further, the flexible mechanical joint of above-mentioned a kind of catching robot, described one group of sawtooth is continuous print triangle,
Corresponding, card chimoto is triangular in shape.This design makes the rotation of the first bindiny mechanism and the second bindiny mechanism have equally
Amphicheirality, when decontroling object or when reversely capturing object, it may have slipping protection function；The design of triangle makes grab
Engaging with sawtooth is relatively stable, improves the reliability of connecting shaft.
Technique scheme is it can be seen that this utility model has the advantages that one described in the utility model
The flexible mechanical joint of catching robot, its simple in construction, low cost, it is not necessary to complicated control system and computational methods, machinery
Joint uses purely mechanic structure, it is matched with mechanical finger, it is adaptable to capture difform object, including irregularity
Body, it is possible to keep stable grasp force；The parts such as gear, motor can be protected without damage, more prevent from grabbing bad object；Both real
The slipping protection that existing forward captures, realizes again the slipping protection reversely captured；Connecting shaft reliability during normal work is high.
Accompanying drawing explanation
Fig. 1 is the structural representation in the flexible mechanical joint of a kind of catching robot described in the utility model；
Fig. 2 is the cross-sectional view of the sliding mechanism of a kind of flexible catching robot described in the utility model；
In figure: 1-the first rotating shaft, 2-the second rotating shaft, 3-travelling gear, 4-the first support, 41-the first base plate, 42-first
Side plate, 5-the second support, 51-the second base plate, 52-the second side plate, 6-sliding mechanism, 61-the first bindiny mechanism, 611-grab,
612-elastic component, 62-the second bindiny mechanism, 621-sawtooth, 7-driving means, 71-motor, 72-train of reduction gears.
Detailed description of the invention
Below in conjunction with the accompanying drawings, this utility model detailed description of the invention is described in detail.
Embodiment
The flexible mechanical joint of a kind of catching robot of the present utility model, as depicted in figs. 1 and 2, including being coaxially disposed
The first rotating shaft 1 and the second rotating shaft 2, be sheathed on the travelling gear 3 in the first rotating shaft 1, be arranged on the first rotating shaft 1 and the second rotating shaft
First support the 4, second support 5 on 2, and sliding mechanism 6, sliding mechanism 6 includes the first bindiny mechanism that can relatively turn round
61 and second bindiny mechanism 62, wherein the first bindiny mechanism 61 is set in the first rotating shaft 1, and the second bindiny mechanism 62 is set in
In two rotating shafts 2；Second bindiny mechanism 62 is in the form of annular discs, and the edge-perpendicular of its circular surface is provided with one group of continuous print sawtooth 621；The
One bindiny mechanism 61 surface is vertically provided with grab 611, and it adapts with sawtooth 621 shape, and the first bindiny mechanism 61 is internal to be provided with
Elastic component 612, described elastic component 612 is compression spring, and it is set in the first rotating shaft 1, and one end is with the first bindiny mechanism 61 even
Connecing, the other end and the first rotating shaft 1 are connected.One group of sawtooth 621 is in continuous print waveform or continuous print triangle, corresponding,
Grab 611 end is circular arc or triangle；Described grab 611 is one group of grab 611, it can be distributed with circular array shape,
Can also continuous distribution at the first bindiny mechanism 61 marginal surface.
First support the 4, second support 5 is all connected with outside mechanical finger, and the first support 4 includes the first base plate 41 and divides
Not being arranged on two first side plates 42 at the first base plate 41 two ends, the second support 5 includes the second base plate 51 and is separately positioned on the
Two second side plates 52 at two base plate 51 two ends；First rotating shaft 1 one end is connected with first side plate the 42, second side plate 52 respectively,
Second rotating shaft 2 one end is connected with first side plate the 42, second side plate 52 of opposite side respectively；First support 4 is provided with driving dress
Putting 7, driving means 7 includes motor 71, and the train of reduction gears 72 being connected with motor 71, wherein train of reduction gears 72 and transmission
Gear 3 is connected, and motor 71 is fixedly mounted on the first support 4.
Travelling gear 3 is fixing with the first rotating shaft 1 to be connected, and the first bindiny mechanism 61 is slidably connected with the first rotating shaft 1, both it
Between can not relatively rotate, but can linear slide within the specific limits, D-shaped hole can be offered in the first bindiny mechanism 61,
And one section of D-shaped shape shaft is set in the first rotating shaft 1 to realize above-mentioned requirements；Second bindiny mechanism 62 and the second rotating shaft 2 are fixed
Connect, by grab 611, the cooperation phase clamping of sawtooth 621 between the first bindiny mechanism 61 and the second bindiny mechanism 62；First side
Plate 42 and the first rotating shaft 1 are rotationally connected and are provided with bearing, are rotationally connected with the second rotating shaft 2 and are provided with bearing；Second side plate 52 with
First rotating shaft 1 is rotationally connected and is provided with bearing, fixes with the second rotating shaft 2 and is connected.
Mechanical joint is used for connecting outside mechanical finger, and operation principle is as follows: when capturing object, and driving means drives and passes
Moving gear the 3, first rotating shaft 1 and the first bindiny mechanism 61 rotate, and when normally capturing, grab 611 and sawtooth 621 are in clamping shape
State, elastic component 612(compression spring) the first bindiny mechanism 61 is applied axial force push it against the second bindiny mechanism 62 push-tight,
First bindiny mechanism 61 and the second bindiny mechanism 62 stable bond, plays connecting shaft effect, thus drives the second rotating shaft 2 and second
Frame 5 rotates, i.e. driving mechanical finger grip object gradually tighten up object, and now mechanical finger can produce grasp to object,
Accordingly, object can produce counteracting force to mechanical finger, and in tightening process, grasp is gradually increased with counteracting force, when instead
Enough it overcomes elastic component 612(compression spring to the moment of torsion that second bindiny mechanism 62 is produced by active force) to the first bindiny mechanism 61
Thrust, then the second bindiny mechanism 62 rotates relative to the first bindiny mechanism 61, promotes the first attachment structure 61 to keep out of the way, sawtooth simultaneously
621 slip over grab 611 successively, it is achieved skidding, now mechanical finger halts；If mechanical hand carries out short distance carrying, in order to
Structure and control simple, motor 71 can be with continuous running, and sliding mechanism 6 persistently skids；When object has loosened, and object is to machine
The counteracting force of tool finger reduces, less than setting value time, sliding mechanism 6 stops skidding, and the first bindiny mechanism 61 drives second even
Connection mechanism the 62, second rotating shaft 2 and the second support 5 are rotated further, and mechanical finger tightens up object further, avoid object grabbing with this
Loosen because of what shift in position caused and come off during taking, being especially suitable for the crawl of irregularly shaped object, and grasp force can be protected
Keeping steady fixed, grasp force can pass through elastic component 612(compression spring), the shape etc. of sawtooth 621 and grab 611 calculates and sets
Meter.When the cavity that mechanical hand stretches into hollow body captures object, only need to first close up mechanical finger, the most anti-in stretching into cavity
To launching mechanical finger (motor 71 inverts), its ultimate principle is ibid.
The above is only preferred implementation of the present utility model, it should be noted that for the ordinary skill of the art
For personnel, on the premise of without departing from this utility model principle, it is also possible to make some improvement, these improve and also should be regarded as this
The protection domain of utility model.
Claims (8)
1. the flexible mechanical joint of a catching robot, it is characterised in that: include the first rotating shaft (1) and second being coaxially disposed
Rotating shaft (2), the travelling gear (3) being sheathed in the first rotating shaft (1), be arranged in the first rotating shaft (1) and the second rotating shaft (2)
One support (4), the second support (5), and sliding mechanism (6), sliding mechanism (6) includes the first bindiny mechanism that can relatively turn round
(61) and the second bindiny mechanism (62), wherein the first bindiny mechanism (61) is set in the first rotating shaft (1), the second bindiny mechanism
(62) it is set in the second rotating shaft (2)；
First support (4) is provided with driving means (7), and driving means (7) is connected with travelling gear (3).
The flexible mechanical joint of a kind of catching robot the most according to claim 1, it is characterised in that: described second connects
Mechanism (62) is in the form of annular discs, and the edge-perpendicular of its circular surface is provided with one group of continuous print sawtooth (621)；First bindiny mechanism (61)
Surface is vertically provided with grab (611), and the first bindiny mechanism (61) is internal is provided with elastic component (612).
The flexible mechanical joint of a kind of catching robot the most according to claim 1, it is characterised in that: described first support
(4) include the first base plate (41) and be separately positioned on two first side plates (42) at the first base plate (41) two ends, the second support (5)
Including the second base plate (51) and two the second side plates (52) being separately positioned on the second base plate (51) two ends；First rotating shaft (1)
End is connected with the first side plate (42), the second side plate (52) respectively, the second rotating shaft (2) one end respectively with the first side plate of opposite side
(42), the second side plate (52) is connected.
The flexible mechanical joint of a kind of catching robot the most according to claim 1, it is characterised in that: described driving means
(7) motor (71), and the train of reduction gears (72) being connected with motor (71), wherein train of reduction gears (72) and driving cog are included
Wheel (3) is connected, and motor (71) is fixedly mounted on the first support (4).
The flexible mechanical joint of a kind of catching robot the most according to claim 1, it is characterised in that: described first support
(4), the second support (5) is all connected with outside mechanical finger.
The flexible mechanical joint of a kind of catching robot the most according to claim 2, it is characterised in that: described elastic component
(612) being compression spring, it is set in the first rotating shaft (1), and one end is connected with the first bindiny mechanism (61), the other end and first
Rotating shaft (1) is connected.
The flexible mechanical joint of a kind of catching robot the most according to claim 2, it is characterised in that: described one group of sawtooth
(621) in continuous print waveform, corresponding, grab (611) end is circular arc.
The flexible mechanical joint of a kind of catching robot the most according to claim 2, it is characterised in that: described one group of sawtooth
(621) in continuous print triangle, corresponding, grab (611) end is triangular in shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620681645.0U CN205735007U (en) | 2016-07-01 | 2016-07-01 | A kind of flexible mechanical joint of catching robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620681645.0U CN205735007U (en) | 2016-07-01 | 2016-07-01 | A kind of flexible mechanical joint of catching robot |
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| Publication Number | Publication Date |
|---|---|
| CN205735007U true CN205735007U (en) | 2016-11-30 |
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ID=57379348
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620681645.0U Active CN205735007U (en) | 2016-07-01 | 2016-07-01 | A kind of flexible mechanical joint of catching robot |
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| Country | Link |
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| CN (1) | CN205735007U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106113079A (en) * | 2016-07-01 | 2016-11-16 | 江苏捷帝机器人股份有限公司 | A kind of mechanical joint of flexible catching robot |
| CN108453723A (en) * | 2018-04-28 | 2018-08-28 | 清华大学 | A kind of leaf spring type variation rigidity flexible actuator based on six-bar mechanism |
-
2016
- 2016-07-01 CN CN201620681645.0U patent/CN205735007U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106113079A (en) * | 2016-07-01 | 2016-11-16 | 江苏捷帝机器人股份有限公司 | A kind of mechanical joint of flexible catching robot |
| CN106113079B (en) * | 2016-07-01 | 2018-09-25 | 江苏捷帝机器人股份有限公司 | A kind of mechanical joint of flexible crawl manipulator |
| CN108453723A (en) * | 2018-04-28 | 2018-08-28 | 清华大学 | A kind of leaf spring type variation rigidity flexible actuator based on six-bar mechanism |
| CN108453723B (en) * | 2018-04-28 | 2020-11-06 | 清华大学 | Plate spring type variable-rigidity flexible driver based on six-rod mechanism |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |