CN205928653U - Robot joint's knot constructs - Google Patents
Robot joint's knot constructs Download PDFInfo
- Publication number
- CN205928653U CN205928653U CN201620926554.9U CN201620926554U CN205928653U CN 205928653 U CN205928653 U CN 205928653U CN 201620926554 U CN201620926554 U CN 201620926554U CN 205928653 U CN205928653 U CN 205928653U
- Authority
- CN
- China
- Prior art keywords
- joint
- rope
- pressure circle
- resilience
- circle
- 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
Links
Abstract
The utility model belongs to the robot field relates to a robot joint's knot constructs. Including first joint, second joint, resilience rope, taut rope and motor output dish. Because the utility model discloses increased the pressure circle of first joint and second joint, first articular commentaries on classics circle. When when first joint and second joint rotate, taut rope with kick -back and restrict the quilt the pressure circle of first joint and second joint is pressed first articular commentaries on classics is realized, the volume that taut rope length reduces equals the volume of resilience rope linear expectation. There is not the idle running in the bending of control robot joint in this principle motor with straightening when moving. The motor improves the controllability of robot joint structure.
Description
Technical field
This utility model belongs to robot field, is related to a kind of rope structure of joint of robot.
Background technology
With increasingly improving of people's living standard and being continuously increased of demand, various intelligent equipments engender.Machine
The summit product of the so-called intelligent equipment of device people, helps butcher,baker,and the candlestick maker group, solves many problems.The pass of robot
Section, as robot main motion parts, its structure is even more the problem that a lot of structural engineer's needs are captured.As shown in figure 1, it is existing
Robot joint structure is had to include, existing first joint 1, existing second joint 2, existing back-moving spring 1, existing back-moving spring
24, existing resilience rope 5, existing tension rope 6 and existing motor output panel 7.Its principle is when existing motor output panel 7 is counterclockwise
During rotation, existing tension rope 6 reclaims, and existing resilience rope 5 discharges simultaneously.Described existing first joint 1 and existing second joint 2 are curved
Bent.When existing motor output panel 7 rotates clockwise, existing tension rope 6 discharges, and existing resilience rope 5 reclaims simultaneously.Described existing
First joint 1 and existing second joint 2 stretch.To reach the purpose allowing joint of robot bending to stretch.
Analyze the above-mentioned prior art referring to have the following disadvantages, i.e. technical problem to be solved in the utility model:
As shown in figure, because existing resilience rope 5 and existing tension rope 6 are in described existing first joint 1 and existing second
In joint 2 and by Complete Bind, and the direction of pull of existing back-moving spring 1 is common with the direction of motion of existing resilience rope 5
Line.This so that existing resilience rope 5 exist after being released loosen.Motor is led to control joint of robot bending and stretching dynamic
As when there is idle running.
Utility model content
The purpose of this utility model is to overcome defect present in prior art, designs a kind of knot of joint of robot
Structure.This device is mainly used in robot industry.Efficiently solve in Conventional robotic's articulation structure, motor is controlling machine
Person joint bends and stretches has idle running during action.
To achieve these goals, the technical solution of the utility model is to design a kind of rope structure of joint of robot, bag
Include the first joint, second joint, resilience rope, tension rope and motor output panel.
Two pressure circles are machined with described first joint and second joint；It is machined with one on described first joint and turn circle.
Its annexation is：Described first articulations digitorum manus and the second articulations digitorum manus are hinged；One end of described tension rope is connected to
On described motor output panel；The other end of described tension rope is arranged on described first articulations digitorum manus；Described tension rope and described the
The interior side contacts of the pressure circle of one joint and second joint；Described tension rope turns circle contact outside with described first joint；Described
One end of resilience rope is connected on described motor output panel；The other end of described resilience rope is arranged on described first articulations digitorum manus；
The described resilience rope interior side contacts round with the pressure in described first joint and second joint；Described resilience rope and described first joint
Turn circle contact outside.
Advantage of the present utility model and having the beneficial effects that：Because this utility model increased described first joint and second
The pressure circle in joint；Turning of described first joint is justified.When described first joint and second joint rotate, described tension rope and described
Resilience rope, is justified by the pressure in described first joint and second joint, is pressed on turn circle in described first joint, described tension rope length
The amount reducing is equal to the amount that described resilience rope length degree increases.This principle motor is when controlling joint of robot bending and stretching action
There is not idle running.Motor improves to the control ability of robot joint structure.
Brief description
Fig. 1 is existing robot articulation structure principle schematic；
Fig. 2 is this utility model robot joint structure principle schematic；
Fig. 3 is this utility model first joint and second joint structural representation；
Wherein, existing first articulations digitorum manus of 1-；Existing second articulations digitorum manus of 2-；The existing back-moving spring of 3- one；4- existing reset bullet
Spring two；5- existing resilience rope；The existing tension rope of 6-；7- existing motor output panel；21- first joint；22- second joint；23- returns
Bullet rope；24- tension rope；25- motor output panel；31- first joint pressure circle one；32- second joint pressure circle one；33- first joint
Pressure circle two；34- second joint pressure circle two；35- first joint turns round.
Specific embodiment
With reference to the accompanying drawings and examples specific embodiment of the present utility model is further described, following examples
It is only used for clearly the technical solution of the utility model being described, and protection model of the present utility model can not be limited with this
Enclose.
As shown in Figures 2 and 3, the technical solution of the utility model is to design a kind of rope structure of joint of robot, including
First joint 21, second joint 22, resilience rope 23, tension rope 24 and motor output panel 25.
Described first joint pressure circle 1 and described first joint pressure circle 2 33 are machined with described first joint 21；Described
Described second joint pressure circle 1 and described second joint pressure circle 2 34 are machined with second joint 22；On described first joint 21
Process described first joint and turn circle 35.
Its annexation is：Described first articulations digitorum manus 21 and the second articulations digitorum manus 22 are hinged；One end of described tension rope 24
It is connected on described motor output panel 25；The other end of described tension rope 24 is arranged on described first articulations digitorum manus 21；Described draw
Tight rope 24 presses the interior side contacts of circle 1 with described first joint pressure circle 1 and described second joint；Described tension rope 24 and institute
State the first joint and turn circle 35 contact outside；One end of described resilience rope 23 is connected on described motor output panel 25；Described resilience
The other end of rope 23 is arranged on described first articulations digitorum manus 21；Described resilience rope 23 and described first joint pressure circle 2 33 and described
The interior side contacts of second joint pressure circle 2 34；Described resilience rope 23 and described first joint turn circle 35 contact outside.
When described first joint 21 and second joint 22 rotate, described tension rope 24 is by described first joint pressure circle one 31 Hes
Described second joint pressure circle 1, is pressed in described first joint and turns on circle 35.Described resilience rope 23, by described first joint pressure circle
2 33 and described second joint pressure circle 2 34, be pressed in described first joint turn circle 35 on.The amount that described tension rope 24 length reduces
The amount increasing equal to described resilience rope 23 length.This principle motor is controlling joint of robot bending and is not existing when stretching action
Idle running.Motor improves to the control ability of robot joint structure.
The above is only preferred embodiments of the present utility model it is noted that common skill for the art
For art personnel, on the premise of without departing from this utility model know-why, some improvements and modifications can also be made, these change
Enter and retouch also to should be regarded as protection domain of the present utility model.
Claims (2)
1. a kind of rope structure of joint of robot it is characterised in that：Including the first joint（21）, second joint（22）, resilience rope
（23）, tension rope（24）With motor output panel（25）；
Described first joint（21）On be machined with described first joint pressure circle one（31）With described first joint pressure circle two（33）；Institute
State second joint（22）On be machined with described second joint pressure circle one（32）With described second joint pressure circle two（34）；Described first
Joint（21）Described first joint of upper processing turns round（35）；
Its annexation is：Described first articulations digitorum manus（21）With the second articulations digitorum manus（22）Hinged；Described tension rope（24）One
End is connected to described motor output panel（25）On；Described tension rope（24）The other end be arranged on described first articulations digitorum manus（21）
On；Described tension rope（24）With described first joint pressure circle one（31）With described second joint pressure circle one（32）Interior side contacts；
Described tension rope（24）Turn round with described first joint（35）Contact outside；Described resilience rope（23）One end be connected to described electricity
Machine output panel（25）On；Described resilience rope（23）The other end be arranged on described first articulations digitorum manus（21）On；Described resilience rope
（23）With described first joint pressure circle two（33）With described second joint pressure circle two（34）Interior side contacts；Described resilience rope（23）
Turn round with described first joint（35）Contact outside.
2. a kind of joint of robot according to claim 1 rope structure it is characterised in that：Described first joint（21）With
Second joint（22）During rotation, described tension rope（24）By described first joint pressure circle one（31）With described second joint pressure circle one
（32）, it is pressed in described first joint and turn round（35）On；
Described resilience rope（23）, by described first joint pressure circle two（33）With described second joint pressure circle two（34）, it is pressed in described
First joint turns round（35）On；
Described tension rope（24）The amount that length reduces is equal to described resilience rope（23）The amount that length increases.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620926554.9U CN205928653U (en) | 2016-08-24 | 2016-08-24 | Robot joint's knot constructs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620926554.9U CN205928653U (en) | 2016-08-24 | 2016-08-24 | Robot joint's knot constructs |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205928653U true CN205928653U (en) | 2017-02-08 |
Family
ID=57951316
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620926554.9U Expired - Fee Related CN205928653U (en) | 2016-08-24 | 2016-08-24 | Robot joint's knot constructs |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205928653U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106181993A (en) * | 2016-08-24 | 2016-12-07 | 北京灵铱科技有限公司 | A kind of rope structure of joint of robot |
-
2016
- 2016-08-24 CN CN201620926554.9U patent/CN205928653U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106181993A (en) * | 2016-08-24 | 2016-12-07 | 北京灵铱科技有限公司 | A kind of rope structure of joint of robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102205542A (en) | Multipath flexible piece two-joint compound robot finger device | |
| CN101422906A (en) | Displacement under-actuated two-articulated robot finger device based on flexible piece | |
| CN205928653U (en) | Robot joint's knot constructs | |
| CN205835384U (en) | A kind of robot finger's resilient mounting | |
| CN206717889U (en) | A kind of robot clever hand finger of variation rigidity drive lacking | |
| CN102179817A (en) | Double-flexibility piece composite under-actuated double-joint finger device for robot | |
| CN106826885A (en) | A kind of robot clever hand finger of variation rigidity drive lacking | |
| CN102267137B (en) | Double-joint and three-shaft-wheeled hybrid under-actuated robotic finger device | |
| CN202702248U (en) | Finger device for shape-following self-adapting underactuated robot | |
| CN205928688U (en) | Articulated robot points transmission | |
| CN206048231U (en) | A kind of robot finger apparatus of positive drive | |
| CN204146237U (en) | A kind of tea leaf frying machine | |
| CN206201001U (en) | A kind of robot finger apparatus of electromagnetic driven | |
| CN102248539B (en) | Finger device for double-joint three-axis-wheel combined underactuated robot | |
| CN207168699U (en) | A kind of healing robot | |
| CN106584490A (en) | Multifunctional linkage dexterous hand and robot thereof | |
| CN206129996U (en) | Two worm type joint power module | |
| CN206048244U (en) | A kind of friction-type robot ball ancillary equipment | |
| CN204000384U (en) | A kind of semi-automatic hosiery machine that turns over | |
| CN207800251U (en) | A kind of cable high speed pair twist device | |
| CN205928692U (en) | Put five gear coupling self -adaptation finger of robot devices in motor | |
| CN207682413U (en) | A kind of three coordinate machine device people Z axis telescopic system | |
| CN105945978A (en) | Robot finger rebounding device | |
| CN106181993A (en) | A kind of rope structure of joint of robot | |
| CN205574352U (en) | Multi -functional food vacuum packaging machine |
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: 20170208 Termination date: 20180824 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |