CN206105892U - A rotary joint and robot for robot - Google Patents
A rotary joint and robot for robot Download PDFInfo
- Publication number
- CN206105892U CN206105892U CN201621163341.1U CN201621163341U CN206105892U CN 206105892 U CN206105892 U CN 206105892U CN 201621163341 U CN201621163341 U CN 201621163341U CN 206105892 U CN206105892 U CN 206105892U
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- Prior art keywords
- spherical
- peg
- robot
- connection
- supporting
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Abstract
The utility model discloses a rotary joint and robot for robot. Be used for the rotary joint of robot, including spherical receiving element and spherical bayonet joint, spherical receiving element's the interior surface profile and the outer surface profile phase -match of spherical bayonet joint, spherical bayonet joint card form universal adapter coupling admittedly in spherical receiving element, are equipped with between spherical receiving element and the spherical bayonet joint to be used for making spherical bayonet joint limited rotating mechanism along fixed direction reciprocating rotation in spherical receiving element, be equipped with on the spherical receiving element be used for be assembled between/be connected between accept the joint post, be equipped with the connector post that is used for be assembled between/be connected between on the spherical bayonet joint. The utility model is used for the rotary joint of robot makes the improvement on original universal joint's basis, utilize limited rotating mechanism to form the restriction to the universal joint rotation direction. Rotary joint possesses multiple functions, the rotation of specific direction and universal joint's switching freedom and convenient simultaneously for rotary joint's application scope is wider.
Description
Technical field
This utility model is related to bindiny mechanism of robot technical field, especially, is related to a kind of rotation for robot
Joint.Additionally, this utility model further relates to a kind of robot including the above-mentioned swivel for robot.
Background technology
With the development of science and technology, whether produce or life tends to mechanization and intellectuality, occur in that various
The industrial robot and life robot of type, improves work efficiency, instead of part hand labor.
Swivel belongs to one of vitals of robot, and the various actions of robot be unable to do without swivel.It is existing
Some swivels are adopted and freely rotated mostly, and the scope of rotation and the angle of rotation have been controlled by controlling organization
Into, complex structure and high cost, and easily affected by external environment.
Utility model content
This utility model provides a kind of swivel and robot for robot, is turned with solving existing robot
Dynamic joint needs, by controlling organization control, complex structure, high cost, easily to be affected by external environment using freely rotating
Technical problem.
According to one side of the present utility model, there is provided a kind of swivel for robot, including spherical supporting
And spherical connection-peg, the inner surface configuration of spherical supporting matches with the external surface shape of spherical connection-peg, spherical grafting
Head is fastened in spherical supporting and forms universal adapting joint, is provided with spherical for making between spherical supporting and spherical connection-peg
Connection-peg is in spherical supporting along the restriction rotating mechanism of fixed-direction reciprocating rotation；Spherical supporting is provided with for assembling
The undertaking connector post of connection, spherical connection-peg is provided with the grafting connector post for assembly connection.
Further, limiting rotating mechanism includes the open slot being opened on spherical supporting wall and is arranged at spherical
At least two salient points of grafting head surface, salient point is on the same curved line of spherical grafting head surface.
Further, limiting rotating mechanism includes the open slot being opened on spherical supporting wall and is arranged at spherical
The raised line of grafting head surface, the profile of raised line matches with the profile of open slot.
Further, the axial length of open slot is less than the 1/4 of the great circle girth of spherical supporting；And/or the axle of raised line
To length less than the 1/4 of the great circle girth of spherical connection-peg.
Further, open slot is provided with a plurality of, and a plurality of open slot is circumferentially distributed along spherical supporting.
Further, the opening of open slot is provided for guiding raised line to slip in open slot to rotate from dynamic(al) correction
The straight chamfering in direction or arc angling.
Further, accept connector post shape of cross section and/or grafting connector post shape of cross section be polygon or
It is oval；Accept and circumferentially offer on connector post and/or grafting connector post for be connected with miscellaneous part and Anti-extrusion is prevented
Decylization；The end of encorbelmenting for accepting connector post and/or grafting connector post is provided with for the cylindrical protuberance of connection positioning.
Further, it is provided with what edge longitudinally and/or was transversely arranged in the outside wall surface of spherical supporting and/or in wall body
Reinforcement；Be further opened with the internal face of spherical supporting and/or spherical connection-peg outer surface for spherical supporting with it is spherical
The oil groove lubricated between connection-peg.
Further, edge offers hoop groove, hoop groove perpendicular to the direction of open slot in the outside wall surface of spherical supporting
Inside it is laid with the hoop part for holding spherical supporting tightly to prevent spherical connection-peg from deviating from from open slot position.
According to other side of the present utility model, there is provided a kind of robot, including the above-mentioned rotation for robot connects
Head.
This utility model has the advantages that：
This utility model is used for the swivel of robot, makes improvements on the basis of original universal joint, utilizes
Restriction rotating mechanism forms the restriction to universal joint rotation direction.It is spherical to insert when restriction rotating mechanism realizes restriction effect
Joint is merely able to along the rotation in spherical supporting on the direction that rotating mechanism is limited is limited, so as to realize fine rotational；Work as limit
When rotating mechanism processed releases restriction effect, spherical connection-peg can freely be rotated in spherical supporting, be changed into universal joint.
Swivel possesses several functions, and the rotation of specific direction is free with the switching of universal joint and facilitates so that swivel
The scope of application is wider.Swivel realizes the fine rotational of specific direction using purely mechanic mode, rotates convenient, simple structure,
Low cost of manufacture.
In addition to objects, features and advantages described above, this utility model also has other purposes, feature and excellent
Point.Below with reference to figure, this utility model is described in further detail.
Description of the drawings
The accompanying drawing for constituting the part of the application is used for providing further understanding to of the present utility model, of the present utility model
Schematic description and description is used to explain this utility model, does not constitute to improper restriction of the present utility model.In accompanying drawing
In：
Fig. 1 is one of structural representation of swivel for robot of this utility model preferred embodiment；
Fig. 2 is the cross-sectional view of Fig. 1；
Fig. 3 is the two of the structural representation of the swivel for robot of this utility model preferred embodiment；
Fig. 4 is the three of the structural representation of the swivel for robot of this utility model preferred embodiment；
Fig. 5 is the four of the structural representation of the swivel for robot of this utility model preferred embodiment；
Fig. 6 is the five of the structural representation of the swivel for robot of this utility model preferred embodiment.
Marginal data：
1st, spherical supporting；2nd, spherical connection-peg；3rd, rotating mechanism is limited；301st, open slot；3011st, straight chamfering；3012、
Arc angling；302nd, salient point；303rd, raised line；4th, connector post is accepted；5th, grafting connector post；6th, anti-decylization；7th, cylindrical protuberance；
8th, reinforcement；9th, hoop groove；10th, hoop part.
Specific embodiment
Embodiment of the present utility model is described in detail below in conjunction with accompanying drawing, but this utility model can be by following
The multitude of different ways for limiting and covering is implemented.
Fig. 1 is one of structural representation of swivel for robot of this utility model preferred embodiment；Fig. 2 is
The cross-sectional view of Fig. 1；Fig. 3 is the structural representation of the swivel for robot of this utility model preferred embodiment
The two of figure；Fig. 4 is the three of the structural representation of the swivel for robot of this utility model preferred embodiment；Fig. 5 is
The four of the structural representation of the swivel for robot of this utility model preferred embodiment；Fig. 6 is that this utility model is excellent
Select the swivel for robot of embodiment structural representation five.
As depicted in figs. 1 and 2, the swivel for robot of the present embodiment, including spherical supporting 1 and spherical
Connection-peg 2, the inner surface configuration of spherical supporting 1 matches with the external surface shape of spherical connection-peg 2, and spherical connection-peg 2 blocks
It is fixed in spherical supporting 1 and forms universal adapting joint, is provided with spherical for making between spherical supporting 1 and spherical connection-peg 2
Connection-peg 2 is in spherical supporting 1 along the restriction rotating mechanism 3 of fixed-direction reciprocating rotation；Spherical supporting 1 be provided with for
The undertaking connector post 4 of assembly connection, spherical connection-peg 2 is provided with the grafting connector post 5 for assembly connection.This utility model is used
In the swivel of robot, make improvements on the basis of original universal joint, formed to ten thousand using rotating mechanism 3 is limited
To the restriction of joint rotation direction.When restriction rotating mechanism 3 realizes restriction effect, spherical connection-peg 2 is merely able to turn along restriction
Rotate in spherical supporting 1 on the direction that motivation structure 3 is limited, so as to realize fine rotational；Limit is released when rotating mechanism 3 is limited
Tailor-made used time, spherical connection-peg 2 can freely be rotated in spherical supporting 1, be changed into universal joint.Swivel possesses many
Function is planted, the rotation of specific direction is free with the switching of universal joint and facilitates so that the scope of application of swivel is wider.Turn
The purely mechanic mode of dynamic connector realizes the fine rotational of specific direction, rotates convenient, simple structure, low cost of manufacture.
As shown in figure 3, in the present embodiment, limiting the open slot that rotating mechanism 3 includes being opened on the wall of spherical supporting 1
301 and it is arranged at least two salient points 302 on the surface of spherical connection-peg 2.Salient point 302 is in the surface of spherical connection-peg 2
On same curved line.When single salient point 302 enters open slot 301, spherical connection-peg 2 can be around salient point in spherical supporting 1
302 rotate.When two or more salient points 302 enter open slot 301, spherical connection-peg 2 can in spherical supporting 1
To rotate along the arragement direction of salient point 302.
As shown in Figure 1, Figure 2, shown in Fig. 4, Fig. 5 and Fig. 6, in the present embodiment, limiting rotating mechanism 3 includes being opened in spherical undertaking
Open slot 301 on the wall of part 1 and it is arranged at the raised line 303 on the surface of spherical connection-peg 2.The profile and open slot of raised line 303
301 profile matches.When raised line 303 enters open slot 301, spherical connection-peg 2 can only be along raised line in spherical supporting 1
303 arranged direction is rotated.
As shown in Figure 1, Figure 2, shown in Fig. 4, Fig. 5 and Fig. 6, in the present embodiment, the axial length of open slot 301 is less than spherical undertaking
The 1/4 of the great circle girth of part 1, the axial length of raised line 303 is less than the 1/4 of the great circle girth of spherical connection-peg 2.Alternatively, open
The axial length of mouth groove 301 is less than the 1/4 of the great circle girth of spherical supporting 1.Alternatively, the axial length of raised line 303 is less than
The 1/4 of the great circle girth of spherical connection-peg 2.When raised line 303 enters open slot 301, spherical connection-peg 2 is in spherical supporting 1
It is interior to rotate along the arranged direction of raised line 303；When raised line 303 removes open slot 301, spherical connection-peg 2 can be spherical
Freely rotate in supporting 1, become universal joint.
In the present embodiment, open slot 301 is provided with a plurality of.A plurality of open slot 301 is circumferentially distributed along spherical supporting 1.
Rotation that can be in a plurality of directions to spherical connection-peg 2 is limited, so as to realize different mechanical human actions.
In the present embodiment, the opening of open slot 301 be provided for guiding raised line 303 slip in open slot 301 with
From the straight chamfering 3011 or arc angling 3012 of dynamic(al) correction rotation direction.
In the present embodiment, it is polygon to accept the shape of cross section of connector post 4 and/or the shape of cross section of grafting connector post 5
Shape or ellipse.The connective stability for accepting connector post 4 and/or grafting connector post 5 and other parts is improved, both are effectively prevented
Relatively rotate.Accept and circumferentially offer for being connected with miscellaneous part and prevent on connector post 4 and/or grafting connector post 5
The anti-decylization 6 of abjection.Prevent the undertaking connector post 4 after assembling and/or grafting connector post 5 from releasing, so as to improve connective stability.
The end of encorbelmenting for accepting connector post 4 and/or grafting connector post 5 is provided with for the cylindrical protuberance 7 of connection positioning.
In the present embodiment, edge longitudinal direction and/or transversely cloth are provided with the outside wall surface of spherical supporting 1 and/or in wall body
The reinforcement 8 put.Improve the holistic resistant behavior of structure, it is possible to increase the service life and use range of swivel.Ball
It is further opened with the internal face of shape supporting 1 and/or the outer surface of spherical connection-peg 2 for spherical supporting 1 and spherical connection-peg 2
Between lubricate oil groove.
In the present embodiment, edge offers hoop groove 9 perpendicular to the direction of open slot 301 in the outside wall surface of spherical supporting 1.
The hoop for holding spherical supporting 1 tightly to prevent spherical connection-peg 2 from deviating from from the position of open slot 301 is laid with hoop groove 9
Part 10.
The robot of the present embodiment, including the above-mentioned swivel for robot.
Preferred embodiment of the present utility model is the foregoing is only, this utility model is not limited to, for this
For the technical staff in field, this utility model can have various modifications and variations.It is all it is of the present utility model spirit and principle
Within, any modification, equivalent substitution and improvements made etc. should be included within protection domain of the present utility model.
Claims (10)
1. a kind of swivel for robot, including spherical supporting (1) and spherical connection-peg (2),
The inner surface configuration of the spherical supporting (1) matches with the external surface shape of the spherical connection-peg (2),
The spherical connection-peg (2) is fastened in the spherical supporting (1) and forms universal adapting joint,
Characterized in that,
It is provided between the spherical supporting (1) and the spherical connection-peg (2) for making the spherical connection-peg (2) described
Along the restriction rotating mechanism (3) of fixed-direction reciprocating rotation in spherical supporting (1)；
The spherical supporting (1) is provided with the undertaking connector post (4) for assembly connection,
The spherical connection-peg (2) is provided with the grafting connector post (5) for assembly connection.
2. the swivel for robot according to claim 1, it is characterised in that
It is described to limit rotating mechanism (3) including the open slot (301) being opened on spherical supporting (1) wall and arrange
In at least two salient points (302) on spherical connection-peg (2) surface,
The salient point (302) is on the same curved line on spherical connection-peg (2) surface.
3. the swivel for robot according to claim 1, it is characterised in that
It is described to limit rotating mechanism (3) including the open slot (301) being opened on spherical supporting (1) wall and arrange
In the raised line (303) on spherical connection-peg (2) surface,
The profile of the raised line (303) matches with the profile of the open slot (301).
4. the swivel for robot according to claim 3, it is characterised in that
The axial length of the open slot (301) is less than the 1/4 of the great circle girth of the spherical supporting (1)；And/or
The axial length of the raised line (303) is less than the 1/4 of the great circle girth of the spherical connection-peg (2).
5. the swivel for robot according to claim 4, it is characterised in that
The open slot (301) be provided with it is a plurality of,
The a plurality of open slot (301) is circumferentially distributed along the spherical supporting (1).
6. the swivel for robot according to claim 4, it is characterised in that
The opening of the open slot (301) is provided for guiding the raised line (303) to slip in the open slot (301)
With from the straight chamfering (3011) or arc angling (3012) of dynamic(al) correction rotation direction.
7. the swivel for robot according to any one of claim 1 to 6, it is characterised in that
It is described accept connector post (4) shape of cross section and/or the grafting connector post (5) shape of cross section be polygon or
It is oval；
Circumferentially offer for being connected simultaneously with miscellaneous part on undertaking connector post (4) and/or the grafting connector post (5)
The anti-decylization (6) of Anti-extrusion；
The end of encorbelmenting of undertaking connector post (4) and/or the grafting connector post (5) is provided with for the circular cylindrical projection of connection positioning
Go out portion (7).
8. the swivel for robot according to any one of claim 1 to 6, it is characterised in that
It is provided with the outside wall surface of the spherical supporting (1) and/or in wall body along longitudinal direction and/or the reinforcement transversely arranged
(8)；
It is further opened with for the ball on the internal face and/or the spherical connection-peg (2) outer surface of the spherical supporting (1)
The oil groove lubricated between shape supporting (1) and the spherical connection-peg (2).
9. the swivel for robot according to any one of claim 2 to 6, it is characterised in that
Edge offers hoop groove (9) perpendicular to the direction of the open slot (301) in the outside wall surface of the spherical supporting (1),
It is laid with for holding the spherical supporting (1) tightly to prevent the spherical connection-peg (2) from institute in the hoop groove (9)
State the hoop part (10) of open slot (301) position abjection.
10. a kind of robot, it is characterised in that connect including the rotation for robot any one of claim 1 to 9
Head.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621163341.1U CN206105892U (en) | 2016-10-25 | 2016-10-25 | A rotary joint and robot for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621163341.1U CN206105892U (en) | 2016-10-25 | 2016-10-25 | A rotary joint and robot for robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206105892U true CN206105892U (en) | 2017-04-19 |
Family
ID=58527198
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621163341.1U Expired - Fee Related CN206105892U (en) | 2016-10-25 | 2016-10-25 | A rotary joint and robot for robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206105892U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107756435A (en) * | 2017-10-13 | 2018-03-06 | 江苏捷帝机器人股份有限公司 | A kind of multidirectional fixed bit robot pedestal joint casting |
| CN107838941A (en) * | 2017-10-13 | 2018-03-27 | 江苏捷帝机器人股份有限公司 | A kind of multidirectional fixed bit active machine person joint's casting |
| CN108542498A (en) * | 2018-01-17 | 2018-09-18 | 山东科技大学 | A kind of steering connections and minimally invasive robot for single hole minimally invasive robot |
-
2016
- 2016-10-25 CN CN201621163341.1U patent/CN206105892U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107756435A (en) * | 2017-10-13 | 2018-03-06 | 江苏捷帝机器人股份有限公司 | A kind of multidirectional fixed bit robot pedestal joint casting |
| CN107838941A (en) * | 2017-10-13 | 2018-03-27 | 江苏捷帝机器人股份有限公司 | A kind of multidirectional fixed bit active machine person joint's casting |
| CN108542498A (en) * | 2018-01-17 | 2018-09-18 | 山东科技大学 | A kind of steering connections and minimally invasive robot for single hole minimally invasive robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170419 Termination date: 20181025 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |