CN206170124U - Use damping joint of simulation machinery arm of flange bearing - Google Patents
Use damping joint of simulation machinery arm of flange bearing Download PDFInfo
- Publication number
- CN206170124U CN206170124U CN201621066037.5U CN201621066037U CN206170124U CN 206170124 U CN206170124 U CN 206170124U CN 201621066037 U CN201621066037 U CN 201621066037U CN 206170124 U CN206170124 U CN 206170124U
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- China
- Prior art keywords
- flange bearing
- forearm
- upper arm
- sensor
- arm
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Abstract
The utility model discloses an use damping joint of simulation machinery arm of flange bearing relates to arm technical field. Use damping joint of simulation machinery arm of flange bearing includes flange bearing, upper arm, forearm and sensor, wherein: upper arm and forearm all are provided with the hinge hole, are provided with restriction forearm turned angle's limit structure on the upper arm, flange axle contracting draws together hollow side seat and the annular axle sleeve of circle, the square seat of flange bearing and the one end fixed connection of upper arm, and the axle sleeve and the forearm fixed connection of flange bearing are provided with ring shape friction disc between flange bearing and the forearm, the sensor includes the basal portion and is located axis of rotation on the basal portion, axis of rotation penetrate from the hinge hole of upper arm, pass upper arm, flange bearing, friction disc and forearm in proper order, stretch out from the hinge hole of forearm, and on the basal portion of sensor was fixed in the upper arm, the axis of rotation of sensor was fixed on the axle sleeve of flange bearing. The utility model discloses make the joint of the mechanical arm of simulation connect steady more reliably.
Description
Technical field
This utility model is related to mechanical arm technical field, particularly relates to a kind of resistance of the analog mechanical arm of use flange bearing
Buddhist nun joint.
Background technology
The control mode of industrial machinery arm generally has programming Control, remote pilot and simulation control, wherein, programming Control is
The program code finished in advance is uploaded on the panel of mechanical arm, mechanical arm does corresponding actions according to programmed instruction, this
Control mode is generally used on production line, and every mechanical arm does the work of repetition, fixation；Remote pilot is to use remote control, nothing
Line handle etc. is controlled to mechanical arm, according to communication protocol, each button of predefined, the function of rocking bar, by WiFi, infrared
Deng communication mode control.
Simulation control is, according to real mechanical arm, analog mechanical arm to be made by a certain percentage, and operating personnel is operated with handss
Analog mechanical arm.Each of analog mechanical arm rotates one sensor of secondary installation, the corner transmission in each joint of sensor acquisition
To the panel of work arm, panel rotates corresponding angle according to the variable quantity of sensor values control correspondence motor
Degree.This control mode is adapted to the remote operation for having certain required precision, the operation of removing obstacles of such as power transmission line inspection robot,
Remotely control of explosive-removal robot etc..Generally using being simply hinged, joint generally can not in the joint of existing analog mechanical arm
Apply pretightning force, this structure causes problems with：After analog mechanical arm manipulates work arm reaches a certain position, if handss
Unclamp analog mechanical arm, analog mechanical arm cannot generally keep original attitude due to action of gravity, cause work arm without
Rule action.In addition, in joint of mechanical arm connection, there is not stable enough the shortcoming of connection.
Utility model content
This utility model provides a kind of damping joint of the analog mechanical arm of use flange bearing, can make analog mechanical arm
Joint connection it is more steady reliable.
To solve above-mentioned technical problem, it is as follows that this utility model provides technical scheme：
A kind of damping joint of the analog mechanical arm of use flange bearing, including flange bearing, upper arm, forearm and measurement rotation
The sensor of gyration, wherein：
The upper arm and forearm are provided with hinge hole, and the limit of the restricted forearm rotational angle is arranged on the upper arm
Bit architecture；
The flange bearing includes hollow square block and is arranged on axle sleeve circular in the square block, the flange bearing
Square block be fixedly connected with one end of the upper arm, the axle sleeve of the flange bearing is little with described through the hinge hole of the forearm
Arm is fixedly connected, and annular friction plate is provided between the flange bearing and the forearm；
The sensor includes base portion and the rotary shaft on the base portion, and the rotary shaft is hinged from the upper arm
Hole penetrates, and sequentially passes through the upper arm, flange bearing, friction plate and forearm, stretches out from the hinge hole of the forearm, the sensing
The base portion of device is fixed on the upper arm, and the rotary shaft of the sensor is fixed on the axle sleeve of the flange bearing.
Further, the sensor is potentiometer or rotary encoder, and the position limiting structure is cylindrical gag lever post.
Further, the square block of the flange bearing towards axle sleeve side and the forearm be connected with flange bearing one
Side is provided with the groove for placing the friction plate.
Further, the sensor is fixed on the bottom surface of the upper arm by cutting ferrule, and there is hole the both sides of the cutting ferrule, leads to
Cross screw sensor is fixed on the upper arm.
Further, cylindrical protrusion, the upper arm are provided with the base portion of the sensor and the face of the upper arm contact
On be provided with the cylindrical protrusion be adapted draw-in groove.
Further, sleeve is provided with the hinge hole of the forearm, the axle sleeve of the flange bearing is located in the set
In cylinder, slit-like opening is provided with the side wall of the sleeve, the fixing screws with anti-skid washer are provided with the slit-like opening.
Further, hole is provided with the axle sleeve of the flange bearing, is provided with the hole for fixing the sensor
Rotary shaft jackscrew.
This utility model has the advantages that：
Compared with prior art, the damping joint of the analog mechanical arm of use flange bearing of the present utility model, in machinery
In arm connection, using flange bearing, the steady reliability of mechanical arm rotation is improve；It is provided between flange bearing and forearm
Friction plate, enables analog mechanical arm to keep specific attitude；Position limiting structure is provided between upper arm and forearm, the mistake of staff is prevented
Operation causes mechanical arm to make uncertain action；Upper arm and flange bearing acquiescence are motionless, and forearm is relative to upper arm and flange
When bearing is rotated, the rotary shaft of sensor is rotated with forearm, and such sensor obtains the corner of forearm, and corner is passed to into work
The related Control System of mechanical arm.It is more steady reliable that this utility model connects the joint of analog mechanical arm.
Description of the drawings
Fig. 1 is the overall structure figure in the damping joint of the analog mechanical arm of use flange bearing of the present utility model；
Fig. 2 is the overall structure of the explosion figure in the damping joint of the analog mechanical arm of use flange bearing of the present utility model；
Fig. 3 is the sensor and flange bearing in the damping joint of the analog mechanical arm of use flange bearing of the present utility model
Connection explosive view；
Fig. 4 be the damping upper arm in joint of the analog mechanical arm of use flange bearing of the present utility model, flange bearing and
The connection diagram of forearm；
Fig. 5 is the sensor rotation axle and method in the damping joint of the analog mechanical arm of use flange bearing of the present utility model
The connection diagram of blue bearing.
Specific embodiment
To make the technical problems to be solved in the utility model, technical scheme and advantage clearer, below in conjunction with accompanying drawing
And specific embodiment is described in detail.
This utility model provides a kind of damping joint of the analog mechanical arm of use flange bearing, as Figure 1-5, bag
The sensor 4 of flange bearing 1, upper arm 2, forearm 3 and the measurement anglec of rotation is included, wherein：
Upper arm 2 and forearm 3 are provided with hinge hole, and the position limiting structure of the rotational angle of restricted forearm 3 is arranged on upper arm 2；
Flange bearing 1 includes hollow square block 5 and is arranged on axle sleeve 6 circular in square block, the square block 5 of flange bearing 1
It is fixedly connected with one end of upper arm 2, the axle sleeve 6 of flange bearing 1 is fixedly connected through the hinge hole of forearm 3 with forearm 3, flange shaft
Hold and be provided between 1 and forearm 3 annular friction plate 6；
Sensor 4 includes base portion 7 and the rotary shaft 8 on base portion, and rotary shaft 8 is penetrated from the hinge hole of upper arm 2, successively
Through upper arm 2, flange bearing 1, friction plate 6 and forearm 3, stretch out from the hinge hole of forearm 3, the base portion 7 of sensor 4 is fixed on
On arm 2, the rotary shaft 8 of sensor 4 is fixed on the axle sleeve 6 of flange bearing 1.
Compared with prior art, the damping joint of the analog mechanical arm of use flange bearing of the present utility model, in machinery
In arm connection, using flange bearing, the steady reliability of mechanical arm rotation is improve；It is provided between flange bearing and forearm
Friction plate, enables analog mechanical arm to keep specific attitude；Position limiting structure is provided between upper arm and forearm, the mistake of staff is prevented
Operation causes mechanical arm to make uncertain action；Upper arm and flange bearing acquiescence are motionless, and forearm is relative to upper arm and flange
When bearing is rotated, the rotary shaft of sensor is rotated with forearm, and such sensor obtains the corner of forearm, and corner is passed to into work
The related Control System of mechanical arm.It is more steady reliable that this utility model connects the joint of analog mechanical arm.
Preferably, sensor is potentiometer or rotary encoder, and the angle range of potentiometer is 0~300 °, rotary coding
Device can continuously rotate 0~360 °, and position limiting structure is cylindrical gag lever post 9, and forearm 3 can be limited to relative to the corner of upper arm 2 and turn
It is arbitrarily angled in angle range.In case forearm is excessive relative to the angle range of upper arm, sensor is damaged.
Further, side and forearm 3 side that with flange bearing 1 be connected of the square block 5 of flange bearing 1 towards axle sleeve 6
It is provided with the groove 10 for placing friction plate 6.The groove of setting prevents friction plate from coming off, and in the presence of friction plate, is in
Now the analog mechanical arm of certain attitude can keep this attitude after handss are unclamped, without because action of gravity causes each joint
Produce slip.
In order to improve stability of the present utility model, sensor 4 is fixed on the bottom surface of upper arm 2, cutting ferrule 11 by cutting ferrule 11
For U-shaped, there is hole the both sides of cutting ferrule 11, and sensor 4 is fixed on upper arm 2 by screw.When so sensor rotation axle is rotated,
Ensure that sensor main body is maintained static.
In this utility model, cylindrical protrusion 12 is provided with the face that the base portion 7 of sensor 4 is contacted with upper arm 2, on upper arm 2
It is provided with the draw-in groove 13 being adapted with cylindrical protrusion 12.After the two nesting, the main body of sensor just will not slide with respect to upper arm.
As a kind of improvement of the present utility model, sleeve 14, the axle sleeve 6 of flange bearing 1 are provided with the hinge hole of forearm 3
In being located in sleeve 14, slit-like opening is provided with the side wall of sleeve 14, the fixed spiral shell with anti-skid washer 16 is provided with slit-like opening
Nail 15.Fixing screws 15 prevent axle sleeve 6 from sliding relative to sleeve 14, to maintain specific pressure.
In addition, being provided with hole on the axle sleeve 6 of flange bearing 1, the rotary shaft 8 for fixing sensor 4 is provided with the hole
Jackscrew 17.So the rotary shaft of sensor just can synchronous axial system with flange bearing.
The above is preferred implementation of the present utility model, it is noted that for the ordinary skill of the art
For personnel, on the premise of without departing from principle described in the utility model, some improvements and modifications can also be made, these improvement
Protection domain of the present utility model is also should be regarded as with retouching.
Claims (7)
1. a kind of damping joint of the analog mechanical arm of use flange bearing, it is characterised in that including flange bearing, upper arm, little
The sensor of arm and the measurement anglec of rotation, wherein：
The upper arm and forearm are provided with hinge hole, and the spacing knot of the restricted forearm rotational angle is arranged on the upper arm
Structure；
The flange bearing includes hollow square block and is arranged on axle sleeve circular in the square block, the side of the flange bearing
Seat is fixedly connected with one end of the upper arm, and the axle sleeve of the flange bearing is solid with the forearm through the hinge hole of the forearm
Fixed connection, is provided with annular friction plate between the flange bearing and the forearm；
The sensor includes base portion and the rotary shaft on the base portion, and the rotary shaft is worn from the hinge hole of the upper arm
Enter, sequentially pass through the upper arm, flange bearing, friction plate and forearm, stretch out from the hinge hole of the forearm, the sensor
Base portion is fixed on the upper arm, and the rotary shaft of the sensor is fixed on the axle sleeve of the flange bearing.
2. the damping joint of the analog mechanical arm of use flange bearing according to claim 1, it is characterised in that the biography
Sensor is potentiometer or rotary encoder, and the position limiting structure is cylindrical gag lever post.
3. the damping joint of the analog mechanical arm of use flange bearing according to claim 2, it is characterised in that the method
The square block of blue bearing is provided with described for placing towards the side and the side that is connected with flange bearing of the forearm of axle sleeve
The groove of friction plate.
4. the damping joint of the analog mechanical arm of use flange bearing according to claim 3, it is characterised in that the biography
Sensor is fixed on the bottom surface of the upper arm by cutting ferrule, and there is hole the both sides of the cutting ferrule, and sensor is fixed on into institute by screw
State on upper arm.
5. the damping joint of the analog mechanical arm of use flange bearing according to claim 4, it is characterised in that the biography
Cylindrical protrusion is provided with the base portion of sensor and the face of the upper arm contact, is provided with the upper arm and the cylindrical protrusion phase
The draw-in groove of adaptation.
6., according to the damping joint of the analog mechanical arm of arbitrary described use flange bearing in claim 1-5, its feature exists
In the hinge hole of the forearm is provided with sleeve, and the axle sleeve of the flange bearing is located in the sleeve, the side of the sleeve
Slit-like opening is provided with wall, the fixing screws with anti-skid washer are provided with the slit-like opening.
7. the damping joint of the analog mechanical arm of use flange bearing according to claim 6, it is characterised in that the method
Hole is provided with the axle sleeve of blue bearing, the jackscrew for fixing the rotary shaft of the sensor is provided with the hole.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620910421 | 2016-08-19 | ||
| CN2016209104212 | 2016-08-19 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206170124U true CN206170124U (en) | 2017-05-17 |
Family
ID=58675813
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621066037.5U Active CN206170124U (en) | 2016-08-19 | 2016-09-20 | Use damping joint of simulation machinery arm of flange bearing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206170124U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272541A (en) * | 2016-08-19 | 2017-01-04 | 济南舜风科技有限公司 | Use the damping joint of the analog machine mechanical arm of flange bearing |
| CN111376310A (en) * | 2018-12-28 | 2020-07-07 | 沈阳新松机器人自动化股份有限公司 | Multi-degree-of-freedom damping type mechanical arm |
-
2016
- 2016-09-20 CN CN201621066037.5U patent/CN206170124U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272541A (en) * | 2016-08-19 | 2017-01-04 | 济南舜风科技有限公司 | Use the damping joint of the analog machine mechanical arm of flange bearing |
| CN111376310A (en) * | 2018-12-28 | 2020-07-07 | 沈阳新松机器人自动化股份有限公司 | Multi-degree-of-freedom damping type mechanical arm |
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