CN206426120U - A kind of joint of robot kinematic driving unit - Google Patents
A kind of joint of robot kinematic driving unit Download PDFInfo
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- CN206426120U CN206426120U CN201720106206.1U CN201720106206U CN206426120U CN 206426120 U CN206426120 U CN 206426120U CN 201720106206 U CN201720106206 U CN 201720106206U CN 206426120 U CN206426120 U CN 206426120U
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- electromagnet
- driving unit
- robot
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Abstract
The utility model discloses a kind of joint of robot kinematic driving unit, with it is simple in construction, lightweight, manipulate it is nimble, and low manufacture cost technological merit；Its structure includes：First connector and the second connector；First connector is connected by universal joint bearing with the second connector；Multiple electromagnet are provided with first connector and/or universal-joint bearing seat；The magnetic adsorption plate corresponding with electromagnet set location is fixedly installed on second connector.Another joint of robot kinematic driving unit is also disclosed in the utility model, and its structure includes：First connector and the second connector；First connector is connected by universal joint bearing with the second connector；Multiple active electromagnet are provided with first connector and/or universal-joint bearing seat；It is fixedly installed on second connector corresponding with active electromagnet set location from motor magnet.The utility model can flexibly drive joint motions, and structure is more simple, manipulate more flexible.
Description
Technical field
The utility model is related to robot joint structure design field, and in particular to a kind of joint of robot motion is driven
Dynamic device.
Background technology
Small scale robot of the prior art, generally machine driving is used in terms of joint drive, though mechanical transmission structure
The accuracy of articulated position is can guarantee that, but joint part drive mechanism can be caused excessively complicated, robot is in turn resulted in
Joint part is excessively huge too fat to move, it is contemplated that robot major part joint part is required for bearing a number of load, machinery
The joint of structure has irreplaceability at most of position of robot, but not high for loading demands, and flexible movements
Degree has the moving part of high standards, and the first-selected key element considered is needed when the light terseness of articulation structure is by as design.
Therefore research and develop a joint of robot kinematic driving unit to overcome at least one of above-mentioned technological deficiency to turn into
It is a kind of required.
Utility model content
The purpose of this utility model is to provide a kind of joint of robot kinematic driving unit, with it is simple in construction, lightweight,
Manipulation it is nimble, and low manufacture cost technological merit.
The purpose of this utility model is to be achieved through the following technical solutions：
On the one hand, the utility model provides a kind of joint of robot kinematic driving unit, including：First connector and second
Connector；First connector is connected by universal joint bearing with second connector；First connector and/or ten thousand
Multiple electromagnet are provided with to nodal axisn bearing；It is fixedly installed on second connector and the electromagnet set location phase
Corresponding magnetic adsorption plate.
In preferred embodiments, in addition to controller, the electromagnet is electrically connected with the controller.
In preferred embodiments, the side wall of the magnetic adsorption plate is provided with magnetic conduction sleeve.
On the other hand, the utility model also provides a kind of joint of robot kinematic driving unit, including：First connector and
Second connector；First connector is connected by universal joint bearing with second connector；First connector and/
Or multiple active electromagnet are provided with universal-joint bearing seat；It is fixedly installed on second connector and the active electromagnetism
Iron set location is corresponding from motor magnet.
In preferred embodiments, the active electromagnet and the side wall from motor magnet are respectively provided with flux sleeve
Cylinder.
In preferred embodiments, in addition to central controller, the central controller respectively with the active electromagnetism
Iron and from motor magnet electrical connection.
The beneficial effects of the utility model are：The utility model connects by using the connector of solenoid actuated first and second
Fitting helps to reach the technique effect for reducing configuration mechanical transmission component in robot movable joint, and multiple electromagnet are through having
Can effectively be realized after sequence power on/off at driving turning joint one of connector using joint be pin joint relative to another
Connector makes small size rotation, and then reaches the technique effect of driving robot motion.
Further, the utility model is helped by further setting controller for joint of robot kinematic driving unit
In the technique effect for reaching flexibly high-precision control joint motion；Because the multiple electromagnet being arranged on the first connector are equal
It is electrically connected with the controller respectively, and then controller can be by flexibly controlling the power on/off and electrical current of each electromagnet strong
Degree, to reach electromagnetism flexibly between the electromagnet and relevant position magnetic adsorption plate of control diverse location at attraction, and a certain position
The technique effect of attraction between iron and the magnetic adsorption plate of relevant position.Wherein, the first connector and the second connector can be in magnetic force
Driving under relative motion is produced centered on hinged place.
Further, the utility model sets magnetic conduction sleeve by the side wall in magnetic adsorption plate, can reach when electromagnet is inhaled
When drawing the magnetic adsorption plate corresponding with its set location, magnetic leakage does not occur, and then influence the technology of adjacent electromagnet energization work
Effect.The magnetic field formed on magnetic adsorption plate can be strapped in around it by magnetic conduction sleeve, and further reach the technology of magnetic force isolation
Effect.Even if adjacent two panels magnetic adsorption plate will not also produce magnetic force interference of reporting to the leadship after accomplishing a task at a distance of 2cm.Magnetic conduction sleeve be set to improve electromagnetism
Iron density of setting provides strong structural support, contributes to the action of further hoisting machine person joint kinematic driving unit
The control accuracy of amplitude.
Further, the utility model is also provided by another joint of robot kinematic driving unit, by first
Electromagnet is respectively provided with connector and the second connector, the technology effect of further flexible control machine person joint motion is reached
Really；Control is reached due to the polarity of control electromagnet can be reached by changing the sense of current, and by changing current strength
The absorption affinity of electromagnet, and then said structure can realize the absorption affinity between flexibly two blocks of electromagnet of control or the technology of repulsive force
Effect, and then further contribute to reach the technique effect of active drive joint of robot motion.Converted needing robot
During posture, can be commutated the technique effect for reaching that process auxiliary drive joint of robot is acted by electric current, further shorten robot
The time delay of joint action responsive control signal, make the action response of robot more sensitive.
Further, the utility model is respectively provided with magnetic conduction by the side wall in active electromagnet and from motor magnet
Sleeve helps to reach the technique effect of binding magnetic field lateral extent, helps further to lift electromagnet on same a connection piece
Setting quantity, and then reach the technique effect of further hoisting machine person joint action control precision.
Further, the utility model is by setting central controller for above-mentioned joint of robot kinematic driving unit
Intelligent control machine person joint motion provides strong structural support, by setting correspondence to control different positions in central controller
The sense of current and size of current of any time needed for electromagnet is put, can reach and realize the automatic control of joint of robot motion
The technique effect of system.
Brief description of the drawings
The utility model is described in further detail below according to accompanying drawing.
Fig. 1 is the structural representation of joint of robot kinematic driving unit in the utility model embodiment 1；
Fig. 2 is Fig. 1 structure top view；
Fig. 3 is the improved structure schematic diagram of joint of robot kinematic driving unit in the utility model embodiment 1；
Fig. 4 is another improved structure schematic diagram of joint of robot kinematic driving unit in the utility model embodiment 1；
Fig. 5 is the structural representation of joint of robot kinematic driving unit in the utility model embodiment 2；
Fig. 6 is the improved structure schematic diagram of joint of robot kinematic driving unit in the utility model embodiment 2.
In figure：
100th, the first connector；110th, electromagnet；200th, the second connector；210th, magnetic adsorption plate；211st, magnetic conduction sleeve；300、
Universal joint bearing；400th, controller；500th, active electromagnet；600th, from motor magnet.
Embodiment
Embodiment 1：
As depicted in figs. 1 and 2, a kind of joint of robot kinematic driving unit in the utility model includes：First connection
The connector 200 of part 100 and second；First connector 100 is connected by universal joint bearing 300 with second connector 200
Connect；Multiple electromagnet 110 are provided with first connector and/or universal-joint bearing seat；It is fixed on second connector
It is provided with the magnetic adsorption plate 210 corresponding with the electromagnet set location.
It should be noted that in the present embodiment, the set location and setting quantity of electromagnet 110 can be according to joint of robot
Action configuration need and adjust, and then reach the technology for realizing that joint of robot is acted with different movement ranges
Effect.Therefore, realize that corresponding actions needs use the phase of any number of solenoid actuated joint of robot motion for satisfaction
Protection domain of the present utility model all should be fallen into by closing structure setting.
It is preferred that, as shown in figure 3, in an optimal technical scheme of the present embodiment, in addition to controller 400, it is described
Electromagnet 110 is electrically connected with the controller 400.The utility model for joint of robot kinematic driving unit by further setting
Controller is put, helps to reach the technique effect of flexibly high-precision control joint motion；Due to being arranged on the first connector
Multiple electromagnet be respectively electrically connected with the controller, and then controller can be by flexibly controlling the power on/off of each electromagnet
And electrical current intensity, to reach flexibly attraction between the electromagnet and relevant position magnetic adsorption plate of control diverse location, and a certain
The technique effect of electromagnet at position and the attraction between the magnetic adsorption plate of relevant position.Wherein, the first connector and second connects
Fitting can produce relative motion under the driving of magnetic force centered on hinged place.
It should be noted that the structure of the controller employed in the present embodiment is prior art, therefore its detailed technology is believed
Breath is not further illustrated and repeated herein.
It is preferred that, as shown in figure 4, in an optimal technical scheme of the present embodiment, the side wall of the magnetic adsorption plate 210 is set
It is equipped with magnetic conduction sleeve 211.The utility model sets magnetic conduction sleeve by the side wall in magnetic adsorption plate, can reach when electromagnet attracts
During corresponding with its set location magnetic adsorption plate, magnetic leakage does not occur, and then influence the technology effect of adjacent electromagnet energization work
Really.The magnetic field formed on magnetic adsorption plate can be strapped in around it by magnetic conduction sleeve, and further reach the technology effect of magnetic force isolation
Really.Even if adjacent two panels magnetic adsorption plate will not also produce magnetic force interference of reporting to the leadship after accomplishing a task at a distance of 2cm.Magnetic conduction sleeve be set to improve electromagnet
Density of setting provides strong structural support, contributes to the action width of further hoisting machine person joint kinematic driving unit
The control accuracy of degree.
In the present embodiment, magnetic conduction sleeve is preferred to use permeability magnetic material and is made, and the characteristic with good binding magnetic field can
Reach the technique effect without magnetic field beyond magnetic conduction sleeve lateral wall 5mm scopes.It should be noted that in the present embodiment, magnetic conduction sleeve
Structure is prior art, therefore its specific dimensional details is not repeated further herein.
The utility model helps to reach in robot by using the connector of solenoid actuated first and the second connector
The technique effect of configuration mechanical transmission component is reduced at turning joint, multiple electromagnet can be realized effectively after orderly power on/off
One of connector makes small size rotation by pin joint of joint relative to another connector at driving turning joint, and then
Reach the technique effect of driving robot motion.
Embodiment 2：
As shown in figure 5, another joint of robot kinematic driving unit in the utility model includes：First connector
100 and second connector 200；First connector 100 is connected by universal joint bearing 300 with second connector 200；
Multiple active electromagnet 500 are provided with first connector 100 and/or universal-joint bearing seat；Second connector 200
On be fixedly installed it is corresponding with the active electromagnet set location from motor magnet 600.
It should be noted that in the present embodiment above-mentioned active electromagnet and from the structure of motor magnet with it is of the prior art
The structure and indifference of electromagnet, therefore its specific structural details is not further illustrated and repeated herein.
The utility model by providing another joint of robot kinematic driving unit, and further in the first connector and
Electromagnet is respectively provided with second connector, the technique effect of further flexible control machine person joint motion is reached；Due to can
With by change the sense of current reach control electromagnet polarity, and by change current strength reach control electromagnet suction
Attached power, and then said structure can realize the absorption affinity between flexibly two blocks of electromagnet of control or the technique effect of repulsive force, and then
Further contribute to reach the technique effect that active drive joint of robot is moved., can when needing robot to alter one's posture
Commutated the technique effect for reaching that process auxiliary drive joint of robot is acted by electric current, is further shortened joint of robot action and is rung
The time delay of control signal is answered, makes the action response of robot more sensitive.
It is preferred that, as shown in fig. 6, in an optimal technical scheme of the present embodiment, the active electromagnet 500 and from
The side wall of motor magnet 600 is respectively provided with magnetic conduction sleeve 211.The utility model passes through in active electromagnet 500 and driven
The side wall of electromagnet 600, which is respectively provided with magnetic conduction sleeve 211, to be helped to reach the technique effect of binding magnetic field lateral extent, is had
Help further be lifted the setting quantity of electromagnet on same a connection piece, and then reach that further hoisting machine person joint moves
Make the technique effect of control accuracy.
It is preferred that, in an optimal technical scheme of the present embodiment, in addition to central controller, the central controller
Electrically connected respectively with the active electromagnet and from motor magnet.The utility model is driven by being moved for above-mentioned joint of robot
Device sets central controller, strong structural support is provided for intelligent control machine person joint motion, by central control
The sense of current and size of current of any time in device needed for setting correspondence control diverse location electromagnet, can reach reality
The technique effect that existing joint of robot motion is automatically controlled.It should be noted that in the present embodiment, the knot of above-mentioned central controller
Structure is prior art, therefore its dependency structure details is not further illustrated and repeated herein.
The utility model is not limited to above-mentioned preferred forms, and anyone can draw under enlightenment of the present utility model
Other various forms of products, however, make any change in its shape or structure, it is every that there is same as the present application or phase
Approximate technical scheme, all falls within protection domain of the present utility model.
Claims (6)
1. a kind of joint of robot kinematic driving unit, it is characterised in that：Including：First connector and the second connector；It is described
First connector is connected by universal joint bearing with second connector；First connector and/or universal-joint bearing seat
On be provided with multiple electromagnet；The magnetic corresponding with the electromagnet set location is fixedly installed on second connector
Piece.
2. joint of robot kinematic driving unit according to claim 1, it is characterised in that：Also include controller, it is described
Electromagnet is electrically connected with the controller.
3. joint of robot kinematic driving unit according to claim 1, it is characterised in that：The side wall of the magnetic adsorption plate is set
It is equipped with magnetic conduction sleeve.
4. a kind of joint of robot kinematic driving unit, it is characterised in that：Including：First connector and the second connector；It is described
First connector is connected by universal joint bearing with second connector；First connector and/or universal-joint bearing seat
On be provided with multiple active electromagnet；It is fixedly installed on second connector relative with the active electromagnet set location
Answer from motor magnet.
5. joint of robot kinematic driving unit according to claim 4, it is characterised in that：The active electromagnet and from
The side wall of motor magnet is respectively provided with magnetic conduction sleeve.
6. the joint of robot kinematic driving unit according to claim 4 or 5, it is characterised in that：Also include center control
Device, the central controller is electrically connected with the active electromagnet and from motor magnet respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720106206.1U CN206426120U (en) | 2017-02-03 | 2017-02-03 | A kind of joint of robot kinematic driving unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720106206.1U CN206426120U (en) | 2017-02-03 | 2017-02-03 | A kind of joint of robot kinematic driving unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206426120U true CN206426120U (en) | 2017-08-22 |
Family
ID=59592158
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720106206.1U Active CN206426120U (en) | 2017-02-03 | 2017-02-03 | A kind of joint of robot kinematic driving unit |
Country Status (1)
| Country | Link |
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| CN (1) | CN206426120U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109483588A (en) * | 2018-12-31 | 2019-03-19 | 浙江元邦智能装备有限公司 | Articulated robot is used in a kind of injection molding |
| CN109997547A (en) * | 2019-05-08 | 2019-07-12 | 湖南农业大学 | A kind of self-propelled tobacco leaf topping machine of human assistance |
-
2017
- 2017-02-03 CN CN201720106206.1U patent/CN206426120U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109483588A (en) * | 2018-12-31 | 2019-03-19 | 浙江元邦智能装备有限公司 | Articulated robot is used in a kind of injection molding |
| CN109483588B (en) * | 2018-12-31 | 2024-05-31 | 浙江元邦智能装备有限公司 | Joint robot for injection molding |
| CN109997547A (en) * | 2019-05-08 | 2019-07-12 | 湖南农业大学 | A kind of self-propelled tobacco leaf topping machine of human assistance |
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