CN206708251U - Universal joint and Detla robots - Google Patents
Universal joint and Detla robots Download PDFInfo
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- CN206708251U CN206708251U CN201720378230.0U CN201720378230U CN206708251U CN 206708251 U CN206708251 U CN 206708251U CN 201720378230 U CN201720378230 U CN 201720378230U CN 206708251 U CN206708251 U CN 206708251U
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- universal joint
- joint according
- bearing
- detla
- robots
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Abstract
The utility model provides a kind of universal joint and Detla robot, is related to connector field.The universal joint includes gimbal joints and two universal joint frames；The gimbal joints include four connecting shafts in cross distribution；Connecting hole is provided with the linking arm of two universal joint frames；Each one of them the described connecting shaft of the connecting hole respectively with the cross-pin type joint is rotatablely connected by bearing.The Detla robots have used universal joint as described above.The utility model solves universal joint for a long time using the technical problem being easily worn.
Description
Technical field
Connector technical field is the utility model is related to, more particularly, to a kind of universal joint and Detla robots.
Background technology
Universal joint is universal joint, English name universal joint, is the parts for realizing varied angle power transmission,
For needing to change the position for being driven axis direction, it, which is the universal driving device of the secret system such as automobile, robot, " closes
Save " part.Universal joint combines with power transmission shaft, referred to as card gear.Universal joint is structurally and functionally somewhat like human body four
Joint on limb, it allows the angle between connected part to change within the specific limits.
With expanding economy, social progress, industrial robot develops rapidly, and delta robots have begun to extensively
Applied to factory lines.Because delta robots need very high stability and repeatable accuracy, Delta robots parts
Design be just particularly important, especially moving part rotates the universal joint of shaft connection place due to frequently moving, it is easy to
There is mechanically deform and damage, so stablizing firm gimbal design demand becomes very prominent.Traditional universal joint, its is universal
Section joint and universal joint frame are rotatablely connected after directly inserting, i.e., bearing pin connects, and axle is easy to occur in reciprocal motion
Abrasion, causes to deform.After a long time use, easily go wrong.
Based on this, the utility model provides a kind of universal joint and Detla robot to solve above-mentioned technical problem.
Utility model content
The purpose of this utility model is to provide a kind of universal joint, to solve universal joint present in prior art for a long time
Use the technical problem that is easily worn.
The purpose of this utility model, which also resides in, provides a kind of Detla robots, for solving the universal joint of Detla robots
The technical problem being easily worn.
Based on above-mentioned first purpose, the utility model provides a kind of universal joint, including gimbal joints and two it is universal
Save frame；
The gimbal joints include four connecting shafts in cross distribution；
Connecting hole is provided with the linking arm of two universal joint frames；
Each one of them the described connecting shaft of the connecting hole respectively with the cross-pin type joint is rotatablely connected by bearing.
Optionally, the bearing uses deep groove ball bearing.
Innovative has used deep groove ball bearing, instead of traditional pivot pin design so that and universal joint movable resistance is smaller,
It is more flexible, mechanical fatigue damage is effectively reduced, service life is improved, reduces replacement frequency.Deep groove ball bearing is applicable
It is and extremely durable in the even extremely high-revolving operation of high rotating speed, without often safeguarding.Such bearing friction coefficient is small, the limit
Rotating speed is high, and size range and form change are various, apply in precision instrument, low noise motor, automobile, motorcycle and common mechanical
It is a most widely used class bearing in mechanical industry etc. industry.Radial load is primarily subjected to, can also bear a certain amount of axle
To load.
Optionally, hole jump ring is provided with the inside of the connecting hole, it is spacing for being carried out to the bearing.
Hole is mounted in circular hole with jump ring, the axial movement as securing part, and the external diameter of this kind of back-up ring is than assembling
Circularhole diameter footpath is slightly larger.
Optionally, a circle embedding slot is provided with the connecting hole, the hole jump ring is inlaid in the embedding slot.
By the embedding slot inlaid hole jump ring, coming off for bearing is prevented, so as to effectively fix bearing.
Optionally, the gimbal joints include center contiguous block, and the center contiguous block is square；
The surrounding of the center contiguous block, which is respectively perpendicular, is connected with the connecting shaft.
By setting the contiguous block, strengthen the fixing intensity of connecting shaft, prevent connection between four connecting shafts due to
Much time using and produce slight crack etc..
Optionally, the gimbal joints and the universal joint frame are made of stainless steel.
The gimbal joints and universal joint frame of stainless steel material are made of stainless steel, and intensity is high, there is certain hardness, resistance to
Mill property is good, durable enough.
Optionally, the universal joint frame includes connector and two linking arms；The connector is cylindrical, one end
It is provided with spliced eye；
The other end and two linking arms are affixed；
Two linking arms are symmetrical arranged on the connector.
The linking arm is used to be connected with remaining application structure, convenient to be applied in the structures such as robot.
Optionally, two linking arms are affixed by connecting plate and the connector.
This connected mode has higher intensity, so as to effectively enter the action such as horizontal deflection, when can use longer
Between.
Optionally, two linking arms are integrally formed with the connecting plate, junction smooth transition.
Integrally formed structure has higher intensity, stronger anti-wear performance, can bear more frequently to curve, and uses
The longer time.
Based on above-mentioned second purpose, the utility model provides a kind of Detla robots, and the Detla robots use
Universal joint as described above.
The universal joint provided by the utility model, innovative has used bearing, instead of traditional pivot pin design, makes
It is smaller to obtain universal joint movable resistance, it is more flexible, mechanical fatigue damage is effectively reduced, service life is improved, reduces more
Change frequency.
Optimization gimbal design is realized, improves the stability of universal joint, avoids excessive mechanical damage, extends universal joint
Usage time, reduce replacement frequency, improve the purpose of positioning precision.
Based on this, the utility model has the advantages of stability is high, service life is long than original technology.
Brief description of the drawings
, below will be right in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
The required accompanying drawing used is briefly described in embodiment or description of the prior art, it should be apparent that, describe below
In accompanying drawing be some embodiments of the present utility model, for those of ordinary skill in the art, do not paying creativeness
On the premise of work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation for the universal joint that the utility model embodiment provides；
Fig. 2 is enlarged drawing at Fig. 1 A；
Fig. 3 is universal joint mount structure schematic diagram；
Fig. 4 is gimbal joints structural representation.
Icon：1- gimbal joints；11- connecting shafts；12- centers contiguous block；2- universal joint frames；21- linking arms；22- connects
Connect hole；23- connectors；24- connecting plates；25- spliced eyes；3- bearings；4- holes jump ring.
Embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with accompanying drawing, it is clear that described
Embodiment is the utility model part of the embodiment, rather than whole embodiments.Based on the embodiment in the utility model, sheet
The every other embodiment that field those of ordinary skill is obtained under the premise of creative work is not made, belongs to this practicality
Novel protected scope.
, it is necessary to explanation in description of the present utility model, term " " center ", " on ", " under ", it is "left", "right", " perpendicular
Directly ", the orientation of the instruction such as " level ", " interior ", " outer " or position relationship are based on orientation shown in the drawings or position relationship, are only
Described for the ease of description the utility model and simplifying, rather than instruction or imply signified device or element must have it is specific
Orientation, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.In addition, term " the
One ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that instruction or hint relative importance.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in description of the present utility model
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary,
It can be the connection of two element internals.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
Concrete meaning of the language in the utility model.
Universal joint embodiment one
As Figure 1-4, a kind of universal joint is provided in the present embodiment, and the universal joint includes the He of gimbal joints 1
Two universal joint frames 2；
The gimbal joints 1 include four connecting shafts 11 in cross distribution；
Connecting hole 22 is provided with the linking arm 21 of two universal joint frames 2；
Each one of them the described connecting shaft 11 of the connecting hole 22 respectively with the cross-pin type joint is rotated by bearing 3
Connection.
The universal joint provided by the utility model, innovative has used bearing, instead of traditional pivot pin design, makes
It is smaller to obtain universal joint movable resistance, it is more flexible, mechanical fatigue damage is effectively reduced, service life is improved, reduces more
Change frequency.
Optimization gimbal design is realized, improves the stability of universal joint, avoids excessive mechanical damage, extends universal joint
Usage time, reduce replacement frequency, improve the purpose of positioning precision.
Based on this, the utility model has the advantages of stability is high, service life is long than original technology.
Such as Fig. 1, in the alternative of the present embodiment, the bearing 3 uses deep groove ball bearing.
Innovative has used deep groove ball bearing, instead of traditional pivot pin design so that and universal joint movable resistance is smaller,
It is more flexible, mechanical fatigue damage is effectively reduced, service life is improved, reduces replacement frequency.Deep groove ball bearing is applicable
It is and extremely durable in the even extremely high-revolving operation of high rotating speed, without often safeguarding.Such bearing friction coefficient is small, the limit
Rotating speed is high, and size range and form change are various, apply in precision instrument, low noise motor, automobile, motorcycle and common mechanical
It is a most widely used class bearing in mechanical industry etc. industry.Radial load is primarily subjected to, can also bear a certain amount of axle
To load.
Such as Fig. 1, in the alternative of the present embodiment, the inner side of the connecting hole 22 is provided with hole jump ring 4, for institute
State bearing 3 carry out it is spacing.
Hole is mounted in circular hole with jump ring, the axial movement as securing part, and the external diameter of this kind of back-up ring is than assembling
Circularhole diameter footpath is slightly larger.
Further, a circle embedding slot is provided with the connecting hole 22, the hole jump ring 4 is inlaid in the embedding slot
It is interior.
By the embedding slot inlaid hole jump ring 4, coming off for bearing 3 is prevented, so as to effectively fix bearing 3.
Such as Fig. 4, in the alternative of the present embodiment, the gimbal joints 1 include center contiguous block 12, and the center connects
Block 12 is connect to be square；
The surrounding of the center contiguous block 12, which is respectively perpendicular, is connected with the connecting shaft 11.
By setting the center contiguous block 12, strengthen the fixing intensity of connecting shaft 11, prevent between four connecting shafts 11
Connection slight crack etc. is produced due to much time using.
In the alternative of the present embodiment, the gimbal joints 1 and the universal joint frame 2 are made of stainless steel.
The gimbal joints 1 and universal joint frame 2 of stainless steel material are made of stainless steel, and intensity is high, there is certain hardness,
Wearability is good, durable enough.
Such as Fig. 3, in the alternative of the present embodiment, the universal joint frame 2 includes connector 23 and two linking arms
21；The connector 23 is cylinder, and one end is provided with spliced eye 25；
The other end and two linking arms 21 are affixed；
Two linking arms 21 are symmetrical arranged on the connector 23.
The linking arm 21 is used to be connected with remaining application structure, convenient to be applied in the structures such as robot.
Further, two linking arms 21 are affixed by connecting plate 24 and the connector 23.
This connected mode has higher intensity, so as to effectively enter the action such as horizontal deflection, when can use longer
Between.
Further, two linking arms 21 are integrally formed with the connecting plate 24, junction smooth transition.
Integrally formed structure has higher intensity, stronger anti-wear performance, can bear more frequently to curve, and uses
The longer time.
Detla robotic embodiments
This embodiment offers a kind of Detla robots, the Detla robots have used universal joint as described above.
Delta robots are the parallel robots of a kind of high speed, underloading, generally have the 3-4 free degree, it is possible to achieve work
Make the translation and rotary motion about the z axis in the XYZ directions in space.
Delta drive motors are wished good health on fixed floor, greatly reduce the inertia in robot kinematics, machine
Device people can realize quick acceleration and deceleration in motion process, and most fast grasp speed is up to 2~4 times/second.It is equipped with vision positioning identification
System, the reachable ± 0.1mm of precision.
Delta robots have the characteristics that in light weight, small volume, movement velocity fast, registration, cost be low, efficiency high,
In addition configure after vision can Intelligent Recognition, the advantage of detection object, it is quick to be mainly used in food, medicine and electronic product etc.
Sorting, crawl, assembling.
With expanding economy, social progress, industrial robot develops rapidly, and delta robots have begun to extensively
Applied to factory lines.Because delta robots need very high stability and repeatable accuracy, Delta robots parts
Design be just particularly important, especially moving part, after the universal joint of the application, universal joint movable resistance is more
It is small, it is more flexible, mechanical fatigue damage is effectively reduced, service life is improved, reduces replacement frequency.Whole robot
Service life is also elongated.
Finally it should be noted that：Various embodiments above is only to illustrate the technical solution of the utility model, rather than it is limited
System；Although the utility model is described in detail with reference to foregoing embodiments, one of ordinary skill in the art should
Understand：It can still modify to the technical scheme described in foregoing embodiments, either to which part or whole
Technical characteristic carries out equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from this practicality newly
The scope of each embodiment technical scheme of type.
Claims (10)
1. a kind of universal joint, it is characterised in that including gimbal joints and two universal joint frames；
The gimbal joints include four connecting shafts in cross distribution；
Connecting hole is provided with the linking arm of two universal joint frames；
Each one of them the described connecting shaft of the connecting hole respectively with the cross-pin type joint is rotatablely connected by bearing.
2. universal joint according to claim 1, it is characterised in that the bearing uses deep groove ball bearing.
3. universal joint according to claim 1, it is characterised in that hole jump ring is provided with the inside of the connecting hole, is used
It is spacing in being carried out to the bearing.
4. universal joint according to claim 3, it is characterised in that a circle embedding slot is provided with the connecting hole, it is described
Hole jump ring is inlaid in the embedding slot.
5. universal joint according to claim 1, it is characterised in that the gimbal joints include center contiguous block, described
Center contiguous block is square；
The surrounding of the center contiguous block, which is respectively perpendicular, is connected with the connecting shaft.
6. universal joint according to claim 1, it is characterised in that the gimbal joints and the universal joint frame use
Stainless steel is made.
7. universal joint according to claim 1, it is characterised in that the universal joint frame includes connector and two companies
Connect arm；The connector is cylinder, and one end is provided with spliced eye；
The other end and two linking arms are affixed；
Two linking arms are symmetrical arranged on the connector.
8. universal joint according to claim 7, it is characterised in that two linking arms pass through connecting plate and the connection
It is affixed.
9. universal joint according to claim 8, it is characterised in that two linking arms and connecting plate one into
Type, junction smooth transition.
10. a kind of Detla robots, it is characterised in that the Detla robots have been used such as any one of claim 1-9 institutes
The universal joint stated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720378230.0U CN206708251U (en) | 2017-04-11 | 2017-04-11 | Universal joint and Detla robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720378230.0U CN206708251U (en) | 2017-04-11 | 2017-04-11 | Universal joint and Detla robots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206708251U true CN206708251U (en) | 2017-12-05 |
Family
ID=60454811
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720378230.0U Active CN206708251U (en) | 2017-04-11 | 2017-04-11 | Universal joint and Detla robots |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206708251U (en) |
-
2017
- 2017-04-11 CN CN201720378230.0U patent/CN206708251U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180611 Address after: 300000 A2 level 1, A area, 8 International Airport base, Ping Ying Road, Dongli, Tianjin. Patentee after: Berkent (Tianjin) robot technology Co., Ltd. Address before: 100000 Room 101, building 28, 18 Chuang thirteen street, Beijing economic and Technological Development Zone, Beijing. Patentee before: Berkent (Beijing) robot technology Co., Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210427 Address after: No. 28, Yunshan Middle Road, Sanqi Town, Yuyao City, Ningbo City, Zhejiang Province Patentee after: Bokent (Yuyao) robot technology Co.,Ltd. Address before: 300000 A2 level 1, A area, 8 International Airport base, Ping Ying Road, Dongli, Tianjin. Patentee before: BEKANNTER (TIANJIN) ROBOT TECHNOLOGY Co.,Ltd. |
|
| TR01 | Transfer of patent right |