CN206925888U - Joint linkage structure and plane articulation robot - Google Patents
Joint linkage structure and plane articulation robot Download PDFInfo
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- CN206925888U CN206925888U CN201720598072.XU CN201720598072U CN206925888U CN 206925888 U CN206925888 U CN 206925888U CN 201720598072 U CN201720598072 U CN 201720598072U CN 206925888 U CN206925888 U CN 206925888U
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- support arm
- joint
- connecting support
- linkage structure
- output shaft
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Abstract
A kind of joint linkage structure and plane articulation robot, wherein, joint linkage structure includes the first joint arm, second joint arm, driver element and and adapter assembly, first joint arm includes first connecting portion, first connecting portion includes position relationship setting up and down and spaced first connecting support arm and the second connecting support arm, second joint arm is included located at the second connecting portion between the first connecting support arm and the second connecting support arm, adapter assembly includes being fixed on the keeper of the second connecting support arm and is socketed on keeper and the bearing being coaxially disposed with driving output shaft, second connecting portion offers the spacing hole with bearing fit, the inner ring of bearing is securely socketed on keeper, the outer ring of bearing is socketed on spacing hole.Can be in tolerance range, moment of torsion increase, can be effectively prevented from shaking in driving output shaft torque, and driving beyond output shaft torque tolerance range, within the scope of moment of torsion increase scope is born in bearing, still driver element will not be caused to damage.
Description
Technical field
The utility model belongs to plane articulation robot field, more particularly to a kind of joint linkage structure and plane articulation
Robot.
Background technology
Plane articulation robot includes joint linkage structure, and joint linkage structure includes the first joint arm, closed located at first
Joint arm is simultaneously swung with the driver element for driving output shaft and in driving output axis connection and following driving output shaft rotation
Second joint arm, drive the free end of output shaft vacantly to set, when in use, when second joint arm end load increase, that
The moment of torsion acted on driving output shaft increases therewith, but the moment of torsion for driving output shaft can bear is limited, wherein, such as
Fruit moment of torsion increase, be able to can cause to shake with tolerance range in driving output shaft torque, and if held in driving output shaft torque
Beyond by scope, moment of torsion increase, then irreversible damage can be caused to driver element.
Utility model content
The purpose of this utility model is to overcome above-mentioned the deficiencies in the prior art, there is provided a kind of joint linkage structure, its
The technical problem of solution is, when second joint arm end load increases, and the moment of torsion on driving output shaft increases therewith, if
Drive output shaft torque moment of torsion increase, be able to can cause to shake with tolerance range, and if bearing model in driving output shaft torque
Beyond enclosing, moment of torsion increase, then irreversible damage can be caused to driver element.
What the utility model was realized in：
A kind of joint linkage structure, for plane articulation robot, including the first joint arm, located at first joint arm
And with driving output shaft driver element, with it is described driving output shaft be fixedly connected and follow it is described drive output shaft rotation and
The second joint arm of swing,
First joint arm includes first connecting portion, and the first connecting portion is setting up and down including position relationship and is spaced
The first connecting support arm and the second connecting support arm set, the second joint arm are included located at first connecting support arm and described
Second connecting portion between second connecting support arm；
The joint linkage structure includes adapter assembly, and the adapter assembly includes being fixed on the positioning of the second connecting support arm
Part and be socketed on the keeper and with the bearing that is coaxially disposed of driving output shaft, the second connecting portion offer with
The spacing hole of the bearing fit, the inner ring of the bearing are securely socketed on the keeper, the outer ring fastening of the bearing
Ground is socketed on the spacing hole.
Alternatively, the driver element includes motor and connected for adjusting output speed with matching described second
The reductor of rotating speed needed for portion, the driving output shaft are located at the reductor.
Alternatively, the motor is located at the side that first connecting support arm deviates from the second connecting portion, described
First connecting support arm offers the perforation passed through for the reductor.
Alternatively, the reductor includes the reduction body portion coordinated with the perforation and connected with the reduction body portion
The deceleration fixed part for connecing and being connected to above first connecting support arm, the deceleration fixed part are connected to the reduction body portion
Side wall.
Alternatively, the adapter assembly includes being used for the method that the deceleration fixed part is fixed to first connecting support arm
Orchid, the driver element are fixed on the flange.
Alternatively, the driving output shaft offers auxiliary positioning hole, institute in it towards the shaft end of the second connecting portion
State second connecting portion drives the side of output shaft to be convexly equipped with the auxiliary coordinated with auxiliary positioning hole grafting in it towards described
Locating dowel.
Alternatively, the auxiliary positioning hole is provided with guiding ramp structure in its aperture peristoma.
Alternatively, first connecting support arm is located at the top of second connecting support arm.
Alternatively, second connecting support arm is detachably connected with first connecting support arm.
The utility model also provides a kind of plane articulation robot, including plane joint manipulator, for driving plane to close
The lift drive mechanism and above-mentioned joint linkage structure that section manipulator pumps, the lift drive mechanism connection
In on joint linkage structure.
Based on structure of the present utility model, support of the bearing to second connecting portion is added, drives output shaft and bearing shape
Into two fulcrums, second connecting portion is supported jointly, and bearing also takes on the moment of torsion of second connecting portion, that is to say and exports bearing in driving
On the basis of carrying on a shoulder pole second connecting portion moment of torsion, torque support of the bearing to second connecting portion is added, so as to enhance the first joint
Arm, so, can be so that in tolerance range, moment of torsion increases, energy in driving output shaft torque to the moment of torsion tolerance range of second connecting portion
Enough it is effectively prevented from shaking, and is driving beyond output shaft torque tolerance range, wherein, born in moment of torsion increase scope in bearing
Within the scope of, still driver element will not be caused to damage.
Specifically, in use, start driver element, make the rotation of driving output shaft, so as to drive the second connection
Portion rotates, and so, just realizes second joint arm swing.
Brief description of the drawings
In order to illustrate more clearly of the technical scheme in the embodiment of the utility model, will make below to required in embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the utility model,
For those of ordinary skill in the art, on the premise of not paying creative work, can also be obtained according to these accompanying drawings
Other accompanying drawings.
Fig. 1 is the overall structure diagram for the joint linkage structure that the utility model embodiment provides；
Fig. 2 is the sectional view for the joint linkage structure that the utility model embodiment provides；
Fig. 3 is the exploded view for the joint linkage structure that the utility model embodiment provides；
Fig. 4 is the exploded view under another visual angle for the joint linkage structure that the utility model embodiment provides.
Drawing reference numeral explanation：
Embodiment
In order that the purpose of this utility model, technical scheme and advantage are more clearly understood, below in conjunction with accompanying drawing and implementation
Example, the utility model is further elaborated.It should be appreciated that specific embodiment described herein is only explaining this
Utility model, it is not used to limit the utility model.
The utility model embodiment provides a kind of joint linkage structure, for plane articulation robot, for realizing that one is flat
The free degree in face.
Fig. 1 to Fig. 4 is referred to, the joint linkage structure includes the first joint arm 100, located at the first joint arm 100 and had
There is the driver element 300 of driving output shaft and be fixedly connected with driving output shaft and follow driving output shaft rotation and swing
Second joint arm 200.First joint arm 100 includes first connecting portion 120, and first connecting portion 120 includes dividing on position relationship
Put and the connecting support arm 122 of spaced first connecting support arm 121 and second, second joint arm 200 are included located at the first connection
Second connecting portion 220 between the connecting support arm 122 of support arm 121 and second.
In the utility model embodiment, joint linkage structure includes adapter assembly 400, and adapter assembly 400 includes fixing
In the second connecting support arm 122 keeper 410 and be socketed on keeper 410 and with the bearing that is coaxially disposed of driving output shaft
430, second connecting portion 220 offers the spacing hole 2201 coordinated with bearing 430, and the inner ring of bearing 430, which is securely socketed on, to be determined
Position part 410, the outer ring of bearing 430 is securely socketed on spacing hole 2201.
Based on structure of the present utility model, add support of the bearing 430 to second connecting portion 220, driving output shaft and
Bearing 430 forms two fulcrums, common to support second connecting portion 220, and bearing 430 also takes on the moment of torsion of second connecting portion 220,
It is on the basis of driving output bearing 430 carries on a shoulder pole the moment of torsion of second connecting portion 220, adds bearing 430 to second connecting portion 220
Torque support, so as to enhance moment of torsion tolerance range of first joint arm 100 to second connecting portion 220, so, drive it is defeated
Shaft moment of torsion can be in tolerance range, moment of torsion increase, can be effectively prevented from shaking, and drive output shaft torque tolerance range
In addition, wherein, moment of torsion increases scope within the scope of bearing 430 is born, and still driver element 300 will not be caused to damage.
Specifically, in use, start driver element 300, make the rotation of driving output shaft, so as to drive the second company
Socket part 220 rotates, and so, just realizes that second joint arm 200 is swung.
In addition, herein it should be noted that be based on structure of the present utility model, extension driving output is served in effect
The effect of axle, by the setting of bearing 430, it can not have to change existing driver element 300, that is, utilize existing conventional driving list
Member 300, without custom-made driver element 300, so, advantageously reduces manufacturing cost.
In addition, in above-mentioned, herein it should also be noted that, usually requiring to carry out for the functor for needing to rub repeatedly resistance to
Mill processing, bearing 430 are typically standard parts and components Jing Guo particular design, specifically, bearing 430 including inner ring, outer ring and
Provided with the ball between inner ring and outer ring, wherein, in the outer surface of ball, inner ring with the surface and outer ring of ball contact with
There is carry out Wear-resistant Treatment on the surface of ball contact, so, based on this structure, by between keeper 410 and second connecting portion 220
Frictional position is placed into bearing 430, so, avoids directly having pivoting friction between second connecting portion 220 and keeper 410,
Be advantageous to avoid the abrasion between second connecting portion 220 and keeper 410.
Refer to Fig. 2 to Fig. 4, driver element 300 includes motor and for adjusting output speed to match second
The reductor 420 of rotating speed needed for connecting portion 220, driving output shaft are located at reductor 420.The swing speed of second joint arm 200
It is generally relatively slow, by the effect of reductor 420, allow second joint arm 200 to obtain more appropriate swing speed.In addition,
Pass through the setting of this structure, moreover it is possible to allow second joint arm 200 to obtain larger torque, increase load.
Fig. 2 to Fig. 4 is referred to, driver element 300 is located at the side that the first connecting support arm 121 deviates from second connecting portion 220,
First connecting support arm 121 offers the perforation (not marked in figure) passed through for reductor 420.Based on this structure, can avoid again
The structure of fixed drive unit 300 is provided in the side of the first connecting support arm 121 towards the second connecting support arm 122, wherein,
If driver element 300 is fixed on the first connecting support arm 121 towards the side of the second connecting support arm 122, for fixed drive list
The structure of member 300 needs to meet certain moment of torsion, so, can increase the structure complexity of the first connecting support arm 121, be added to
This, and this structure is based on, avoid being provided for fixing in the side of the first connecting support arm 121 towards the second connecting support arm 122 again
The structure of driver element 300, be advantageous to simplify structure.
Refer to Fig. 2 to Fig. 4, reductor 420 include the reduction body portion 421 coordinated with perforation and with reduction body portion
421 connect and are connected to the deceleration fixed part 422 of the top of the first connecting support arm 121, and deceleration fixed part 422 is connected to reduction body
The side wall in portion 421.,, only need to be by reduction body portion in assembling process by the setting of deceleration fixed part 422 based on this structure
421 are docked to perforation, you can reductor 420 is placed into perforation, is advantageous to improve the efficiency of assembling of reductor 420.Then exist
The assembling of miscellaneous part is carried out, without helping movable axis always, so, drastically increases the efficiency of assembling of movable axis.
Further, adapter assembly 400 includes being used for the method that deceleration fixed part 422 is fixed to the first connecting support arm 121
Orchid 440, driver element 300 is fixed on flange 440., can be by the company between driving output shaft and reductor 420 based on this structure
Connect matching relationship and go to connection with flange 440, specifically, in assembling process, first adpting flange 440 and driving output shaft,
Flange 440 and reductor 420 are reconnected, so, is advantageous to improve efficiency of assembling.
Fig. 3 and Fig. 4 are referred to, driving output shaft offers auxiliary positioning hole in it towards the shaft end of second connecting portion 220
311, second connecting portion 220 is convexly equipped with the auxiliary coordinated with the grafting of auxiliary positioning hole 311 in the side of its direction driving output shaft
Locating dowel 221.Based on this structure, during the connecting support arm 121 of reductor 420 and first assembles, pass through auxiliary positioning post
221 and the setting in auxiliary positioning hole 311, position that can be between fast positioning reduction body portion 421 and second connecting portion 220 is closed
System, is easy to follow-up locking to connect, and improves efficiency of assembling.
Further, auxiliary positioning hole 311 is provided with guiding ramp structure in its aperture peristoma.So, in reduction body portion
421 and second be linked and packed during, only need the rough alignment auxiliary positioning hole 311 of auxiliary positioning post 221 can will auxiliary it is fixed
Position post 221 is assembled in auxiliary positioning hole 311.
Fig. 1 to Fig. 4 is referred to, the first connecting support arm 121 is located at the top of the second connecting support arm 122.Wherein, due to positioning
Part 410 is to be connected to the second connecting support arm 122, and reductor 420 is to be connected to the first connecting support arm 121, so, foregoing combining
Structure, reductor 420 can be under the Action of Gravity Field of itself, you can perforation is placed into, without helping reductor 420 always, this
Sample, drastically increase the efficiency of assembling of reductor 420.
In the utility model embodiment, the second connecting support arm 122 is detachably connected with the first connecting support arm 121.So,
On the premise of ensuring that joint linkage structure has preferable assembling capacity, be advantageous to simplify structure.
The utility model also proposes a kind of plane articulation robot, and the plane articulation robot includes plane articulation machinery
Hand, lift drive mechanism and joint linkage structure for driving plane joint manipulator to pump, lifting driving
Mechanism is connected on joint linkage structure, wherein, the concrete structure of lift drive mechanism is with reference to above-described embodiment, due to this plane
Articulated robot employs whole technical schemes of above-mentioned all embodiments, therefore the same technical scheme with above-described embodiment
Caused all beneficial effects, this is no longer going to repeat them.
Preferred embodiment of the present utility model is these are only, it is all in this practicality not to limit the utility model
Any modification, equivalent substitution or improvement made within new spirit and principle etc., should be included in guarantor of the present utility model
Within the scope of shield.
Claims (10)
1. a kind of joint linkage structure, for plane articulation robot, including the first joint arm, located at first joint arm simultaneously
Driver element with driving output shaft, it is fixedly connected with the driving output shaft and follows the driving output shaft rotation and put
Dynamic second joint arm, it is characterised in that：
First joint arm includes first connecting portion, and the first connecting portion is setting up and down including position relationship and is arranged at intervals
The first connecting support arm and the second connecting support arm, the second joint arm include be located at first connecting support arm and described second
Second connecting portion between connecting support arm；
The joint linkage structure includes adapter assembly, the keeper that the adapter assembly includes being fixed on the second connecting support arm with
And be socketed on the keeper and with the bearing that is coaxially disposed of driving output shaft, the second connecting portion offer with it is described
The spacing hole of bearing fit, the inner ring of the bearing are securely socketed on the keeper, and the outer ring of the bearing securely covers
It is connected to the spacing hole.
2. joint linkage structure as claimed in claim 1, it is characterised in that the driver element includes motor and use
In adjustment output speed to match the reductor of rotating speed needed for the second connecting portion, the driving output shaft is located at the deceleration
Machine.
3. joint linkage structure as claimed in claim 2, it is characterised in that the motor is positioned at the described first connection branch
Arm deviates from the side of the second connecting portion, and first connecting support arm offers the perforation passed through for the reductor.
4. joint linkage structure as claimed in claim 3, it is characterised in that the reductor includes what is coordinated with the perforation
Reduction body portion and the deceleration fixed part for being connected and being connected to above first connecting support arm with the reduction body portion, institute
State the side wall that deceleration fixed part is connected to the reduction body portion.
5. joint linkage structure as claimed in claim 4, it is characterised in that the adapter assembly includes being used for the deceleration
Fixed part is fixed to the flange of first connecting support arm, and the driver element is fixed on the flange.
6. joint linkage structure as claimed in claim 3, it is characterised in that the driving output shaft is in it towards described second
The shaft end of connecting portion offers auxiliary positioning hole, and the second connecting portion is convexly equipped with it towards the side of the driving output shaft
The auxiliary positioning post coordinated with auxiliary positioning hole grafting.
7. joint linkage structure as claimed in claim 6, it is characterised in that the auxiliary positioning hole is provided with its aperture peristoma
Guide ramp structure.
8. the joint linkage structure as any one of claim 1 to 7, it is characterised in that the first connecting support arm position
In the top of second connecting support arm.
9. the joint linkage structure as any one of claim 1 to 7, it is characterised in that second connecting support arm with
First connecting support arm is detachably connected.
10. a kind of plane articulation robot, including plane joint manipulator, for driving plane joint manipulator up and down reciprocatingly to transport
Dynamic lift drive mechanism and joint linkage structure as claimed in any one of claims 1-9 wherein, the lift drive mechanism
It is connected on joint linkage structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720598072.XU CN206925888U (en) | 2017-05-25 | 2017-05-25 | Joint linkage structure and plane articulation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720598072.XU CN206925888U (en) | 2017-05-25 | 2017-05-25 | Joint linkage structure and plane articulation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206925888U true CN206925888U (en) | 2018-01-26 |
Family
ID=61351960
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720598072.XU Active CN206925888U (en) | 2017-05-25 | 2017-05-25 | Joint linkage structure and plane articulation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206925888U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112959351A (en) * | 2021-02-08 | 2021-06-15 | 珠海格力智能装备有限公司 | Joint structure and robot with same |
| CN113927625A (en) * | 2021-09-28 | 2022-01-14 | 深圳市零差云控科技有限公司 | Robot joint assembly, control method of robot joint assembly and robot |
| CN116650134A (en) * | 2023-06-02 | 2023-08-29 | 苏州心迪斯派医疗科技有限公司 | Multi-shaft external shock wave equipment |
-
2017
- 2017-05-25 CN CN201720598072.XU patent/CN206925888U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112959351A (en) * | 2021-02-08 | 2021-06-15 | 珠海格力智能装备有限公司 | Joint structure and robot with same |
| CN113927625A (en) * | 2021-09-28 | 2022-01-14 | 深圳市零差云控科技有限公司 | Robot joint assembly, control method of robot joint assembly and robot |
| CN116650134A (en) * | 2023-06-02 | 2023-08-29 | 苏州心迪斯派医疗科技有限公司 | Multi-shaft external shock wave equipment |
| CN116650134B (en) * | 2023-06-02 | 2024-05-07 | 苏州心迪斯派医疗科技有限公司 | Multi-shaft external shock wave equipment |
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