CN207593835U - A kind of link mechanism mechanical arm rotates string-passing structure - Google Patents
A kind of link mechanism mechanical arm rotates string-passing structure Download PDFInfo
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- CN207593835U CN207593835U CN201721849971.9U CN201721849971U CN207593835U CN 207593835 U CN207593835 U CN 207593835U CN 201721849971 U CN201721849971 U CN 201721849971U CN 207593835 U CN207593835 U CN 207593835U
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- winding displacement
- mechanical arm
- shaft
- string
- link mechanism
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Abstract
A kind of link mechanism mechanical arm rotates string-passing structure, it is related to a kind of string-passing structure, and in particular to a kind of link mechanism mechanical arm rotates string-passing structure.The utility model is larger in order to solve the size for the hollow motor that existing joint of robot crosses line mode, it is impossible to which in the mechanical arm applied to smaller size smaller requirement, and the joint structure design of middle control motor is complicated, is installed on the problem of dismounting is inconvenient, and cost is higher.The utility model includes flexible winding displacement, shaft, pinboard and winding displacement, and one end of winding displacement is connect with flexible winding displacement one end by pinboard, is wrapped in shaft in the middle part of flexible winding displacement.The utility model belongs to robotic technology field.
Description
Technical field
The utility model is related to a kind of string-passing structures, and in particular to a kind of link mechanism mechanical arm rotates string-passing structure, belongs to
In robotic technology field.
Background technology
Rotary joint cross line be all the time robot architecture design priority and difficulty, constrain the structure in joint with
And angle of relative motion etc., existing rotary joint, which crosses line mode, has a kind of joint outside to cross line mode and two kinds of intra articular mistakes
Line mode：It is that the harness in each joint directly simply is drawn mechanical arm and is closed around rotation that line mode is crossed outside joint
Section, suitable for of less demanding to appearance, and the situation that harness is more, but this will reduce the automaticity and beauty of mechanical arm
Property；Line mode is crossed in the first inside：Due to structural constraint so that cable-through hole can not be designed on rotation axis, but cable-through hole phase
Rotation axis is biased, so relative motion during articulation will cause harness elongation, shortening or distortion
Situation thus can cause harness to have situations such as friction damage, fatigue damage, while joint relative rotation angle is made substantially will not
More than 360 °, the automaticity of hardware reliability and mechanical arm is reduced；Line mode is crossed in second of inside：With going out for hollow motor
It is existing so that mechanical arm rotary joint can realize motor direct-drive, and harness from hollow shaft directly through can make in this way
Harness torsional deflection, effect in rotary joint relative motion is fine.But the size of hollow motor is larger simultaneously, it is impossible to
In mechanical arm applied to smaller size smaller requirement, and the joint structure design of hollow motor is complicated, is installed on dismounting inconvenience, cost
It is higher.
Utility model content
The utility model is the automaticity and aesthetics for solving to cross line reduction mechanical arm outside existing joint of robot；Joint
The cable-through hole that line is crossed in inside is biased relative to rotation axis, and harness has friction damage, fatigue damage；Hollow motor hollow shaft crosses line
Mode size it is larger, it is impossible to applied to smaller size smaller requirement mechanical arm in, and hollow motor joint structure design
Complexity is installed on the problem of dismounting is inconvenient, and cost is higher, and then proposes a kind of link mechanism mechanical arm rotation string-passing structure.
The utility model adopts the technical scheme that in order to solve the above problem：The utility model include flexible winding displacement, shaft,
Pinboard and winding displacement, one end of winding displacement are connect by pinboard with flexible winding displacement one end, and shaft is wrapped in the middle part of flexible winding displacement
On.
The beneficial effects of the utility model are：1st, the structure type of the utility model realizes non-hollow structure one week or several
The rotation requirement in week；2nd, the form of the utility model harness switching can be dismounted independently in each joint in the mechanical arm of multi-joint,
Convenient for modularized design；3rd, the fpc winding displacements of the utility model save the line skin protection of solid wire, substantially reduce volume, real
Line is crossed in the joint for having showed greater number harness；4th, the utility model avoids common harness and rubs, turns round in the rotary course of joint
Frictional resistance of harness damage and generation caused by turning etc..
Description of the drawings
Fig. 1 is the decomposition texture schematic diagram of the utility model；
Fig. 2 is the structure diagram of flexible winding displacement.
Specific embodiment
Specific embodiment one：Illustrate present embodiment, a kind of link mechanism described in present embodiment with reference to Fig. 1 and Fig. 2
Mechanical arm rotation string-passing structure includes flexible winding displacement 2, shaft 4, pinboard 6 and winding displacement 7, one end of winding displacement 7 by pinboard 6 with
Flexible 2 one end of winding displacement connection, the middle part of flexible winding displacement 2 is wrapped in shaft 4.
Specific embodiment two：Illustrate present embodiment, a kind of link mechanism described in present embodiment with reference to Fig. 1 and Fig. 2
Mechanical arm rotation string-passing structure further includes the first armed lever 1, the second armed lever 5 and at least one bearing 3, the lower part of shaft 4 and passes through extremely
One end rotation connection of few 3 and first armed lever 1 of bearing, the upper end of shaft 4 are connect, and flexible with one end of the second armed lever 5
The middle part of winding displacement 2 is located in one end of the second armed lever 5.Other compositions and connection relation are same as the specific embodiment one.
Specific embodiment three：Illustrate present embodiment, a kind of link mechanism described in present embodiment with reference to Fig. 1 and Fig. 2
The middle part of the flexible winding displacement 2 of mechanical arm rotation string-passing structure winds two to three circles in shaft 4.It is other composition and connection relation with
Specific embodiment one is identical.
Specific embodiment four：Illustrate present embodiment, a kind of link mechanism described in present embodiment with reference to Fig. 1 and Fig. 2
The middle part of the flexible winding displacement 2 of mechanical arm rotation string-passing structure is wrapped in 4 diameter of a diameter of shaft of the circle formed in shaft 4
2 to 3 times.Other compositions and connection relation are identical with embodiment two.
Specific embodiment five：Illustrate present embodiment, a kind of link mechanism described in present embodiment with reference to Fig. 1 and Fig. 2
The upper end of the shaft 4 of mechanical arm rotation string-passing structure is connect by disk with one end of the second armed lever 5.Other compositions and connection are closed
It is same as the specific embodiment one.
Operation principle
Harness 7 and one end of pinboard 6 are welded together, the other end of pinboard 6 is " golden finger " of flexible winding displacement 2
Socket, the flexible of flexible winding displacement 2, winding (not foldable, involve) are without damaging, and it can be soft with diversified forms customized
Property winding displacement 2 be wound in shaft 4, winding 2-3 circles, and 2-3 times of a diameter of shaft diameter, so that two connecting rods are in phase in structure
Mutually during rotation, flexible winding displacement can continue to wind or unclamp the movement of winding, although unlimited rotary effect can not be reached,
It can realize 1 week or the rotary motion in a few weeks.
The above descriptions are merely preferred embodiments of the present invention, and not the utility model is made in any form
Limitation, although the utility model has been disclosed with preferred embodiment as above, be not limited to the utility model, it is any ripe
Professional and technical personnel is known, is not being departed from the range of technical solutions of the utility model, when in the technology using the disclosure above
Hold the equivalent embodiment made a little change or be modified to equivalent variations, as long as being without departing from technical solutions of the utility model
Hold, according to the technical essence of the utility model, within the spirit and principles of the present invention, appoint to what above example was made
What simple modification, equivalent replacement and improvement etc., still falls within the protection domain of technical solutions of the utility model.
Claims (5)
1. a kind of link mechanism mechanical arm rotates string-passing structure, it is characterised in that：A kind of link mechanism mechanical arm rotates through
Cable architecture includes flexible winding displacement (2), shaft (4), pinboard (6) and winding displacement (7), one end of winding displacement (7) by pinboard (6) and
Flexible winding displacement (2) one end connects, and is wrapped in shaft (4) in the middle part of flexible winding displacement (2).
2. a kind of link mechanism mechanical arm rotation string-passing structure according to claim 1, it is characterised in that：A kind of connecting rod
Construction machine arm rotation string-passing structure further includes the first armed lever (1), the second armed lever (5) and at least one bearing (3), shaft (4)
Lower part pass through one end of at least one bearing (3) and the first armed lever (1) and be rotatablely connected, upper end and the second armed lever of shaft (4)
(5) one end connection, and the middle part of flexible winding displacement (2) is located in one end of the second armed lever (5).
3. a kind of link mechanism mechanical arm rotation string-passing structure according to claim 1, it is characterised in that：Flexible winding displacement (2)
Middle part wound in shaft (4) two to three circle.
4. a kind of link mechanism mechanical arm rotation string-passing structure according to claim 2, it is characterised in that：Flexible winding displacement (2)
Middle part be wrapped in 2 to 3 times of a diameter of shaft (4) diameter of the circle formed in shaft (4).
5. a kind of link mechanism mechanical arm rotation string-passing structure according to claim 1, it is characterised in that：Shaft (4) it is upper
End is connect by disk with one end of the second armed lever (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721849971.9U CN207593835U (en) | 2017-12-26 | 2017-12-26 | A kind of link mechanism mechanical arm rotates string-passing structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721849971.9U CN207593835U (en) | 2017-12-26 | 2017-12-26 | A kind of link mechanism mechanical arm rotates string-passing structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207593835U true CN207593835U (en) | 2018-07-10 |
Family
ID=62766950
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721849971.9U Active CN207593835U (en) | 2017-12-26 | 2017-12-26 | A kind of link mechanism mechanical arm rotates string-passing structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207593835U (en) |
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2017
- 2017-12-26 CN CN201721849971.9U patent/CN207593835U/en active Active
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Address after: 150000 No. 8, Dalian north road, haping road concentration area, economic development zone, Harbin, Heilongjiang Province Patentee after: Harbin sizherui intelligent medical equipment Co.,Ltd. Address before: 150000 room 08, 15th floor, No. 368 Changjiang Road, Nangang concentration area, economic development zone, Nangang District, Harbin, Heilongjiang Province Patentee before: HARBIN SIZHERUI INTELLIGENT MEDICAL EQUIPMENT Co.,Ltd. |