CN209273478U - The joint rotary position-limit mechanism of anthropomorphic robot - Google Patents
The joint rotary position-limit mechanism of anthropomorphic robot Download PDFInfo
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- CN209273478U CN209273478U CN201921104835.6U CN201921104835U CN209273478U CN 209273478 U CN209273478 U CN 209273478U CN 201921104835 U CN201921104835 U CN 201921104835U CN 209273478 U CN209273478 U CN 209273478U
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- sliding pin
- neck
- slide plate
- sliding
- limit mechanism
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Abstract
The utility model discloses the joint rotary position-limit mechanism of anthropomorphic robot a kind of, including revolving part and sliding pin, the rotary body end of the revolving part is formed with slide plate, and the outer rim of slide plate is formed with radially projecting slide plate circumferential movement limited block；Sliding slot is offered in the sliding pin seat of the sliding pin；Sliding slot is matched with slide plate；The inner edge of sliding slot is formed with radially projecting sliding slot circumferential movement limited block；The end of the rotary body is also formed with axial limiting slot, forms axial limiting piece in the sliding pin seat, axial limiting piece is matched with axial limiting slot；The sliding pin seat side of the sliding pin forms fitting opening.The utility model can limit the maximum rotation angle of revolving part, so that the movement of robot be made to be more nearly the movement of the mankind.
Description
Technical field
The utility model relates to the attachmentes of anthropomorphic robot a kind of, and in particular to a kind of joint rotation limit of anthropomorphic robot
Position mechanism.
Background technique
With the rapid development of technology, anthropomorphic robot represents the highest level in robot field.Due to anthropomorphic machine
Device people can imitate the movement of the mankind, therefore it can really go to complete various work instead of the mankind, such as in high-risk, high temperature work
Make to work in environment, thoroughly to change the Working and life styles of the mankind.
Anthropomorphic robot is set to complete the movement of the mankind, it is desirable to which anthropomorphic robot has the equally flexible joint of the mankind.
The main large joint of human body has hip joint, shoulder joint, elbow joint, knee joint, ankle-joint etc..And the main task of joint of robot
It is to complete spinning movement, including such as around the rotation of X-direction, around the rotation and the rotation in direction about the z axis of Y direction.It is existing
The spinning movement of joint of robot generally steering engine is used to complete, the advantages of steering engine is that control precision is high, but only has one
Freedom degree.And at least there are two freedom degrees in human body each joint, this just needs to use two even three steering engines in same joint,
Since steering engine is independently of the body skeleton of robot, the number of steering engine increases, and necessarily causes the length in joint to increase, body
Rigidity be then deteriorated therewith.For the stability for keeping machine human body, the power of steering engine can only be increased, the size of steering engine itself with
Increase, further cause joint elongated.
Therefore, toy can only be used as using the anthropomorphic robot of steering engine, cannot really completes the movement of the mankind and replaces people
Class goes work.
It is rotated for this purpose, joint can be directly driven as power-driven mechanism using hollow-cup motor, by drag cup
The body skeleton of motor and robot is organically combined together as joint, and the structure of robot can be made to be closer to people
The posture of class, execution also more closely corresponds to the mankind.But the output revolving speed of hollow-cup motor easily thousands of turns even it is up to ten thousand
Turn, as long as a starting, joint will 360 ° of ground turn-take, and human synovial can not turn-take around axis, it is therefore desirable to a kind of rotation
Position-limit mechanism limits the maximum rotation angle in joint.
Utility model content
The technical problem to be solved by the utility model is to provide the joint rotary position-limit mechanism of anthropomorphic robot a kind of, it
The maximum rotation angle of revolving part can be limited.
The joint rotary position-limit mechanism of anthropomorphic robot to solve above-mentioned technical problem, the technology solution party of the utility model
Case are as follows:
Including revolving part and sliding pin, the rotary body end of the revolving part is formed with slide plate, and the outer rim of slide plate is formed with edge
Radially projecting slide plate circumferential movement limited block；Sliding slot is offered in the sliding pin seat of the sliding pin；Sliding slot is matched with slide plate；It is sliding
The inner edge of slot is formed with radially projecting sliding slot circumferential movement limited block；The end of the rotary body is also formed with axial limiting
Slot, the sliding pin seat is interior to form axial limiting piece, and axial limiting piece is matched with axial limiting slot；The sliding pin seat side of the sliding pin
Portion forms fitting opening.
The utility model is respectively arranged with circumferential movement limited block on revolving part and sliding pin, can limit revolving part most
High rotation angle degree.Also, the utility model forms the male-female of slide plate and sliding slot, while also shape between revolving part and sliding pin
At the male-female engagement of axial limiting slot and axial limiting piece, twice male-female can not only sufficiently limit the rotation of revolving part certainly
By spending, avoids revolving part from generating the movement unrelated with rotation, and take full advantage of the space of rotary body end, increase without additional
It puts english the length of swivel, to keep the length in joint as short as possible.
In another embodiment, the end of the rotary body is also formed with neck；Neck is offered in the sliding pin seat to match
Notch is closed, neck cooperation notch is matched with neck；The outer diameter of neck is less than the outer diameter of rotary body.
In another embodiment, the outer diameter of the neck is less than the internal diameter of neck cooperation notch；Neck and neck mating groove
When mouth cooperation, wire casing circle is formed between neck and neck cooperation notch.
In another embodiment, the neck offers thread passing port.
In another embodiment, the axial limiting slot of the revolving part is circumferentially；The axial limiting piece of the sliding pin
Between sliding slot and neck cooperation notch.
In another embodiment, the sliding pin seat forms connecting flange, realizes that the fixation of sliding pin seat is set by connecting flange
It sets.
In another embodiment, the slide plate circumferential movement limited block is symmetrical two；The sliding slot is circumferentially transported
Dynamic limited block is one.
In another embodiment, a magnet is inlayed in the end of the rotary body, and Hall sensor is arranged on the sliding pin seat；
Hall sensor is located at the lower section of magnet.
In another embodiment, the width of the side fitting opening of the sliding pin seat is the diameter of sliding pin seat.
What the utility model can achieve has the technical effect that
The utility model can limit the maximum rotation angle of revolving part, so that the movement of robot be made to be more nearly the mankind
Movement.
Wire casing circle is formed between the sliding pin and rotary body of the utility model, the controlling cable of robot is passing through thread passing port
After can circumferentially coiling one circle again to other positions extend, enclose around controlling cable be then located in wire casing circle, this coiling side
Formula can make controlling cable have enough surpluses to tighten in the rotary course of joint, additionally it is possible to prevent controlling cable in revolving part
It is broken in rotational movement process because collapsing tightly.
Detailed description of the invention
It should be understood by those skilled in the art that following explanation is only schematically to illustrate the principles of the present invention, it is described
Principle can be applied in many ways, to realize many different alternative embodiments.These explanations are only used for showing practical
The General Principle of novel teaching content, it is not intended to limit utility model design disclosed herein.
It is incorporated in the present specification and the attached drawing formed part of this specification shows the embodiment party of the utility model
Formula, and be used to explain the principles of the present invention together with the detailed description of general description and following drawings above.
Utility model will be further described in detail below with reference to the attached drawings and specific embodiments:
Fig. 1 is the operation principle schematic diagram of the joint rotary position-limit mechanism of the utility model anthropomorphic robot；
Fig. 2 is the decomposition diagram of Fig. 1；
Fig. 3 is the diagrammatic cross-section of Fig. 1；
Fig. 4 is the structural schematic diagram of the utility model；
Fig. 5 is the decomposition diagram of the utility model；
Fig. 6 is the schematic diagram of the sliding pin of the utility model；
Fig. 7 is the sliding pin of the utility model and the slide plate mated condition schematic diagram of revolving part, and revolving part is in first in figure
Extreme position；
Fig. 8 is the sliding pin of the utility model and the slide plate mated condition schematic diagram of revolving part, and revolving part is in second in figure
Extreme position.
Description of symbols in figure:
5 be revolving part,
19 be deceleration mechanism, and 20 be decelerator shell,
21 be driving motor, and 22 be sliding pin,
23 be Hall sensor, and 24 be magnet,
5-1 is rotary body, and 5-2 is neck,
5-3 is axial limiting slot, and 5-4 is slide plate,
22-1 is sliding pin seat, and 22-2 is that neck cooperates notch,
22-3 is sliding slot, and 22-4 is axial limiting piece,
22-5 is connecting flange,
5-4-1,5-4-2 are slide plate circumferential movement limited block,
22-3-1 is sliding slot circumferential movement limited block.
Specific embodiment
It is practical new below in conjunction with this to keep the objectives, technical solutions, and advantages of the embodiments of the present invention clearer
The technical solution of the utility model embodiment is clearly and completely described in the attached drawing of type embodiment.Obviously, described
Embodiment is a part of the embodiment of the utility model, instead of all the embodiments.Based on described the utility model
Embodiment, those of ordinary skill in the art's every other embodiment obtained under the premise of being not necessarily to creative work, all belongs to
In the range of the utility model protection.Unless otherwise defined, the technical term or scientific term used herein should be this reality
The ordinary meaning understood with the personage in novel fields with general technical ability." comprising " used herein etc. is similar
Word means that the element or object that occur before the word are covered the element for appearing in the word presented hereinafter or object and its waited
Together, other elements or object are not excluded for." connection " either the similar word such as " connected " be not limited to physics or
Mechanical connection, but may include electrical connection, it is either direct or indirect."upper", "lower", "left", "right"
Etc. be only used for indicate relative positional relationship, when be described object absolute position change after, then the relative positional relationship may also
Correspondingly change.
The joint rotary position-limit mechanism of the utility model anthropomorphic robot is limited for the rotation angle to revolving part 5
Position, including revolving part 5 and sliding pin 22；
As shown in Figure 1 to Figure 3, revolving part 5 is fixedly connected with the output gear of deceleration mechanism 19, the input terminal of deceleration mechanism 19
Connect driving motor 21；Driving motor 21 drives revolving part 5 to rotate by deceleration mechanism 19；Deceleration mechanism 19 is set to speed reducer
In shell 20；Driving motor 21 can use hollow-cup motor；
As shown in Figure 4, Figure 5, revolving part 5 include rotary body 5-1, the end of rotary body 5-1 be sequentially formed with slide plate 5-4,
There are two radially projecting slide plate circumferential movement limited blocks for the outer rim formation of axial limiting slot 5-3 and neck 5-2, slide plate 5-4
5-4-1,5-4-2, two slide plates circumferential movement limited block 5-4-1,5-4-2 are in 180 ° of distributions；Axial limiting slot 5-3 circumferentially prolongs
It stretches, the outer diameter of neck 5-2 is less than the outer diameter of rotary body 5-1；
As shown in fig. 6, sliding pin 22 includes sliding pin seat 22-1, sliding slot 22-3 is successively offered in sliding pin seat 22-1 and neck is matched
Notch 22-2 is closed, sliding slot 22-3 is matched with slide plate 5-4, and neck cooperation notch 22-2 is matched with neck 5-2；Sliding slot 22-3's
Inner edge is formed with the internal diameter of radially projecting sliding slot circumferential movement limited block 22-3-1, sliding slot 22-3 and the outer diameter of slide plate 5-4
Between gap be greater than slide plate circumferential movement limited block 5-4-1,5-4-2 or sliding slot circumferential movement limited block 22-3-1 radial ruler
It is very little, if slide plate circumferential movement limited block 5-4-1,5-4-2 is different from the radial dimension of sliding slot circumferential movement limited block 22-3-1, then
Gap between sliding slot 22-3 and slide plate 5-4 is greater than the radial dimension of biggish circumferential movement limited block, so that slide plate 5-4 can
It is rotated relative to sliding slot 22-3, when the circumferential movement limited block of the two is in contact, then slide plate 5-4 is prevented to continue to rotate, thus
The maximum rotation angle of slide plate 5-4 is defined；
Axial limiting piece 22-4, axial limiting piece 22-4 and axial direction are formed between sliding slot 22-3 and neck cooperation notch 22-2
Limiting slot 5-3 is matched, make between axial limiting piece 22-4 and axial limiting slot 5-3 can only relative rotation and cannot occur up and down
The relative translation in direction；
The side of sliding pin seat 22-1 forms fitting opening, and the width of fitting opening is the diameter of sliding pin seat 22-1；Preferably,
The cross section of sliding pin seat 22-1 is that side is U-shaped；Revolving part 5 can be packed into sliding pin seat 22-1 from the fitting opening of side when installation, real
The cooperation of existing neck 5-2 and neck cooperation notch 22-2, the cooperation of axial limiting slot 5-3 and axial limiting piece 22-4, and it is sliding
The cooperation of piece 5-4 and sliding slot 22-3；
Connecting flange 22-5 is formed on the top of sliding pin seat 22-1, and the fixation of sliding pin seat 22-1 is realized by connecting flange 22-5
Setting.
Preferably, the outer diameter of neck 5-2 is less than the internal diameter of neck cooperation notch 22-2, so that neck 5-2 and neck cooperate
When notch 22-2 cooperates, wire casing circle is capable of forming between neck 5-2 and neck cooperation notch 22-2；Neck 5-2 offered line
Mouthful, so that the controlling cable of the inner cavity rotary body 5-1 can pass through thread passing port doubling-up and be around in neck 5-2 outer circle；Due to neck 5-2
It is formed with wire casing circle at outer circle, even if the outer circle of neck 5-2 is wound with controlling cable, nor affects between revolving part 5 and sliding pin 22
Relative rotary motion.
The rotary stopper principle of the utility model is as follows:
When revolving part 5 is rotated relative to sliding pin 22, it is able to drive slide plate 5-4 and is rotated in sliding slot 22-3；When revolving part 5
One of them relative to the rotation of sliding pin 22 to slide plate circumferential movement limited block 5-4-1,5-4-2 is butted on the limit of sliding slot circumferential movement
When block 22-3-1, effect is interfered due to two circumferential movement limited blocks, sliding slot circumferential movement limited block 22-3-1 can
Revolving part 5 is prevented to continue to rotate, to realize the rotary stopper to revolving part 5；
As shown in fig. 7, when the first slide plate circumferential movement limited block 5-4-1 of the rotation of revolving part 5 to slide plate 5-4 contacts sliding slot
When circumferential movement limited block 22-3-1, revolving part 5 is in the first extreme position；
As shown in figure 8, when the second slide plate circumferential movement limited block 5-4-2 that revolving part 5 is reversely rotated to slide plate 5-4 is contacted
When sliding slot circumferential movement limited block 22-3-1, revolving part 5 is in the second extreme position.
The utility model is provided with a sliding slot circumferential movement limited block 22-3-1 in sliding slot 22-3, on slide plate 5-4
Slide plate circumferential movement limited block 5-4-1,5-4-2 there are two being symmetrical arranged, then the maximum rotation angle of revolving part 5 is no more than
180°；Corresponding to the circumferential width of sliding slot circumferential movement limited block 22-3-1 and slide plate circumferential movement limited block 5-4-1,5-4-2
Central angle determine the maximum rotation angle of revolving part 5, the present embodiment is that can rotate 140 ° forward or backwards.Due to human body
The rotation angle in each joint can not be more than 180 °, therefore the utility model can make the movement of robot be more nearly the mankind's
Movement.
As a preferred embodiment, a magnet 24 can be inlayed in the end of rotary body 5-1, and in sliding pin seat 22-1
Upper setting Hall sensor 23；Specifically, it in the center the slide plate 5-4 embedded magnet 24 of rotary body 5-1, is opened in sliding pin seat 22-1
Hole, and Hall sensor 23 is fixedly installed in tapping, Hall sensor 23 is located at the lower section of magnet 24；When rotary body 5-1 revolves
Band 24 synchronous rotary of moving magnet when turning, then Hall sensor 23 can detect the rotation angle of magnet 24, to obtain rotation
The rotation angle of part 5.
Obviously, those skilled in the art can carry out various changes and deformation to the utility model, without departing from this reality
With novel spirit and scope.In this way, if these modifications of the utility model belong to the utility model claims and its same
Etc. within the scope of technologies, then the utility model is also intended to encompass including these changes and deformation.
Claims (9)
1. the joint rotary position-limit mechanism of anthropomorphic robot a kind of, it is characterised in that: including revolving part (5) and sliding pin (22), institute
The end rotary body (5-1) for stating revolving part (5) is formed with slide plate (5-4), and the outer rim of slide plate (5-4) is formed with radially projecting
Slide plate circumferential movement limited block；Sliding slot (22-3) is offered in the sliding pin seat (22-1) of the sliding pin (22)；Sliding slot (22-3) with
Slide plate (5-4) matches；The inner edge of sliding slot (22-3) is formed with radially projecting sliding slot circumferential movement limited block；The rotation
The end of body (5-1) is also formed with axial limiting slot (5-3), forms axial limiting piece (22-4) in the sliding pin seat (22-1),
Axial limiting piece (22-4) is matched with axial limiting slot (5-3)；The sliding pin seat side (22-1) of the sliding pin (22) forms dress
With opening.
2. the joint rotary position-limit mechanism of anthropomorphic robot according to claim 1, it is characterised in that: the rotary body
The end of (5-1) is also formed with neck (5-2)；Neck cooperation notch (22-2), neck are offered in the sliding pin seat (22-1)
Cooperation notch (22-2) is matched with neck (5-2)；The outer diameter of neck (5-2) is less than the outer diameter of rotary body (5-1).
3. the joint rotary position-limit mechanism of anthropomorphic robot according to claim 2, it is characterised in that: the neck (5-
2) outer diameter is less than the internal diameter of neck cooperation notch (22-2)；When neck (5-2) and neck cooperation notch (22-2) cooperation, neck
(5-2) and neck, which cooperate, forms wire casing circle between notch (22-2).
4. the joint rotary position-limit mechanism of anthropomorphic robot according to claim 3, it is characterised in that: the neck (5-
2) thread passing port is offered.
5. the joint rotary position-limit mechanism of anthropomorphic robot according to claim 2, it is characterised in that: the revolving part
(5) axial limiting slot (5-3) is circumferentially；The axial limiting piece (22-4) of the sliding pin (22) be located at sliding slot (22-3) with
Neck cooperates between notch (22-2).
6. the joint rotary position-limit mechanism of anthropomorphic robot according to claim 1, it is characterised in that: the sliding pin seat
(22-1) forms connecting flange (22-5), and the fixed setting of sliding pin seat (22-1) is realized by connecting flange (22-5).
7. the joint rotary position-limit mechanism of anthropomorphic robot according to claim 1, it is characterised in that: the slide plate is circumferential
Sports limiting block is symmetrical two；The sliding slot circumferential movement limited block is one.
8. the joint rotary position-limit mechanism of anthropomorphic robot according to claim 1, it is characterised in that: the rotary body
The end of (5-1) is inlayed a magnet (24), and Hall sensor (23) are arranged on the sliding pin seat (22-1)；Hall sensor (23)
Positioned at the lower section of magnet (24).
9. the joint rotary position-limit mechanism of anthropomorphic robot according to claim 1, it is characterised in that: the sliding pin seat
The width of the side fitting opening of (22-1) is the diameter of sliding pin seat (22-1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921104835.6U CN209273478U (en) | 2019-07-16 | 2019-07-16 | The joint rotary position-limit mechanism of anthropomorphic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921104835.6U CN209273478U (en) | 2019-07-16 | 2019-07-16 | The joint rotary position-limit mechanism of anthropomorphic robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209273478U true CN209273478U (en) | 2019-08-20 |
Family
ID=67606692
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921104835.6U Expired - Fee Related CN209273478U (en) | 2019-07-16 | 2019-07-16 | The joint rotary position-limit mechanism of anthropomorphic robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209273478U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113143689A (en) * | 2021-04-22 | 2021-07-23 | 上海电气集团股份有限公司 | Angle adjusting and locking mechanism for hip weight reduction device of rehabilitation robot |
-
2019
- 2019-07-16 CN CN201921104835.6U patent/CN209273478U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113143689A (en) * | 2021-04-22 | 2021-07-23 | 上海电气集团股份有限公司 | Angle adjusting and locking mechanism for hip weight reduction device of rehabilitation robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190820 Termination date: 20210716 |