CN210161196U

CN210161196U - Multi-degree-of-freedom joint component of robot

Info

Publication number: CN210161196U
Application number: CN201920360125.3U
Authority: CN
Inventors: 王天齐
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-03-12
Filing date: 2019-03-12
Publication date: 2020-03-20
Anticipated expiration: 2029-03-12

Abstract

The utility model discloses a multi-degree-of-freedom joint component of a robot, which comprises a joint shaft, wherein the upper end of the joint shaft is provided with a rear joint plate, the lower end of the joint shaft is provided with a mounting plate, and the lower end of the mounting plate is connected with a front joint plate through an elastic column; a plurality of clamping grooves are distributed on the top surface of the mounting plate along the circumferential direction, and each clamping groove is internally provided with a sucker; a plurality of pull wires are distributed between the front joint plate and the mounting plate along the circumferential direction, and the upper end of each pull wire penetrates through the bottom surface of the mounting plate and is connected with a sucker in one clamping groove; the joint axis on the cover be equipped with rotatable commentaries on classics cover, change and be provided with the linear actuator on the cover, install on the output of linear actuator with sucking disc complex electro-magnet, the utility model discloses a joint component, usable joint realize the degree of freedom of a plurality of directions, have effectively retrencied the structure, are applicable to direct connection to terminal actuating mechanism of robot.

Description

Multi-degree-of-freedom joint component of robot

Technical Field

The utility model relates to a mechanical automation technical field, concretely relates to multi freedom joint component of robot.

Background

With the continuous development of mechanical automation and image processing technology, more and more robots are designed and applied to various industries to meet different practical use requirements. The robot not only can realize automation and intellectualization, but also can effectively improve the efficiency, such as a welding robot, a processing robot and the like in an industrial robot; in some industries, robots are also used to perform specific tasks or tasks, such as post-disaster search and rescue robots, pipeline cleaning robots, and the like.

The structural design of the robot is one of the important factors determining the working performance of the robot. In order to make the robot more flexible to perform more movements, the degree of freedom of the joints of the robot is a major consideration in the design of the structure. At present, multiple degrees of freedom of some robot joints are mainly realized by structural stacking, for example, an industrial robot generally needs three rails in different directions for positioning a specific position, and needs a driver to drive the rails respectively, and the joints are simple to control, but have high cost and large occupied space, and are mainly applied to industry; the structure design of the joint of the existing small robot, such as a bionic robot, is simple, namely, a movable connecting rod type structure is adopted, and one joint can only rotate on one plane; if the actuator (such as a manipulator) at the tail end needs to have more degrees of freedom, the number of joints needs to be increased, and one joint needs to be added correspondingly, so that the overall appearance volume and the weight of the robot are large, and the robot is inconvenient to control.

Disclosure of Invention

The utility model aims at providing a multi freedom joint component of robot can realize multi-direction degree of freedom through a joint for overcome the problem that volume, weight are big that traditional structure exists.

In order to realize the task, the utility model discloses a following technical scheme:

a multi-degree-of-freedom joint component of a robot comprises a joint shaft, wherein the upper end of the joint shaft is provided with a rear joint plate, the lower end of the joint shaft is provided with a mounting plate, and the lower end of the mounting plate is connected with a front joint plate through an elastic column;

a plurality of clamping grooves are distributed on the top surface of the mounting plate along the circumferential direction, and each clamping groove is internally provided with a sucker; a plurality of pull wires are distributed between the front joint plate and the mounting plate along the circumferential direction, and the upper end of each pull wire penetrates through the bottom surface of the mounting plate and is connected with a sucker in one clamping groove; the joint shaft is sleeved with a rotating sleeve which can rotate on the joint shaft, the rotating sleeve is provided with a linear driver, and the output end of the linear driver is provided with an electromagnet matched with the sucker.

Furthermore, the rotating sleeve is installed on a joint shaft through a bearing, a gear ring is arranged on the rotating sleeve, a motor is installed on the joint shaft, and a gear matched with the gear ring is arranged on an output shaft of the motor.

Furthermore, the bottom of the clamping groove is provided with a groove, the bottom of the groove is provided with a wire hole penetrating through the bottom surface of the mounting plate, and the upper end of the pull wire penetrates through the wire hole and the groove to be connected with the sucker; and a return spring connected with the sucker is arranged in the groove.

Furthermore, wiring boards are distributed on the top surface of the front joint plate along the circumferential direction, each wiring board is provided with a wiring ring, and the lower end of the stay wire is fixed on the wiring ring.

Furthermore, a shell is arranged between the rear joint plate and the front joint plate, the upper end of the shell is fixed on the rear joint plate, and the front end of the shell is connected with the front joint plate through a corrugated pipe.

Furthermore, the rear joint plate, the joint shaft, the mounting plate, the elastic column and the front joint plate are coaxially arranged.

The utility model has the following technical characteristics:

1. the utility model discloses a joint component, usable joint realize the degree of freedom of a plurality of directions, have effectively retrencied the structure, are applicable to direct connection to the terminal actuating mechanism of robot.

2. The utility model discloses realize with traditional terminal actuating mechanism that multi freedom needs a plurality of joint cooperations to compare, only need a joint component for joint position weight is lighter, the volume is littleer, and controls simply, provides a new thinking for the design of robot multi freedom joint structure.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic structural view of the present invention after the housing is added;

FIG. 3 is a schematic cross-sectional view of a groove and a slot portion;

FIG. 4 is a schematic top view of the mounting plate portion;

FIG. 5 is a schematic top view of a portion of the flap;

fig. 6 is a schematic radial cross-sectional view of the mating portion of the gear and the ring gear.

In the figure: the device comprises a rear joint plate 1, a front joint plate 2, a joint shaft 3, a mounting plate 4, a rotating sleeve 5, a toothed ring 6, a motor 7, a stay wire 8, a wiring board 9, an elastic column 10, a linear driver 11, an electromagnet 12, a gear 13, a sucking disc 14, a clamping groove 15, a groove 16, a return spring 17, a wire hole 18, a wiring ring 19, a bearing 20, a shell 21 and a corrugated pipe 22.

Detailed Description

The utility model discloses a multi-degree-of-freedom joint component of a robot, which comprises a joint shaft 3, wherein the upper end of the joint shaft 3 is provided with a rear joint plate 1, the lower end of the joint shaft 3 is provided with a mounting plate 4, and the lower end of the mounting plate 4 is connected with a front joint plate 2 through an elastic column 10;

a plurality of clamping grooves 15 are distributed on the top surface of the mounting plate 4 along the circumferential direction, and a sucking disc 14 is arranged in each clamping groove 15; a plurality of pull wires 8 are distributed between the front joint plate 2 and the mounting plate 4 along the circumferential direction, and the upper end of each pull wire 8 penetrates through the bottom surface of the mounting plate 4 and is connected with a sucker 14 in a clamping groove 15; the joint shaft 3 is sleeved with a rotatable rotating sleeve 5, the rotating sleeve 5 is provided with a linear driver 11, and the output end of the linear driver 11 is provided with an electromagnet 12 matched with the sucking disc 14.

The utility model discloses in back joint board 1, preceding joint board 2, mounting panel 4 be the circular slab, the fixed axle is the cylinder axle. When the joint component of the utility model is used on the robot body as a joint, the rear joint plate 1 and the front joint plate 2 are respectively connected with the structure on the robot on the joint both sides. The mounting plate 4 is fixed at the lower end of the joint shaft 3 and is connected with the front joint plate 2 through the elastic column 10, so that the front joint plate 2 can deflect towards different directions relative to the mounting plate 4, and the elastic column 10 bends towards the side surface when deflecting. When an actuating mechanism (such as a manipulator) of the robot is connected with the front joint plate 2, the front joint plate 2 deflects towards different directions, and the actuating mechanism is driven to deflect towards different directions, so that the actuating mechanism can have freedom degrees in multiple directions, and the actuating mechanism can complete more actions or tasks.

The utility model discloses a deflection of articulated plate 2 before realizing has set up 8 mechanisms acting as go-between. The stay wires 8 are distributed along the circumferential direction, the front ends of the stay wires are fixedly connected with the front joint plate 2, and the rear ends of the stay wires are in a movable type connection mode, and are specifically connected with the suckers 14 arranged in the clamping grooves 15 on the top surface of the mounting plate 4. The clamping grooves 15 correspond to the positions of the pull wires 8 one by one, and one pull wire 8 is connected with the suction cups 14 in one clamping groove 15. When the suction cup 14 moves upward, the pull wire 8 is pulled upward, thereby causing the pull wire 8 to deflect the anterior joint plate 2. In the scheme, the sucker 14 is pulled to move upwards in a way of matching the linear driver 11 and the electromagnet 12; the linear actuator 11 can adopt a linear motor 7, an electric telescopic rod, a hydraulic telescopic rod and the like, and the suction cup 14 is a metal disc, specifically a metal disc which can be adsorbed by the electromagnet 12, such as an iron disc. The electromagnet 12 generates an adsorption force after being electrified, the adsorption force is absorbed with the sucker 14 and fixed with the sucker 14, and the sucker 14 is driven to move upwards by the linear driver 11, so that the pull wire 8 pulls the front joint plate 2 to deflect. When the electromagnet 12 is de-energized, the suction cup 14 is separated from the electromagnet 12 and the anterior joint plate 2 is repositioned by the resilient columns 10. The elastic column 10 is a column structure with elasticity, and for example, a rubber column or a cylindrical coil spring can be used.

When the front joint plate 2 needs to deflect towards a certain direction, the rotating sleeve 5 only needs to be driven to rotate, the linear driver 11 and the electromagnet 12 are driven to reach the position above the suction cup 14 corresponding to the direction, and then the suction cup 14 is sucked and pulled upwards. The degree of anterior joint disc deflection depends on the degree to which the suction cup 14 is pulled upward.

Taking a humanoid robot as an example, the joint component of the present invention is installed on the arm of the robot, for example, it can be used as a wrist joint, wherein the rear joint plate 1 is fixedly connected with the small arm of the robot, the front joint plate 2 is fixedly connected with the hand (actuator) of the robot, and the concrete connection mode can be welding or bolt fixing connection. When the hand of the robot needs to be deflected in a certain direction, the pull wire 8 corresponding to the direction may be pulled upward.

As a further optimization of the above technical solution, the rotating sleeve 5 is mounted on the joint shaft 3 through a bearing 20, a toothed ring 6 is arranged on the rotating sleeve 5, a motor 7 is mounted on the joint shaft 3, and a gear 13 matched with the toothed ring 6 is arranged on an output shaft of the motor 7.

As shown in fig. 1 and 6, when the output shaft of the motor 7 rotates, the gear ring 6 of the gear 13 drives the rotating sleeve 5 to rotate, and the linear driver 11 is fixed on the rotating sleeve 5, so that the rotating sleeve 5 rotates to drive the electromagnet 12 to adjust the position in the circumferential direction; as shown in fig. 4, the suction cups 14 are circumferentially distributed on the top surface of the mounting plate 4 such that rotation of the sleeve 5 brings the electromagnet 12 over different suction cups 14.

Optionally, as shown in fig. 3, a groove 16 is formed at the bottom of the card slot 15, the groove 16 and the card slot 15 are coaxially arranged, for example, both the groove 16 and the card slot 15 may be circular grooves, and the diameter of the groove 16 is smaller than that of the card slot 15; the bottom of the groove 16 is provided with a line hole 18 penetrating through the bottom surface of the mounting plate 4, and the upper end of the stay wire 8 penetrates through the line hole 18 and the groove 16 to be connected with the sucker 14; a return spring 17 connected with the sucker 14 is arranged in the groove 16, wherein the return spring 17 has the function that when the sucker 14 is pulled upwards, the return spring 17 is stretched; when the suction cup 14 is disengaged from the electromagnet 12, the return spring 17 urges the suction cup 14 to return.

As shown in fig. 1 and 5, wiring boards 9 are distributed on the top surface of the front joint plate 2 along the circumferential direction, each wiring board 9 is provided with a wiring ring 19, and the lower end of the pull wire 8 is fixed on the wiring ring 19.

As shown in fig. 1, the posterior joint plate 1, the joint shaft 3, the mounting plate 4, the elastic column 10 and the anterior joint plate 2 are preferably coaxially arranged to facilitate the arrangement of the pull wire 8.

As shown in fig. 2, a housing 21 is provided between the posterior joint plate 1 and the anterior joint plate 2, an upper end of the housing 21 is fixed to the posterior joint plate 1, and a front end of the housing 21 is connected to the anterior joint plate 2 by a bellows 22.

Fig. 2 is a schematic structural view of the present invention, wherein the outer shell 21 is a hollow shell with two through ends, and is externally sleeved on the joint component to protect the joint component, and the joint component has a more beautiful appearance; because the front joint plate 2 needs to deflect, the front joint plate 2 is connected with the shell 21 through the corrugated pipe 22, and the corrugated pipe 22 deforms when the front joint plate 2 deflects, so that the deflection of the front joint plate 2 is not influenced by the arrangement of the shell 21.

Claims

1. The multi-degree-of-freedom joint component of the robot is characterized by comprising a joint shaft (3), wherein the upper end of the joint shaft (3) is provided with a rear joint plate (1), the lower end of the joint shaft (3) is provided with a mounting plate (4), and the lower end of the mounting plate (4) is connected with a front joint plate (2) through an elastic column (10);

a plurality of clamping grooves (15) are distributed on the top surface of the mounting plate (4) along the circumferential direction, and a sucking disc (14) is arranged in each clamping groove (15); a plurality of pull wires (8) are distributed between the front joint plate (2) and the mounting plate (4) along the circumferential direction, and the upper end of each pull wire (8) penetrates through the bottom surface of the mounting plate (4) and is connected with a sucker (14) in one clamping groove (15); the joint shaft (3) is sleeved with a rotating sleeve (5) capable of rotating on the joint shaft (3), the rotating sleeve (5) is provided with a linear driver (11), and the output end of the linear driver (11) is provided with an electromagnet (12) matched with the sucker (14).

2. The joint member with multiple degrees of freedom of a robot according to claim 1, wherein the rotating sleeve (5) is mounted on the joint shaft (3) through a bearing (20), a toothed ring (6) is provided on the rotating sleeve (5), a motor (7) is mounted on the joint shaft (3), and a gear (13) which is engaged with the toothed ring (6) is provided on an output shaft of the motor (7).

3. The multi-degree-of-freedom joint component of the robot according to claim 1, wherein a groove (16) is formed at the bottom of the clamping groove (15), a line hole (18) penetrating through the bottom surface of the mounting plate (4) is formed at the bottom of the groove (16), and the upper end of the pull wire (8) penetrates through the line hole (18) and the groove (16) to be connected with the suction cup (14); and a return spring (17) connected with the sucker (14) is arranged in the groove (16).

4. The joint member with multiple degrees of freedom of a robot according to claim 1, wherein the top surface of the front joint plate (2) is circumferentially provided with wiring blocks (9), each wiring block (9) is provided with a wiring ring (19), and the lower end of the pull wire (8) is fixed to the wiring ring (19).

5. The joint member with multiple degrees of freedom of a robot according to claim 1, wherein a housing (21) is provided between the posterior joint plate (1) and the anterior joint plate (2), an upper end of the housing (21) is fixed to the posterior joint plate (1), and a front end of the housing (21) is connected to the anterior joint plate (2) through a bellows (22).

6. The multi-degree-of-freedom joint component of a robot according to claim 1, wherein the posterior joint plate (1), the joint shaft (3), the mounting plate (4), the elastic column (10) and the anterior joint plate (2) are coaxially arranged.