CN210589386U

CN210589386U - Robot joint rigidity-variable actuator

Info

Publication number: CN210589386U
Application number: CN201921729202.4U
Authority: CN
Inventors: 孙则讵
Original assignee: Yiyou Intelligent Technology Wuxi Co Ltd
Current assignee: Yiyou Intelligent Technology Wuxi Co Ltd
Priority date: 2019-10-16
Filing date: 2019-10-16
Publication date: 2020-05-22
Anticipated expiration: 2029-10-16

Abstract

The utility model discloses a robot joint becomes rigidity executor, including first swivel arm, fixed mounting has the pivot on the first swivel arm, and the pivot is rotated and is installed the second swivel arm, articulated on the first swivel arm have the cylinder, and the cylinder other end articulates on the second swivel arm, install the drive shaft in the pivot, and fixed mounting has the gear on the drive shaft, the gear cooperation is connected with the rack, and the rack slidable mounting is on the slide bar, articulated on the rack have the dwang, and the dwang is connected with the round pin axle, and fixed mounting has the gyro wheel on the dwang, set up the spout in the pivot, and sliding connection has the brake block in the spout, fixed mounting has the friction disc on the brake block, and the rotation of axis of rotation follows lever principle, amplifies the drive power that the motor produced to produce better power, therefore the device can adopt the motor of miniwatt as power, thereby reducing the size required by the joint and being more flexible to use.

Description

Robot joint rigidity-variable actuator

Technical Field

The utility model relates to the technical field of robots, specifically a robot joint becomes rigidity executor.

Background

Along with the continuous development of science and technology, automated production is more and more common, it can carry out many accurate activities to use the robot to replace the manual work to operate, and higher stability has, but the action of traditional robot is heavy relatively, the joint position of robot need have the flexibility just can make the robot accomplish gentle and agreeable action, use air pressure drive robot, can have higher flexibility, but corresponding its rigidity supports the action that carries out the high strength inadequately, generally add the stopper in the axis of rotation and change the articulated rigidity of robot, but present drive arrangement is too simple, braking force is not strong, rigidity promotion is limited, be difficult to adapt to the work that needs high bearing capacity, for this the utility model provides a robot joint becomes rigidity executor is used for solving above-mentioned problem.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a robot joint becomes rigidity executor to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a robot joint becomes rigidity executor, includes first rotor arm, fixed mounting has the pivot on the first rotor arm, and rotates in the pivot and install the second rotor arm, it has the cylinder to articulate on the first rotor arm, and the cylinder other end articulates on the second rotor arm, install the drive shaft in the pivot, and drive epaxial fixed mounting has the gear, the gear cooperation is connected with the rack, and rack slidable mounting is on the slide bar, it has the dwang to articulate on the rack, and the dwang is connected with the round pin axle, and fixed mounting has the gyro wheel on the dwang, the spout has been seted up in the pivot, and sliding connection has the brake block in the spout, fixed mounting has the friction disc on the brake.

Preferably, the rotating shaft is a cylindrical shaft provided with a cavity, an end face is arranged in the cavity, a driving shaft is arranged on the end face through a bearing, and the driving shaft is driven through a servo motor.

Preferably, rack quantity is two, sets up respectively in the both sides of gear, and the gear passes through the parallel key and connects in the drive shaft, dwang one end articulates the intermediate position at the rack, and the gyro wheel is installed to the other end, round pin axle fixed mounting is on the inside terminal surface of pivot, and the dwang rotates to be connected at the round pin epaxially, and round pin axle mounted position is close to the gyro wheel.

Preferably, the brake block is in a fan shape, the brake block is slidably mounted in a fan-shaped sliding groove, the roller is in contact with the bottom surface of the brake block, and the friction plate is mounted on the upper surface of the brake block in a covering manner.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the pneumatic driving rotating arm has high flexibility, the rotating rod can rotate around the pin shaft through the matching of the gear and the rack, the roller connected to the pin shaft pushes the brake block to move, and the friction plate arranged on the brake block is in contact with the second rotating arm to generate friction resistance, so that the joint rigidity is improved, and the rigidity is adjusted quickly and accurately through the fixed-angle rotation of the driving shaft;

2. the rotation of the rotating shaft follows the lever principle, the driving force generated by the motor is amplified, and therefore better braking capacity is generated.

Drawings

FIG. 1 is a general schematic view of the present invention;

FIG. 2 is a schematic view of the internal structure of the rotating shaft of the present invention;

fig. 3 is an assembly diagram of the present invention.

In the figure: the device comprises a first rotating arm 1, a second rotating arm 2, a cylinder 3, a rotating shaft 4, a driving shaft 5, a gear 6, a sliding rod 7, a rack 8, a rotating rod 9, a pin shaft 10, a roller 11, a sliding chute 12, a brake block 13 and a friction plate 14.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1 to 3, the present invention provides a technical solution: a rigidity-variable actuator of a robot joint comprises a first rotating arm 1, wherein a rotating shaft 4 is fixedly installed on the first rotating arm 1, a second rotating arm 2 is rotatably installed on the rotating shaft 4, the second rotating arm 2 is a working arm, the joint of the first rotating arm 1 and the second rotating arm 2 forms the robot joint, an air cylinder 3 is hinged on the first rotating arm 1, the other end of the air cylinder 3 is hinged on the second rotating arm 2, the second rotating arm 2 is driven to rotate by the expansion and contraction of the air cylinder 3, a driving shaft 5 is installed in the rotating shaft 4, a gear 6 is fixedly installed on the driving shaft 5, the gear 6 is connected with a rack 8 in a matching mode, the rack 8 is slidably installed on a sliding rod 7, the sliding rod 7 is fixedly installed on the end face inside the rotating shaft 4 through a screw to play a role of a track, a sliding groove with a matched shape is formed in the rack 8, and therefore the rack 8 can move on the sliding rod, the last articulated dwang 9 that has of rack 8, and dwang 9 are connected with round pin axle 10, and fixed mounting has gyro wheel 11 on the dwang 9, spout 12 has been seted up in the pivot 4, and sliding connection has brake block 13 in the spout 12, fixed mounting has friction disc 14 on the brake block 13.

The rotating shaft 4 is a cylindrical shaft provided with a cavity, an end face is arranged in the cavity, the cavity is similar to a bamboo joint structure, the cavity is mainly arranged on the rotating shaft 4 and is connected with the second rotating arm 1, the end face is a circular plate fixed in the cavity and used for mounting related parts, a driving shaft 5 is mounted on the end face through a bearing, the driving shaft 5 is driven by a servo motor, and the structure is driven to move through the rotation of the driving shaft 5, so that the rigidity is changed;

the number of the racks 8 is two, the racks are respectively arranged on two sides of the gear 6, the gear 6 is connected to the driving shaft 5 through a flat key, one end of the rotating rod 9 is hinged to the middle position of the rack 8, the other end of the rotating rod is provided with the roller 11, the pin shaft 10 is fixedly arranged on the end surface inside the rotating shaft 4, the rotating rod 9 is rotatably connected to the pin shaft 10, the mounting position of the pin shaft 10 is close to the roller 11, the rack 8 is driven to move by rotating the gear 6 for a certain angle, so that the rotating rod rotates around the pin shaft 10, and the amplified driving force is applied to the brake block 13 through the roller 11 according to the;

the brake block 13 is in a fan shape and is slidably mounted in the fan-shaped chute 12, the roller 11 is in contact with the bottom surface of the brake block 13, the friction plate 14 is mounted on the upper surface of the brake block 13 in a covering manner, the brake block 13 is pressed by the roller 11, so that the brake block 13 moves in the chute 12, the friction plate 14 is in contact with the second rotating arm 2, and frictional resistance is generated on the rotation of the second rotating arm 2, so that the joint stiffness is improved;

the working principle is as follows: when the pneumatic brake shoe is used, the second rotating arm can be driven to rotate around the first rotating arm through the air cylinder, so that the robot arm moves, the pneumatic drive can be used for driving the robot arm to have higher flexibility, when the joint needing to be rotated has higher rigidity, as shown in the state of fig. 2, the driving shaft rotates anticlockwise to drive the connected rack to move, so that the rotating rod rotates around the pin shaft, according to the lever principle, amplified driving force is applied to the brake block through the roller, the brake block moves in the sliding groove, the pressure between the friction plate and the second rotating arm is increased, and larger friction resistance is generated to the rotation of the second rotating arm, so that the rigidity of the joint is improved.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A robot joint stiffness-changing actuator comprises a first rotating arm (1), and is characterized in that: a rotating shaft (4) is fixedly arranged on the first rotating arm (1), a second rotating arm (2) is rotatably arranged on the rotating shaft (4), an air cylinder (3) is hinged on the first rotating arm (1), the other end of the cylinder (3) is hinged on the second rotating arm (2), a driving shaft (5) is arranged in the rotating shaft (4), and a gear (6) is fixedly arranged on the driving shaft (5), the gear (6) is connected with a rack (8) in a matching way, and the rack (8) is arranged on the sliding rod (7) in a sliding way, a rotating rod (9) is hinged on the rack (8), the rotating rod (9) is connected with a pin shaft (10), a roller (11) is fixedly arranged on the rotating rod (9), a sliding groove (12) is arranged on the rotating shaft (4), and a brake block (13) is connected in the sliding groove (12) in a sliding manner, and a friction plate (14) is fixedly arranged on the brake block (13).

2. The variable stiffness robotic joint actuator of claim 1, wherein: the rotating shaft (4) is a cylindrical shaft provided with a cavity, an end face is arranged in the cavity, a driving shaft (5) is mounted on the end face through a bearing, and the driving shaft (5) is driven through a servo motor.

3. The variable stiffness robotic joint actuator of claim 1, wherein: rack (8) quantity is two, sets up respectively in the both sides of gear (6), and gear (6) through flat key connection on drive shaft (5), dwang (9) one end articulates the intermediate position at rack (8), and gyro wheel (11) are installed to the other end, round pin axle (10) fixed mounting is on the terminal surface of pivot (4) inside, and dwang (9) rotate to be connected on round pin axle (10), and round pin axle (10) mounted position is close to gyro wheel (11).

4. The variable stiffness robotic joint actuator of claim 1, wherein: the brake block (13) is in a fan shape and is slidably mounted in the fan-shaped sliding groove (12), the roller (11) is in contact with the bottom surface of the brake block (13), and the friction plate (14) is mounted on the upper surface of the brake block (13) in a covering mode.