CN210704899U - Three-degree-of-freedom flexible wrist joint for robot - Google Patents
Three-degree-of-freedom flexible wrist joint for robot Download PDFInfo
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- CN210704899U CN210704899U CN201921448217.3U CN201921448217U CN210704899U CN 210704899 U CN210704899 U CN 210704899U CN 201921448217 U CN201921448217 U CN 201921448217U CN 210704899 U CN210704899 U CN 210704899U
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- 210000003857 wrist joint Anatomy 0.000 title claims abstract description 18
- 238000007789 sealing Methods 0.000 claims description 44
- 230000007246 mechanism Effects 0.000 claims description 11
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000875 corresponding effect Effects 0.000 description 2
- 238000005034 decoration Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 125000004122 cyclic group Chemical group 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 230000020169 heat generation Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
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Abstract
The utility model discloses a flexible wrist joint of three degrees of freedom for robot, include the joint for being connected with the implementation tool, the joint can carry out axial and radial removal in the casing, and the casing provides the backpressure for the joint, when the implementation tool received great resistance, the joint carries out the hard contact of axial and radial removal in order to avoid implementation tool and work piece, prevents that the implementation tool from damaging, and the joint can be ajusted under negative pressure state and reset after avoiding, and whole implementation tool is ajusted promptly and is reset.
Description
Technical Field
The utility model belongs to the robot field, more specifically the utility model relates to a three degree of freedom flexible wrist joint for robot that says so.
Background
At present, industrial robots are more and more common in application and wider in application range, and articulated industrial robots are relatively high in repetition precision and low in positioning precision due to the structure of the articulated industrial robots. This feature results in a limited application of industrial robots in the field of assembly and machining.
The existing solution is to use a high-precision six-dimensional force sensor as a transitional connection device between the robot and the actuator, and the six-dimensional force sensor can detect forces in the x, y and z directions and moments around the three axial directions. And force and moment signals obtained by the sensor are fed back to a control system of the robot, so that the robot can make corresponding reaction. However, this method has the following disadvantages: 1. the force sensor has high cost and a complex feedback control system, and is not beneficial to wide popularization and application. 2. Force feedback control systems have a time lag, and the system delays a certain amount of time after a collision occurs to cause a corresponding action, however, the workpiece may have been destroyed when the control system responds.
Another solution is to control the pressure of the cylinder against the workpiece by means of a single-axis cylinder and servo valves, but in this way the single-degree-of-freedom mechanism only works in one direction, whereas the six-degree-of-freedom robots used in industry have a large number of degrees of freedom of movement, and the contact between the implement tool and the workpiece is usually multidimensional. A plurality of single-degree-of-freedom mechanisms are connected in series to meet the requirements, so that the system rigidity is reduced, the error is increased, the control is complicated, and the cost is increased.
SUMMERY OF THE UTILITY MODEL
The utility model provides a not enough to prior art, the utility model provides a can multi freedom remove, solve the robot in assembly and course of working, because of can not remove in a flexible way or signal feedback postpones, and the collision that leads to damages the problem of work piece.
In order to achieve the above purpose, the utility model provides a following technical scheme: a three-degree-of-freedom flexible wrist joint for a robot comprises:
the shell is hollow inside, the top of the shell is provided with an upper opening, and the bottom or the side surface of the shell is provided with an input port used for being communicated with external air pressure or hydraulic equipment;
the end cover is fixedly connected with the upper opening of the shell, an open slot communicated with the interior of the shell is formed in the end cover, and a positioning groove is formed in one side, facing the interior of the shell, of the end cover;
the sealing ring and the shell form a sealing cavity, the sealing cavity is communicated with the input port, and the sealing ring is provided with a plurality of pressure holes extending along the axial direction;
the joint sleeve is connected with the inner wall of the shell in a sliding mode along the axial direction, one side, facing the sealing ring, of the joint sleeve is provided with a plurality of guide columns extending into the pressure holes, and the guide columns are connected with the pressure holes in a sealing mode in a sliding mode; the joint is positioned in the joint sleeve, one end of the joint extends into the joint sleeve to be connected with the joint sleeve in a rotating fit mode, the other end of the joint extends out of an open slot of the end cover and leaves a movable gap with the open slot, contact surfaces of the joint and the joint sleeve are spherical, and an anti-rotation mechanism for preventing the joint from rotating in the circumferential direction is arranged between the joint sleeve and the joint;
one side of the floating limiting ring is fixed on the joint, one side of the other side of the floating limiting ring extends into the positioning groove of the end cover, and the size of the positioning groove is larger than that of the limiting ring.
Further prevent that favourable turn constructs including spacing ball, the centre of sphere of spacing ball is in same horizontal plane with the centre of sphere of joint on, has seted up the spacing groove on the joint, and the length of spacing groove is greater than the diameter width of spacing ball and is the same with the diameter of spacing ball, and spacing ball sets up on the joint cover and stretches into the spacing inslot.
The anti-rotation mechanism further comprises a positioning ring, wherein the positioning ring is fixed on the joint sleeve, and a fixing groove is formed between the positioning ring and the joint sleeve.
Further, one side, facing the joint, of the fixing groove is an inner opening, the other side of the fixing groove is an outer opening, and the diameter of the limiting ball is larger than that of the outer opening.
Further, the positioning groove is annular.
Furthermore, the cross section of the positioning groove is conical or arc-shaped, and the cross section of the floating limiting ring is arc-shaped.
Furthermore, an inner flange is arranged at the bottom of the shell, a lower opening is formed by the inner flange, the sealing ring is positioned in the shell and fixed with the inner flange, and the input port is formed in the inner flange.
And a sealing ring is arranged between the sealing ring and the inner flange.
Compared with the prior art, the beneficial effects of the utility model are that: gas or liquid is filled into the sealing cavity through the input port to enable the sealing cavity to form back pressure, and the knuckle sleeve is pushed to axially move towards the upper opening of the shell through the guide column on the knuckle sleeve; the floating limiting ring connected with the joint is positioned in the positioning groove of the end cover, so that the joint is aligned, one end of the joint extending out of the end cover is connected with an executing tool, and when the executing tool is subjected to a large acting force of a workpiece in work, the joint can deflect or axially move to prevent the workpiece or the executing tool from being damaged by the excessive acting force; when the external force is small, the back pressure enables the joint sleeve to reset, and the floating limiting ring and the positioning groove reset mutually to enable the joint to be aligned.
Drawings
Fig. 1 is a three-dimensional structure diagram of a three-degree-of-freedom flexible wrist joint for a robot of the present invention;
fig. 2 is a cross-sectional view of the three-degree-of-freedom flexible wrist joint for the robot of the present invention;
FIG. 3 is an enlarged view of portion A of FIG. 2;
FIG. 4 is a perspective view of the middle joint of the present invention;
FIG. 5 is a front view of the present invention without the housing;
FIG. 6 is a three-dimensional structure view of the present invention without a housing;
fig. 7 is an explosion diagram i when the utility model is not provided with a shell;
fig. 8 is an exploded view of the present invention without the outer case.
Reference numerals: 1. a housing; 12. an inner flange; 125. an input port; 2. an end cap; 22. an open slot; 24. a ring groove; 3. a joint; 31. a rod portion; 32. a ball portion; 33. a hollow groove; 34. A screw hole; 322. a limiting groove; 4. a floating limit ring; 5. a seal ring; 51. sealing the chamber; 53. a pressure port; 6. a joint sleeve; 61. a positioning ring; 612. fixing grooves; 62. limiting balls; 63. and a guide post.
Detailed Description
The embodiments of the three-degree-of-freedom flexible wrist joint for the robot of the present invention are further described with reference to fig. 1 to 8.
A three-degree-of-freedom flexible wrist joint for a robot comprises:
a housing 1 having an inner hollow portion, an upper opening at a top portion thereof, and an input port 125 for communicating with an external pneumatic or hydraulic device at a bottom portion or a side surface thereof;
the end cover 2 is fixedly connected with the upper opening of the shell 1, an open slot 22 communicated with the interior of the shell 1 is formed in the end cover 2, and a positioning groove is formed in one side, facing the interior of the shell 1, of the end cover 2;
the sealing ring 5 and the shell 1 form a sealing cavity 51, the sealing cavity 51 is communicated with the input port 125, and the sealing ring 5 is provided with a plurality of pressure holes 53 extending along the axial direction;
the joint sleeve 6 is connected with the inner wall of the shell 1 in a sliding mode along the axial direction, one side, facing the sealing ring 5, of the joint sleeve 6 is provided with a plurality of guide columns 63 extending into the pressure holes 53, and the guide columns 63 are connected with the pressure holes 53 in a sealing mode in a sliding mode;
the joint 3 is positioned in the joint sleeve 6, one end of the joint 3 extends into the joint sleeve 6 and is connected with the joint sleeve 6 in a rotating fit manner, the other end of the joint extends out of the open slot 22 of the end cover 2, a movable gap is reserved between the other end of the joint and the open slot 22, the contact surfaces of the joint 3 and the joint sleeve 6 are spherical, and an anti-rotation mechanism for preventing the joint 3 from rotating circumferentially is arranged between the joint sleeve 6 and the joint 3;
one side of the floating limiting ring 4 is fixed on the joint 3, and the other side of the floating limiting ring extends into the positioning groove of the end cover 2, and the size of the positioning groove is larger than that of the limiting ring.
As shown in fig. 2, for the convenience of understanding, the direction of the end cap 2 is taken as the upper direction, the side of the housing 1 opposite to the end cap 2 is taken as the lower direction, and the direction perpendicular to the axis of the housing 1 is taken as the transverse plane.
As shown in fig. 1 and 2, the shell 1 and the end cover 2 are preferably fixed by bolts, the sealing ring 5 and the shell 1 are fixed by bolts, and the floating limiting ring 4 and the joint 3 are fixed by bolts.
The joint 3 comprises a ball part 32 and a rod part 31, the inner wall of the joint sleeve 6 is spherical and has the same size with the ball part 32 of the joint 3, the ball part 32 extends into the joint sleeve 6, the rod part 31 extends out of the end cover 2 from the open slot 22 of the end cover 2, the rod part 31 is used for connecting an execution tool (such as a working spindle), and the floating limit ring 4 is fixed at the connection part of the rod part 31 and the ball part 32.
The preferred joint 3 in this embodiment is provided with a through hollow groove 33, i.e. the rod 31 and the ball 32, and the end of the rod 31 is provided with a plurality of screw holes 34, the screw holes 34 are used for fixing with the spindle, and when the tail of the spindle is long, the spindle can extend into the hollow groove 33 or even extend out.
The shell 1 is fixed on the robot, the robot drives the robot to move away, the sealing chamber 51 is filled with gas or liquid through the input port 125 to form backpressure (parameters of the backpressure are initially set according to the strength of an execution tool, if the external force borne by the execution tool is small, the backpressure is set to be low, otherwise, the backpressure is set to be high), at the moment, the joint sleeve 6 moves towards the end cover 2 through the guide column 63 under the action of the backpressure until the floating limiting ring 4 extends into the bottom of the positioning groove, at the moment, the floating limiting ring 4 is wholly in a horizontal state, namely, the distance that the rod part 31 of the joint 3 extends out of the open groove 22 reaches an upper limit, meanwhile, the rod part 31 of the joint 3 is coaxial with the shell 1, namely, the whole joint 3 reaches a righting posture, and the execution.
During machining, an execution tool acts on a workpiece, if the axial resistance of the execution tool is smaller than the support provided by back pressure, the whole flexible wrist joint 3 is kept in an original state and cannot move or rotate, as shown in fig. 5, in the embodiment, because the joint sleeve 6 adopts a plurality of guide columns 63 to be matched with a plurality of pressure holes 53, the joint sleeve 6 and the sealing ring 5 can be fixed relatively in the circumferential direction, and the joint 3 is fixed relatively in the circumferential direction relative to the joint sleeve 6 by the anti-rotation mechanism; if the executing tool meets large resistance (such as a large bulge at a workpiece processing position) in the axial direction and is larger than back pressure, the joint 3 pushes the joint sleeve 6 to move towards the direction of the sealing ring 5 so as to avoid the bulge on the workpiece and prevent the executing tool from being damaged; in a similar way, when the executing tool radially encounters large resistance, the joint 3 rotates in the joint sleeve 6, and meanwhile, the floating limiting ring 4 floats in the positioning groove of the end cover 2, so that the axis of the joint 3 forms an angle with the axis of the outer shell 1, the executing tool avoids a workpiece, and certainly, when the joint 3 rotates along the joint sleeve 6, the joint sleeve 6 also moves radially, so that the floating limiting ring 4 can smoothly float, namely, the joint 3 can move synchronously in the axial direction and the radial direction or move axially independently.
In the rotation process of the joint 3 of the present embodiment, the joint does not directly contact with the sealing chamber 51, that is, the friction between the joint 3 and the joint sleeve 6 does not affect the temperature in the sealing chamber 51, the sealing chamber 51 contacts the guide post 63 and the pressure hole 53, the guide post 63 axially moves in the pressure hole 53, the amplitude is small, the heat generation is small, the temperature influence on the sealing chamber 51 is small, that is, the back pressure is not affected, and the risk of leakage of the sealing chamber 51 can be reduced.
The anti-rotation mechanism that this embodiment is preferred includes spacing ball 62, and the centre of sphere of spacing ball 62 is in same horizontal plane with the centre of sphere of joint 3 on, has seted up spacing groove 322 on the joint 3, and the length of spacing groove 322 is greater than the diameter width of spacing ball 62 and is the same with the diameter of spacing ball 62, and spacing ball 62 sets up on joint cover 6 and stretches into in the spacing groove 322.
As shown in fig. 2 and 3, the center of the ball of the joint 3 is the center of the ball part 32 on the joint 3, the connection line between the center of the ball 62 and the center of the joint 3 is perpendicular to the axis of the housing 1, and as shown in fig. 4, the limit groove 322 is opened on the surface of the ball part 32 and extends along the upper and lower directions of the ball 62.
The joint 3 cannot rotate in the circumferential direction due to the interference of the limit balls 62 and the limit grooves 322, and is free to rotate in both the right and left directions or the inward and outward directions of the paper in the state shown in fig. 2.
As shown in fig. 3, the rotation-preventing mechanism of the preferred embodiment further includes a positioning ring 61, the positioning ring 61 is fixed on the joint sleeve 6, and a fixing groove 612 is formed between the positioning ring 61 and the joint sleeve 6, wherein a spherical surface portion of the joint sleeve 6 is not higher than a horizontal plane of a spherical center of the joint 3, so that the joint 3 can be conveniently placed in the joint sleeve 6, an inner diameter of the positioning ring 61 is not smaller than a diameter of the spherical portion 32 of the joint 3, the positioning ring 61 can be formed separately from the joint sleeve 6 and then fixedly connected with the joint sleeve 6 by a screw, or the positioning ring 61 and the joint sleeve 6 are integrally formed, and then the fixing groove 612 is opened to place the limiting.
In this embodiment, one side of the fixing groove 612 facing the joint 3 is an inner opening, the other side is an outer opening, and the diameter of the limiting ball 62 is larger than that of the outer opening.
The limiting ball 62 is placed in the fixing groove 612, the limiting ball 62 is clamped in the fixing groove 612 and cannot be separated, so that the limiting ball 62 can be always connected with the joint sleeve 6 and in contact fit with the limiting groove 322, and the fixing groove 612 is a through hole groove; of course, the fixing groove 612 in this embodiment may have only an inner opening and the outer side is closed, in which case the fixing groove 612 is a counter-sunk groove.
The preferred positioning groove of this embodiment is cyclic annular, and positioning groove sets up along whole end cover 2 circumference promptly, and the spacing ring 4 that floats is big with positioning groove area of contact, and the spacing ring 4 that floats is responsible for setting up joint 3, controls the radial removal of joint 3 promptly, and prevents that joint 3 circumferential movement from jointly cooperating by preventing that favourable turn constructs and guide post 63 on the joint cover 6, and during operation, above-mentioned every part all does not receive the shearing force, can prolong its life duration of normal use.
As shown in fig. 2, fig. 7 and fig. 8, the cross section of the positioning groove is preferably tapered or arc-shaped, the cross section of the floating limiting ring 4 is arc-shaped, when the joint 3 moves radially, the floating limiting ring 4 will shift in the positioning groove, the floating limiting ring 4 and the positioning groove are in shapes that enable the floating limiting ring 4 to move smoothly, the friction is small, and the resetting tendency is always achieved, when the executing tool is subjected to a small resistance, the floating limiting ring 4 and the positioning groove are completely aligned by extrusion of the back pressure, and the joint 3 is reset in a swinging manner.
In the preferred embodiment, the bottom of the housing 1 is provided with an inner flange 12, the inner flange 12 forms a lower opening, the sealing ring 5 is located inside the housing and fixed with the inner flange 12, and the input port 125 is opened on the inner flange 12.
As shown in fig. 2 and fig. 6, in the present embodiment, the sealing ring 5 is provided with a ring groove 24, the ring groove 24 and the inner flange 12 of the housing 1 form a sealing chamber 51, but it is also possible to provide the ring groove 24 on the inner flange 12, and all the pressure holes 53 communicate with the sealing chamber 51, that is, all the pressure holes 53 are completely the same in pressure.
In the preferred embodiment, a sealing ring is disposed between the sealing ring 5 and the inner flange 12 to increase the sealing performance of the sealing chamber 51.
In this embodiment, the joint socket 6 is through toward the inner flange 12 of the shell 1, so that the ball part 32 of the joint 3 can be directly communicated with the outside, and an additional part can be arranged on the side of the ball part 32 back to the rod part 31 as required.
It is above only the utility model discloses a preferred embodiment, the utility model discloses a scope of protection does not only confine above-mentioned embodiment, the all belongs to the utility model discloses a technical scheme under the thinking all belongs to the utility model discloses a scope of protection. It should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (8)
1. The utility model provides a three degree of freedom flexible wrist joint for robot which characterized in that includes: the shell is hollow inside, the top of the shell is provided with an upper opening, and the bottom or the side surface of the shell is provided with an input port used for being communicated with external air pressure or hydraulic equipment;
the end cover is fixedly connected with the upper opening of the shell, an open slot communicated with the interior of the shell is formed in the end cover, and a positioning groove is formed in one side, facing the interior of the shell, of the end cover;
the sealing ring and the shell form a sealing cavity, the sealing cavity is communicated with the input port, and the sealing ring is provided with a plurality of pressure holes extending along the axial direction;
the joint sleeve is connected with the inner wall of the shell in a sliding mode along the axial direction, one side, facing the sealing ring, of the joint sleeve is provided with a plurality of guide columns extending into the pressure holes, and the guide columns are connected with the pressure holes in a sealing mode in a sliding mode;
the joint is positioned in the joint sleeve, one end of the joint extends into the joint sleeve to be connected with the joint sleeve in a rotating fit mode, the other end of the joint extends out of an open slot of the end cover and leaves a movable gap with the open slot, contact surfaces of the joint and the joint sleeve are spherical, and an anti-rotation mechanism for preventing the joint from rotating in the circumferential direction is arranged between the joint sleeve and the joint;
one side of the floating limiting ring is fixed on the joint, one side of the other side of the floating limiting ring extends into the positioning groove of the end cover, and the size of the positioning groove is larger than that of the limiting ring.
2. The three-degree-of-freedom flexible wrist joint for the robot as claimed in claim 1, wherein: the anti-rotation mechanism comprises a limiting ball, the center of the limiting ball and the center of the joint are located on the same horizontal plane, a limiting groove is formed in the joint, the length of the limiting groove is larger than the diameter width of the limiting ball, the diameter width of the limiting ball is the same as the diameter of the limiting ball, and the limiting ball is arranged on the joint sleeve and extends into the limiting groove.
3. The three-degree-of-freedom flexible wrist joint for the robot as claimed in claim 2, wherein: the anti-rotation mechanism further comprises a positioning ring, the positioning ring is fixed on the joint sleeve, and a fixing groove is formed between the positioning ring and the joint sleeve.
4. The three-degree-of-freedom flexible wrist joint for the robot as claimed in claim 3, wherein: one side of the fixed groove, which faces the joint, is provided with an inner opening, the other side of the fixed groove is provided with an outer opening, and the diameter of the limiting ball is larger than that of the outer opening.
5. The three-degree-of-freedom flexible wrist joint for the robot as claimed in claim 1, wherein: the positioning groove is annular.
6. The three-degree-of-freedom flexible wrist joint for the robot as claimed in claim 5, wherein: the cross section of the positioning groove is conical or arc-shaped, and the cross section of the floating limiting ring is arc-shaped.
7. The three-degree-of-freedom flexible wrist joint for the robot as claimed in claim 1, wherein: the bottom of the shell is provided with an inner flange, the inner flange forms a lower opening, the sealing ring is positioned inside the shell and fixed with the inner flange, and the input port is formed in the inner flange.
8. The three-degree-of-freedom flexible wrist joint for the robot as claimed in claim 7, wherein: and a sealing ring is arranged between the sealing ring and the inner flange.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921448217.3U CN210704899U (en) | 2019-09-02 | 2019-09-02 | Three-degree-of-freedom flexible wrist joint for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921448217.3U CN210704899U (en) | 2019-09-02 | 2019-09-02 | Three-degree-of-freedom flexible wrist joint for robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210704899U true CN210704899U (en) | 2020-06-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921448217.3U Expired - Fee Related CN210704899U (en) | 2019-09-02 | 2019-09-02 | Three-degree-of-freedom flexible wrist joint for robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210704899U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110450188A (en) * | 2019-09-02 | 2019-11-15 | 嘉兴学院 | A kind of robot three-degree of freedom flexible wrist joint |
| CN112091937A (en) * | 2020-06-10 | 2020-12-18 | 湖南大学 | Precise flexible pneumatic compensation device |
-
2019
- 2019-09-02 CN CN201921448217.3U patent/CN210704899U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110450188A (en) * | 2019-09-02 | 2019-11-15 | 嘉兴学院 | A kind of robot three-degree of freedom flexible wrist joint |
| CN112091937A (en) * | 2020-06-10 | 2020-12-18 | 湖南大学 | Precise flexible pneumatic compensation device |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200609 |