CN211415161U - Stay cable type flexible joint robot - Google Patents
Stay cable type flexible joint robot Download PDFInfo
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- CN211415161U CN211415161U CN201922464887.0U CN201922464887U CN211415161U CN 211415161 U CN211415161 U CN 211415161U CN 201922464887 U CN201922464887 U CN 201922464887U CN 211415161 U CN211415161 U CN 211415161U
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Abstract
The utility model relates to a robot field, concretely relates to flexible joint robot of cable formula, include: a power unit; one end of the action unit is connected with the power unit, and the other end of the action unit is provided with a pull rope; one end of the actuating mechanism is detachably connected with one end of the action unit, which is provided with a guy cable, and the guy cable penetrates through the actuating mechanism; and the manipulator is detachably connected with the other end of the actuating mechanism. The utility model discloses owing to adopted first electromagnetic clutch and second electromagnetic clutch, can control action unit and actuating mechanism action through a power pack, and then realized box and actuating mechanism's rotation and actuating mechanism's action. Because the inhaul cable is used for controlling the action of the actuating mechanism, one end of the inhaul cable is pulled through the lead screw to enable the actuating mechanism to bend, and the mechanical claw finishes the operation.
Description
Technical Field
The utility model relates to a robot field, concretely relates to flexible joint robot of drag-line formula.
Background
Along with the development of industry, the innovation of science and technology, the dangerous work of carrying out the operation through the manual work in every field originally, all replace by the mechanization, reduce worker's work risk, still improve work efficiency simultaneously, solve the tired danger with the personal damage of work, for example carry out intelligent spraying paint through five-axis linkage robotic arm in the automobile field, for example, reveal in the chemical industry or dangerous area such as conflagration carries out breaking open or shutoff operation through robot cooperation robotic arm, thereby more outstanding completion operation, but sometimes, single drive mode can not satisfy the demand in many fields, for example on the production line, because the place space is little, hardly place robotic arm, thereby still need to keep artifical post, so need the robotic arm of multiple transmission mode.
SUMMERY OF THE UTILITY MODEL
The application provides a flexible articulated robot of stay cord formula has solved the difficult problem of traditional artifical loaded down with trivial details repeated operation action and other regional operations that have the injury to the human body, has realized can improving work efficiency when replacing the manual work can ensure artifical safety through machinery.
The utility model provides a technical problem can adopt following technical scheme to realize:
a pull-cord flexible joint robot, comprising:
a power unit;
one end of the action unit is connected with the power unit, and the other end of the action unit is provided with a pull rope;
one end of the actuating mechanism is detachably connected with one end of the action unit, which is provided with a guy cable, and the guy cable penetrates through the actuating mechanism;
and the manipulator is detachably connected with the other end of the actuating mechanism.
The power unit comprises a first servo motor, a motor base and a servo motor spindle, the motor base is detachably connected to the first servo motor, the servo motor spindle is rotatably connected into the motor base, one end of the servo motor spindle is sleeved at the driving end of the first servo motor, and the servo motor spindle is detachably connected with the action unit.
The action unit comprises a box body, a first electromagnetic clutch, a second electromagnetic clutch, a transmission shaft, a linkage shaft, a gear, a pair of lead screw nuts with external teeth, a pair of ball bearings, a pair of linear bearings, a pair of lead screws and a pair of pull cables, wherein a connecting hole is formed in one end of the box body, the first electromagnetic clutch is detachably connected in the connecting hole, one end of the first electromagnetic clutch is detachably connected with the driving end of the power unit, the second electromagnetic clutch is detachably connected in the box body, one end of the second electromagnetic clutch is connected with the other end of the first electromagnetic clutch through the linkage shaft, the transmission shaft is rotatably connected in the box body, one end of the transmission shaft is detachably connected with the other end of the second electromagnetic clutch, the other end of the transmission shaft is detachably connected with the gear, the ball bearings are respectively embedded in two sides of, the lead screw nut and gear engagement, fixed linear bearing on the lead screw nut, linear bearing, lead screw nut and ball bearing are coaxial, the lead screw passes linear bearing, lead screw nut and ball bearing respectively, and lead screw and linear bearing meshing, lead screw one end can be dismantled and connect cable one end, the connection actuating mechanism can be dismantled to the box other end, the cable other end extends to outside the box and is connected with actuating mechanism, and is a pair of the lead screw is positive silk and anti-silk respectively.
The actuating mechanism comprises at least two actuating units, the at least two actuating units are sequentially hinged, and the inhaul cable penetrates through the actuating units to be connected with the actuating units at the tail ends of the actuating mechanisms.
The executing unit comprises a pair of outer plates, a pair of inner plates, a joint hinge shaft and a guide wheel assembly, the outer plates and the inner plates are arranged on two sides of the joint hinge shaft respectively, the inner plates are located in the outer plates, the inner plates and the outer plates located on two sides of the joint hinge shaft are rotatably connected with the joint hinge shaft, the upper end and the lower end of the outer plates and the upper end and the lower end of the inner plates are detachably connected with the guide wheel assembly respectively, and the stay cable penetrates through the guide wheel assembly.
The guide wheel assembly comprises a pair of guide wheel shafts and a pair of guide wheels, the upper end and the lower end between the pair of outer side plates and the upper end and the lower end between the pair of inner side plates are respectively and rotatably connected with the pair of guide wheel shafts, the guide wheels are detachably connected with the guide wheel shafts, the inhaul cable is positioned between the pair of guide wheels, and the inhaul cable is in contact with the guide wheels.
The structure of the inner side plate is the same as that of the outer side plate, and the limiting shafts are fixed on the same side of the inner side plate and the outer side plate from top to bottom.
The spring positioning shaft is fixed at the center of the outer wall surface of the inner side plate, two sides of the spring positioning shaft are respectively detachably connected with a spring, and two ends of the spring act on the upper end and the lower end of the outer side plate.
And a second servo motor is arranged between the manipulator and the actuating mechanism, and the manipulator is detachably connected at the driving end of the second servo motor.
The utility model has the advantages that: because the first electromagnetic clutch and the second electromagnetic clutch are adopted, the action unit and the actuating mechanism can be controlled to act through one power unit, and further the rotation of the box body and the actuating mechanism and the action of the actuating mechanism are realized.
Because the inhaul cable is used for controlling the action of the actuating mechanism, one end of the inhaul cable is pulled through the lead screw to enable the actuating mechanism to bend, and the mechanical claw finishes the operation.
Drawings
The present invention will be further explained with reference to the drawings and examples.
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a plan view of the present invention.
In the figure: 1-a guy cable; 2-a manipulator; 3-a motor base; 4-a servo motor spindle; 5-a box body; 6-a first electromagnetic clutch; 7-a second electromagnetic clutch; 8-a transmission shaft; 9-a linkage shaft; 10-a gear; 11-a lead screw nut; 12-a ball bearing; 13-linear bearings; 14-a lead screw; 15-outer panel; 16-inner decking; 17-articulated hinge shaft; 18-a idler shaft; 19-a guide wheel; 20-a limiting shaft; 21-a spring positioning shaft; 22-a spring; 23-a second servo motor; 24-first servomotor.
Detailed Description
Example 1:
referring to fig. 1-2, which is a schematic structural view of embodiment 1 of the present invention, a stay cable type flexible joint robot includes: a power unit; one end of the action unit is connected with the power unit, and the other end of the action unit is provided with a stay rope 1; one end of the actuating mechanism is detachably connected with one end of the action unit, which is provided with a guy cable 1, and the guy cable 1 penetrates through the actuating mechanism; and the manipulator 2 is detachably connected with the other end of the actuating mechanism.
In actual use: and starting the power unit, transmitting power to the action unit by the power unit, stretching the action unit by controlling the inhaul cable 1, controlling the action of the execution mechanism by the inhaul cable 1, and driving the mechanical claw to act by the execution mechanism to finish the operation.
Example 2:
referring to fig. 1, this embodiment is different from embodiment 1 or 2 in that: the power unit comprises a first servo motor 24, a motor base 3 and a servo motor spindle 4, the motor base 3 can be detachably connected to the first servo motor, the servo motor spindle 4 is rotatably connected into the motor base 3, one end of the servo motor spindle 4 is sleeved at the driving end of the first servo motor 24, and the servo motor spindle 4 is detachably connected with the action unit.
In actual use: start first servo motor 24, first servo motor 24 drive end is rotatory, first servo motor 24 drive end drives servo motor main shaft 4 rotatory, servo motor main shaft 4 rotates in motor cabinet 3, give the action unit through rotatory servo motor main shaft 4 with power transmission, through servo motor main shaft 4 swivelling joint in motor cabinet 3, can be with the action unit, actuating mechanism and gripper weight effect are on servo motor main shaft 4, can not cause because the drive end is overweight and damage first servo motor 24.
Example 3:
referring to fig. 1, the present embodiment is different from embodiment 1, 2 or 3 in that: the action unit comprises a box body 5, a first electromagnetic clutch 6, a second electromagnetic clutch 7, a transmission shaft 8, a linkage shaft 9, a gear, a lead screw nut 11 with an external tooth, a pair of ball bearings 12, a pair of linear bearings 13, a pair of lead screw 14 and a pair of inhaul cables 1, a connecting hole is formed in one end of the box body 5, the first electromagnetic clutch 6 can be detachably connected in the connecting hole, one end of the first electromagnetic clutch 6 is detachably connected with the driving end of a power unit, the second electromagnetic clutch 7 can be detachably connected in the box body 5, one end of the second electromagnetic clutch 7 is connected with the other end of the first electromagnetic clutch 6 through the linkage shaft 9, the transmission shaft is rotatably connected in the box body 5, one end of the transmission shaft 8 is detachably connected with the other end of the second electromagnetic clutch 7, the gear 10 can be detachably connected at the other end of the transmission shaft 8, the ball bearings 12 are respectively embedded, ball bearing 12 is last all fixed screw nut 11, screw nut 11 and gear 10 meshing, fixed linear bearing 13 on screw nut 11, linear bearing 13, screw nut 11 and ball bearing 12 are coaxial, screw 14 passes linear bearing 13, screw nut 11 and ball bearing 12 respectively, and screw 14 and linear bearing 13 meshing, 1 one end of connection cable can be dismantled to 14 one end of lead screw, 5 other ends of box can be dismantled and connect actuating mechanism, 1 other end of cable extends to 5 outer being connected with actuating mechanism of box, and is a pair of screw 14 is positive silk and anti-silk respectively.
In actual use: when the box body 5 and the actuating mechanism need to be controlled to rotate, the first electromagnetic clutch 6 is closed, the first electromagnetic clutch 6 is driven by the servo motor spindle 4, so that the box body 5 and the actuating mechanism rotate along with the rotation, the rotating action of the mechanical claw is controlled, after the rotation is finished, the first electromagnetic clutch 6 is separated, and the box body 5 cannot rotate along with the servo motor spindle 4.
When the inhaul cable 1 needs to be controlled, the second electromagnetic clutch 7 is closed, the transmission shaft 8 and the linkage shaft 9 rotate through the second electromagnetic clutch 7, the linkage shaft 9 rotates with the servo motor spindle 4 through the first electromagnetic clutch 6, the transmission shaft 8 rotates to drive the gear 10 to rotate, the gear 10 rotates to drive the screw nut 11 to rotate in the box body 5 through the ball bearing 12, the screw nut 11 drives the linear bearing 13 to rotate, the linear bearing 13 is meshed with the screw 14, the screw 14 moves back and forth in the linear bearing 13, one screw 14 is a positive screw, the other screw is a reverse screw, when the gear 10 drives the two screw nuts 11 to respectively drive the linear bearing 13 to rotate, the rotating directions are opposite, when one screw 14 moves backwards through the pair of screws 14, the other screw 14 moves forwards, and the two screws 14 move backwards to drive the inhaul cable to move forwards and backwards, the actuating mechanism can bend the pull rope 1 at the backward moving side to complete the action.
Example 4:
referring to fig. 1-2, this embodiment is different from embodiment 3 in that: the actuating mechanism comprises at least two actuating units, the at least two actuating units are sequentially hinged, and the inhaul cable 1 penetrates through the actuating units to be connected with the actuating units at the tail ends of the actuating mechanism.
The executing unit comprises a pair of outer plates 15, a pair of inner plates 16, a joint hinge shaft 17 and a guide wheel assembly, the pair of outer plates 15 and the pair of inner plates 16 are respectively arranged on two sides of the joint hinge shaft 17, the pair of inner plates 16 are positioned in the pair of outer plates 15, the inner plates 16 and the outer plates positioned on two sides of the joint hinge shaft 17 are both rotatably connected with the joint hinge shaft 17, the upper end and the lower end in the pair of outer plates 15 and the upper end and the lower end in the pair of inner plates 16 are respectively detachably connected with the guide wheel assembly, and the inhaul cable 1 penetrates through the guide wheel assembly.
In actual use: when the inhaul cable 1 is pulled, the inhaul cable 1 pulls the tail end execution unit of the execution mechanism, the tail end execution unit is close to the pulling direction of the inhaul cable 1, and the execution units are hinged, so that the whole body is bent to finish the action.
When the cable 1 is pulled, the outer side plate 15 and the inner side plate are positioned at one side pulled by the cable 1 and close to each other, and simultaneously rotate by taking the joint hinge shaft 17 as a circle center, and through finishing bending action, the guide wheel assembly can limit the cable 1 to bear force on each pair of inner side plates 16 and each pair of outer side plates 15 when the cable 1 is pulled, so that the action is finished.
Example 5:
referring to fig. 1-2, this embodiment is different from embodiment 4 in that: the guide wheel assembly comprises a pair of guide wheel shafts 18 and a pair of guide wheels 19, the upper end and the lower end between the pair of outer side plates 15 and the upper end and the lower end between the pair of inner side plates 16 are respectively and rotatably connected with the pair of guide wheel shafts 18, the guide wheels 19 are detachably connected on the guide wheel shafts 18, the inhaul cable 1 is located between the pair of guide wheels 19, and the inhaul cable 1 is in contact with the guide wheels 19.
In actual use: when the cable 1 is pulled, the two guide wheels 19 limit the cable 1, so that the cable 1 can be prevented from being separated from the grooves of the guide wheels 19, and the cable 1 is limited.
Example 6:
referring to fig. 1, the present embodiment is different from embodiment 5 in that: the inner side plate 16 and the outer side plate 15 have the same structure, and the limiting shafts 20 are fixed on the same side of the inner side plate 16 and the outer side plate 15 from top to bottom.
In actual use: when can restrict inner panel 16 and outer panel 15 one end through spacing axle 20 and be close to each other, can carry on spacingly through spacing axle 20, prevent to be too close to and cause outer panel 15 and inner panel 16 unable reseing.
Example 7:
referring to fig. 1-2, this embodiment is different from embodiment 6 in that: a spring positioning shaft 21 is fixed at the center of the outer wall surface of the inner side plate 16, springs 22 are detachably connected to two sides of the spring positioning shaft 21 respectively, and two ends of each spring 22 act on the upper end and the lower end of the outer side plate 15.
In actual use: when the other side cable 1 is pulled, the other ends of the inner plate 16 and the outer plate 15 approach each other, and the spring 22 pushes the outer plate 15 to reset, and the other end of the spring 22 compresses, so that the outer plate 15 can be assisted to reset through the spring 22.
Example 8:
referring to fig. 1-2, this embodiment is different from embodiment 7 in that: a second servo motor 23 is arranged between the manipulator 2 and the executing mechanism, and the manipulator 2 is detachably connected to the driving end of the second servo motor 23.
In actual use: the second servo motor 23 is started, the driving end of the second servo motor 23 drives the manipulator 2 to rotate, and the rotation angle of the manipulator 2 can be controlled by controlling the rotation angle of the second servo motor 23, so that the operation is completed.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art, and all such changes are within the scope of the present invention.
Claims (9)
1. A stay cable type flexible joint robot, comprising:
a power unit;
one end of the action unit is connected with the power unit, and the other end of the action unit is provided with a guy cable (1);
one end of the actuating mechanism is detachably connected with one end of the action unit, which is provided with a guy cable (1), and the guy cable (1) penetrates through the actuating mechanism;
and the manipulator (2) is detachably connected with the other end of the actuating mechanism.
2. The pull-rope type flexible joint robot according to claim 1, wherein the power unit comprises a first servo motor (24), a motor base (3) and a servo motor spindle (4), the motor base (3) is detachably coupled to the first servo motor, the servo motor spindle (4) is rotatably connected in the motor base (3), one end of the servo motor spindle (4) is sleeved at the driving end of the first servo motor (24), and the servo motor spindle (4) is detachably coupled to the action unit.
3. The pull-rope type flexible joint robot as claimed in claim 1, wherein the action unit comprises a box body (5), a first electromagnetic clutch (6), a second electromagnetic clutch (7), a transmission shaft (8), a linkage shaft (9), a gear (10), a pair of lead screw nuts (11) with external teeth, a pair of ball bearings (12), a pair of linear bearings (13), a pair of lead screws (14) and a pair of pull ropes (1), a connecting hole is formed in one end of the box body (5), the first electromagnetic clutch (6) is detachably connected in the connecting hole, one end of the first electromagnetic clutch (6) is detachably connected with the driving end of the power unit, the second electromagnetic clutch (7) is detachably connected in the box body (5), one end of the second electromagnetic clutch (7) is connected with the other end of the first electromagnetic clutch (6) through the linkage shaft (9), the transmission shaft is rotatably connected in the box body (5), one end of the transmission shaft (8) is detachably connected with the other end of the second electromagnetic clutch (7), the other end of the transmission shaft (8) is detachably connected with the gear (10), the box body (5) is internally provided with ball bearings (12) on two sides of the transmission shaft (8), the ball bearings (12) are all fixed with screw nuts (11), the screw nuts (11) are meshed with the gear (10), the screw nuts (11) are fixedly provided with linear bearings (13), the screw nuts (11) and the ball bearings (12) are coaxial, the screw (14) respectively passes through the linear bearings (13), the screw nuts (11) and the ball bearings (12), the screw (14) is meshed with the linear bearings (13), one end of the screw (14) can be detachably connected with one end of the inhaul cable (1), the other end of the box body (5) is detachably connected with an actuating mechanism, the other end of the inhaul cable (1) extends to the outside of the box body (5) to be connected with the actuating mechanism, and the lead screw (14) is a pair of a positive wire and a negative wire.
4. The robot with the flexible joint as claimed in claim 1, wherein the actuator comprises at least two actuator units, at least two actuator units are sequentially hinged, and the pull cable (1) passes through the actuator units and is connected with the actuator unit at the end of the actuator.
5. The cable-stayed flexible joint robot according to claim 4, wherein the actuating unit comprises a pair of outer plates (15), a pair of inner plates (16), a joint hinge shaft (17) and guide wheel assemblies, the pair of outer plates (15) and the pair of inner plates (16) are respectively arranged at two sides of the joint hinge shaft (17), the pair of inner plates (16) are positioned in the pair of outer plates (15), the inner plates (16) and the outer plates at two sides of the joint hinge shaft (17) are respectively and rotatably connected with the joint hinge shaft (17), the upper ends and the lower ends of the pair of outer plates (15) and the upper ends and the lower ends of the pair of inner plates (16) are respectively and detachably connected with the guide wheel assemblies, and the cable (1) penetrates through the guide wheel assemblies.
6. A robot with flexible joint, as claimed in claim 5, wherein the guide wheel assembly comprises a pair of guide wheel shafts (18) and a pair of guide wheels (19), the pair of guide wheel shafts (18) are rotatably connected between the pair of outer side plates (15) and the pair of inner side plates (16), the guide wheels (19) are detachably connected to the guide wheel shafts (18), the cable (1) is located between the pair of guide wheels (19), and the cable (1) is in contact with the guide wheels (19).
7. The pull-rope type flexible joint robot as claimed in claim 5, wherein the inner plate (16) and the outer plate (15) are identical in structure, and the limiting shafts (20) are fixed on the same side of the inner plate (16) and the outer plate (15) from top to bottom.
8. The stay cable type flexible joint robot as claimed in claim 5, wherein a spring positioning shaft (21) is fixed at the center of the outer wall surface of the inner side plate (16), springs (22) are detachably connected to both sides of the spring positioning shaft (21), and both ends of the springs (22) act on the upper end and the lower end of the outer side plate (15).
9. A dragline flexible joint robot according to claim 1, characterized in that a second servo motor (23) is arranged between the manipulator (2) and the actuator, and the manipulator (2) is detachably connected to the driving end of the second servo motor (23).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922464887.0U CN211415161U (en) | 2019-12-31 | 2019-12-31 | Stay cable type flexible joint robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922464887.0U CN211415161U (en) | 2019-12-31 | 2019-12-31 | Stay cable type flexible joint robot |
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| Publication Number | Publication Date |
|---|---|
| CN211415161U true CN211415161U (en) | 2020-09-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922464887.0U Active CN211415161U (en) | 2019-12-31 | 2019-12-31 | Stay cable type flexible joint robot |
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| CN (1) | CN211415161U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112372663A (en) * | 2020-10-29 | 2021-02-19 | 北京航空航天大学 | Continuum variable-rigidity adjusting device |
-
2019
- 2019-12-31 CN CN201922464887.0U patent/CN211415161U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112372663A (en) * | 2020-10-29 | 2021-02-19 | 北京航空航天大学 | Continuum variable-rigidity adjusting device |
| CN112372663B (en) * | 2020-10-29 | 2022-04-08 | 北京航空航天大学 | Continuum variable-rigidity adjusting device |
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