CN212445224U - Flexible joint robot - Google Patents
Flexible joint robot Download PDFInfo
- Publication number
- CN212445224U CN212445224U CN201922466387.0U CN201922466387U CN212445224U CN 212445224 U CN212445224 U CN 212445224U CN 201922466387 U CN201922466387 U CN 201922466387U CN 212445224 U CN212445224 U CN 212445224U
- Authority
- CN
- China
- Prior art keywords
- swing ring
- gear
- detachably connected
- joint
- action
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a robot field, concretely relates to flexible joint robot, include: a drive section; the driving part is detachably connected with one end of the transmission part, and the driving end is positioned in the transmission part; one end of the action part is detachably connected with the transmission end of the transmission part; and the mechanical arm is detachably connected with the other end of the action part. The utility model discloses owing to adopt eccentric gear's effective tooth way and pendulum ring gear engagement, through eccentric gear direction of rotation, make effective gear and one of them pendulum ring gear engagement, promote the pendulum ring gear and remove, the upset of control joint inner arm, another pendulum ring gear and eccentric gear separation simultaneously, through the upset of a plurality of action units, can make action portion crooked.
Description
Technical Field
The utility model relates to a robot field, concretely relates to flexible joint robot.
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 utility model provides a flexible joint robot of stay cable formula has solved the artifical loaded down with trivial details repeated operation action of tradition and has the difficult problem of the regional operation of injury to the human body other, has realized replacing the manual work through machinery and can improve work efficiency when can ensure artifical safety.
The utility model provides a technical problem can adopt following technical scheme to realize:
a flexible joint robot comprising:
a drive section;
the driving part is detachably connected with one end of the transmission part, and the driving end is positioned in the transmission part;
one end of the action part is detachably connected with the transmission end of the transmission part;
and the mechanical arm is detachably connected with the other end of the action part.
The driving part comprises a first servo motor, the first servo motor is detachably connected with one end of the transmission part, and the driving end of the first servo motor penetrates into the transmission part to be connected.
The transmission part comprises a gear box, a coupler and a transmission main shaft, the transmission main shaft is rotatably connected in the gear box, one end of the transmission main shaft extends out of the gear box to be detachably connected with the action part, the driving part is detachably connected with the gear box, and the driving end of the driving part penetrates into the gear box to be connected with the other end of the transmission main shaft through the coupler.
The action part comprises a plurality of action units which are fixed in sequence, and the action units positioned on two sides of the action part are detachably connected with the transmission part and the manipulator respectively.
The action unit comprises a joint inner arm, a joint outer arm, a joint hinge shaft, a rotary servo hydraulic cylinder, a swing ring, a pair of swing ring shafts, a pair of swing ring gears, a pair of swing ring gear shafts and an eccentric gear, the joint inner arm is inserted into the joint outer arm and is hinged through the joint hinge shaft, the rotary servo hydraulic cylinder can be detachably connected into the joint outer arm, the rotary servo hydraulic cylinder is detachably connected with the eccentric gear at the driving end, the two sides of the swing ring are hinged into the two sides of the joint inner arm through the swing ring shafts, the swing ring gears are connected into the swing ring through the swing ring gear shafts in a rotating mode, and the eccentric gear is meshed with the swing ring gears.
The upper side and the lower side of the eccentric gear are provided with effective teeth and are meshed with the swing ring gear, the left side and the right side of the eccentric gear are provided with invalid teeth, a notch is formed in the right side of the eccentric gear, the swing ring gear is respectively meshed with the effective teeth of the eccentric gear, and the swing ring gear is located on the same side of the effective teeth of the eccentric gear.
The joint outer arm is characterized in that limiting grooves are formed in two side wall surfaces in the joint outer arm, the limiting grooves are circular arc-shaped and concentric with the joint hinge shaft, one end of the swing ring shaft is fixed with the swing ring, and the other end of the swing ring shaft penetrates through the joint inner arm and is located in the limiting grooves.
The action part and the manipulator are provided with a second servo motor, the second servo motor is detachably connected with the action part, and a driving end of the second servo motor is detachably connected with the manipulator.
The utility model has the advantages that: because the first servo motor is adopted, the gear box is driven by the first servo motor, the action part is driven by the gear box to rotate, and the rotation angle can be controlled by the servo motor, so that the action part is matched for operation, and the flexibility of the operation is improved.
Because the effective gear path of the eccentric gear is meshed with the swing ring gear, the effective gear is meshed with one of the swing ring gears in the rotating direction of the eccentric gear to push the swing ring gear to move so as to control the inner arm of the joint to turn over, and the other swing ring gear is separated from the eccentric gear at the same time, so that the action part can be bent by turning over the action units.
Due to the fact that the second servo motor is adopted, the second servo motor drives the mechanical arm to overturn, adjustment can be conducted according to the operation condition, and flexibility of the mechanical arm is improved.
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 front view of the present invention.
Fig. 3 is a plan view of the present invention.
In the figure: 1-a gripper; 2-a second servo motor; 3-a gearbox; 4-a coupler; 5-a transmission main shaft; 6-inner arm of joint; 7-outer arm of joint; 8-articulated hinge shaft; 9-a rotary servo hydraulic cylinder; 10-a swinging ring; 11-a pendulum shaft; 12-a wobble ring gear; 13-a wobble ring gear shaft; 14-eccentric gear; 15-a limiting groove; 16-second servo motor.
Detailed Description
Example 1:
referring to fig. 1-2, a flexible joint robot, comprising:
a drive section; the driving part is detachably connected with one end of the transmission part, and the driving end is positioned in the transmission part; one end of the action part is detachably connected with the transmission end of the transmission part; and the manipulator 1 is detachably connected with the other end of the action part.
In actual use: the driving part drives the action part to rotate through the transmission part, so that the action part can be controlled to act, and meanwhile, the manipulator 1 can be controlled to operate through the action of the action part, so that the operation is finished.
Example 2:
on the basis of the embodiment 1, referring to fig. 1, the driving part comprises a first servo motor 2, the first servo motor 2 is detachably connected with one end of the transmission part, and the driving end of the first servo motor 2 is deeply connected with the transmission part.
In actual use: the first servo motor 2 is started, the driving end of the first servo motor 2 rotates, the driving end of the first servo motor 2 transmits power to the transmission part, the transmission part controls the action part to rotate, and the servo motor can control the rotation angle of the driving end by adopting the first servo motor 2, so that the action part can be controlled to rotate, the action of the action part is matched, and the operation is completed by the manipulator 1.
Example 3:
on the basis of embodiment 1, referring to fig. 1, the transmission part includes a gear box 3, a coupler 4 and a transmission main shaft 5, the transmission main shaft 5 is rotatably connected in the gear box 3, one end of the transmission main shaft extends out of the gear box 3 to be detachably connected with the action part, the driving part is detachably connected to the gear box 3 with the gear box 3, and the driving end of the driving part extends into the gear box 3 and is connected with the other end of the transmission main shaft 5 through the coupler 4.
In actual use: the driving end of the first servo motor 2 drives the shaft coupling 4 to rotate, the shaft coupling 4 drives the transmission main shaft 5 to rotate in the gear box 3, the transmission main shaft 5 rotates and transfers the action part to rotate, the transmission part is connected between the first servo motor 2 and the action part, the loss of the first servo motor 2 can be reduced, the gear box 3 is connected with the placing position, the weight of the action part and the manipulator 1 acts on the transmission main shaft 5, the long-time load of the rotor of the first servo motor 2 cannot be caused, and the rotating precision and the rotor bending of the first servo motor 2 are influenced.
Example 4:
on the basis of the embodiment 1, referring to fig. 1 and fig. 3, the action part comprises a plurality of action units, the action units are fixed in sequence, and the action units positioned at two sides of the action part are respectively detachably connected with the transmission part and the manipulator 1.
In actual use: the action units are connected together and act each other to finish the action, and the action units act to finish the multi-angle turnover, so that the operation can be performed in a bent channel, and the flexibility of the channel is improved.
Example 5:
on the basis of embodiment 4, referring to fig. 1-2, the action unit includes an inner joint arm 6, an outer joint arm 7, a joint hinge shaft 8, a rotary servo hydraulic cylinder 9, a swing ring 10, a pair of swing ring shafts 11, a pair of swing ring gears 12, a pair of swing ring gear shafts 13, and an eccentric gear 14, the inner joint arm 6 is inserted into the outer joint arm 7 and is hinged through the joint hinge shaft 8, the rotary servo hydraulic cylinder 9 is detachably connected into the outer joint arm 7, a driving end of the rotary servo hydraulic cylinder 9 is detachably connected with the eccentric gear 14, two sides of the swing ring 10 are hinged through the swing ring shafts 11 to two sides inside the inner joint arm 6, the pair of swing ring gears 12 are rotatably connected into the swing ring 10 through the swing ring gear shafts 13, and the eccentric gear 14 is meshed with the pair of swing ring gears 12.
In actual use: the turning servo hydraulic cylinder 9 is driven, the driving end of the turning servo hydraulic cylinder 9 rotates, the driving end of the turning servo hydraulic cylinder 9 drives the eccentric gear 14 to rotate, the eccentric gear 14 is meshed with one of the swing ring gears 12, the swing ring gears 12 rotate on the swing ring gear shafts 13, meanwhile, the swing ring gears 12 move under the action of the eccentric gear 14, the swing ring gears 12 adjust the swing rings 10 to move through the swing ring gear shafts 13, the swing rings 10 turn over in the joint inner arms 6 through the swing ring shafts 11, the joint inner arms 6 are driven to turn over with the joint hinge shafts 8 as the circle centers during turning over, the action of the action unit is completed, when the turning servo hydraulic cylinder 9 needs to turn over reversely, the turning servo hydraulic cylinder 9 is controlled to turn over reversely, and the action is completed.
Example 6:
on the basis of embodiment 4, referring to fig. 2, the upper and lower sides of the eccentric gear 14 are effective teeth and are engaged with the swing ring gear 12, the left and right sides of the eccentric gear 14 are ineffective teeth, and the right side of the eccentric gear 14 is provided with a notch, the swing ring gear 12 is engaged with the effective teeth of the eccentric gear 14, and the pair of swing ring gears 12 are located on the same side of the effective teeth of the eccentric gear 14.
In actual use: the effective teeth of the eccentric gear 14 are positioned at the same side of the pair of the swing ring gears 12, so that when the eccentric gear 14 pushes one of the swing ring gears 12, the effective teeth can be separated from the other swing ring gear 12, the body width of the eccentric gear 14 can be reduced through the gap, and meanwhile, the weight of the eccentric gear 14 can be reduced.
Example 7:
on the basis of the embodiment 4, referring to fig. 1, the inner two side wall surfaces of the joint outer arm 7 are both provided with a limiting groove 15, the limiting groove 15 is arc-shaped, the limiting groove 15 is concentric with the joint hinge shaft 8, one end of the swing ring shaft 11 is fixed with the swing ring 10, and the other end of the swing ring shaft 11 penetrates through the joint inner arm 6 and is located in the limiting groove 15.
In actual use: when the swing ring 10 drives the joint inner arm 6 to overturn, the swing ring shafts 11 on two sides of the swing ring 10 move in the limiting grooves 15, the swing ring shafts 11 are limited when overturning along with the joint inner arm 6 through the arc-shaped limiting grooves 15, the swing ring gear 12 is prevented from falling into the notch, and the overturning angle of the joint inner arm 6 is controlled simultaneously.
Example 8:
in addition to embodiment 1, referring to fig. 1 and 3, the operation portion and the manipulator 1 are provided with a second servo motor 16, the second servo motor 16 is detachably connected to the operation portion, and a driving end of the second servo motor 16 is detachably connected to the manipulator 1.
In actual use: the second servo motor 16 is started, the driving end of the second servo motor 16 drives the manipulator 1 to rotate, and the rotation angle of the manipulator 1 can be controlled by controlling the rotation angle of the second servo motor 16, 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 (6)
1. A flexible joint robot, comprising:
a drive section;
the driving part is detachably connected with one end of the transmission part, and the driving end is positioned in the transmission part;
one end of the action part is detachably connected with the transmission end of the transmission part;
the manipulator (1), the said manipulator (1) is connected with another end of the action part removably;
the action part comprises a plurality of action units which are fixed in sequence, and the action units positioned on two sides of the action part are respectively detachably connected with the transmission part and the manipulator (1);
the action unit comprises a joint inner arm (6), a joint outer arm (7), a joint hinge shaft (8), a rotary servo hydraulic cylinder (9), a swing ring (10), a pair of swing ring shafts (11), a pair of swing ring gears (12), a pair of swing ring gear shafts (13) and an eccentric gear (14), the joint inner arm (6) is inserted into the joint outer arm (7) and hinged through a joint hinge shaft (8), the rotary servo hydraulic cylinder (9) is detachably connected in the joint outer arm (7), the driving end of the rotary servo hydraulic cylinder (9) is detachably connected with an eccentric gear (14), two sides of the swing ring (10) are hinged on two sides in the joint inner arm (6) through a swing ring shaft (11), a pair of swing ring gears (12) are rotatably connected in the swing ring (10) through a swing ring gear shaft (13), the eccentric gear (14) is engaged with a pair of the wobble ring gears (12).
2. The flexible joint robot as claimed in claim 1, wherein the driving part comprises a first servo motor (2), the first servo motor (2) is detachably connected with one end of the transmission part, and the driving end of the first servo motor (2) is deeply coupled with the transmission part.
3. The flexible joint robot according to claim 1, wherein the transmission part comprises a gear box (3), a coupler (4) and a transmission main shaft (5), the transmission main shaft (5) is rotatably connected in the gear box (3), one end of the transmission main shaft extends out of the gear box (3) to be detachably connected with the action part, the driving part and the gear box (3) are detachably connected on the gear box (3), and the driving end of the driving part extends into the gear box (3) and is connected with the other end of the transmission main shaft (5) through the coupler (4).
4. The flexible joint robot according to claim 1, wherein the eccentric gear (14) has effective teeth on upper and lower sides thereof and is engaged with the swing ring gear (12), the eccentric gear (14) has ineffective teeth on left and right sides thereof and has a notch on a right side thereof, the swing ring gear (12) is respectively engaged with the effective teeth of the eccentric gear (14), and a pair of the swing ring gears (12) are located on the same side of the effective teeth of the eccentric gear (14).
5. The flexible joint robot as claimed in claim 1, wherein the inner two side wall surfaces of the outer joint arm (7) are both provided with a limiting groove (15), the limiting groove (15) is arc-shaped, the limiting groove (15) is concentric with the joint hinge shaft (8), one end of the swing ring shaft (11) is fixed with the swing ring (10), and the other end of the swing ring shaft (11) penetrates through the inner joint arm (6) and is located in the limiting groove (15).
6. The flexible joint robot according to claim 1, wherein the action part and the manipulator (1) are provided with a second servo motor (16), the second servo motor (16) is detachably connected with the action part, and the driving end of the second servo motor (16) is detachably connected with the manipulator (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922466387.0U CN212445224U (en) | 2019-12-31 | 2019-12-31 | Flexible joint robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922466387.0U CN212445224U (en) | 2019-12-31 | 2019-12-31 | Flexible joint robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212445224U true CN212445224U (en) | 2021-02-02 |
Family
ID=74479377
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922466387.0U Active CN212445224U (en) | 2019-12-31 | 2019-12-31 | Flexible joint robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212445224U (en) |
-
2019
- 2019-12-31 CN CN201922466387.0U patent/CN212445224U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105459728B (en) | A kind of self-adapting changeable shape running gear and robot for robot | |
| KR890000717B1 (en) | Industrial robot | |
| CN102665592B (en) | Instrument wrist with cycloidal surfaces | |
| EP3017921B1 (en) | Robot, arm structure for robot, and actuating device | |
| CA2137022A1 (en) | Industrial Robot with Integrated Reduction Gear Units | |
| CN105563472A (en) | Two-freedom-degree wheel-leg composite spherical mechanism and underwater robot | |
| CN104942818A (en) | Seven-freedom-degree five-finger mechanical arm | |
| KR101505062B1 (en) | A hybrid serial-parallel linkage based six degrees of freedom robotic manipulator | |
| KR102178004B1 (en) | Industrial Robot Gripper | |
| CN212445224U (en) | Flexible joint robot | |
| CN213606867U (en) | Full-active series medical manipulator | |
| CN110712218A (en) | Arm robot | |
| CN105539786A (en) | Wheel-leg composite parallel leg mechanism and underwater robot | |
| CN101774176B (en) | Rack-flexible piece coupling underactuated double-joint robot finger device | |
| CN111002299A (en) | Flexible joint robot | |
| CN204525516U (en) | A kind of industrial robot of changeable working head pattern | |
| CN211415161U (en) | Stay cable type flexible joint robot | |
| WO2004082898A3 (en) | A robot wrist with gear members arranged as concave bevel gear with a negative bevel angle | |
| CN111673717B (en) | Simulation multi-arm manipulator | |
| CN210589249U (en) | Movable intelligent robot grabbing device | |
| CN109605406B (en) | Bionic finger | |
| CN209755207U (en) | Manipulator and robot | |
| CN210233024U (en) | Support type double-arm robot | |
| SU795943A1 (en) | Hydromechanic joint | |
| CN209175742U (en) | A kind of robot quick steering mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |