CN216634447U - Manipulator joint - Google Patents

Abstract

The utility model belongs to the technical field of robots, and particularly discloses a manipulator joint which comprises a machine body, and a connecting part and a walking part which are arranged on the machine body, wherein the connecting part comprises two first lug plates and two second lug plates which are arranged on two sides of the machine body, the distance between the inner sides of the two first lug plates is greater than or equal to the distance between the outer sides of the two second lug plates, pin holes are formed in the first lug plates and the second lug plates, and the walking part comprises a ball which is rotatably arranged at the bottom of the machine body. Compared with the existing manipulator joint, the manipulator joint has the advantages of simple structure, low cost, stable connection and the like.

Description

Manipulator joint

Technical Field

The utility model belongs to the technical field of robots, and particularly relates to a manipulator joint.

Background

Different from the traditional joint series type mechanical arm, the flexible mechanical arm has the advantages of high flexibility, strong obstacle avoidance capability and the like, has strong movement and operation capabilities in narrow space and complex environment, and has important application value in the fields of aerospace manufacturing, large-scale equipment detection and maintenance and the like.

The flexible mechanical arm is usually formed by connecting a plurality of joints in sequence, in order to improve the motion capability and precision of the whole mechanical arm, the existing single joint is usually formed by a redundant complex structure, so that the weight and the cost of the joint are greatly increased, and the flexible mechanical arm is not suitable for being used in some environments only needing simple operation.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a manipulator joint which is simple in structure, low in cost and stable in connection.

In order to achieve the purpose, the technical scheme of the utility model is as follows:

the utility model provides a manipulator joint, includes the organism and sets up connecting portion and walking portion on the organism, and connecting portion are including two first otic placodes and two second otic placodes of locating the organism both sides, and the distance between two first otic placodes inboards is more than or equal to the distance between two second otic placodes outsides, all is equipped with the pinhole on first otic placode and the second otic placode, and walking portion sets up the ball in the bottom half including rotating.

Based on the scheme, the connecting part on the joint is mainly used for being connected and assembled with other joints, when the joint is specifically assembled, the two second lug plates of one joint are inserted between the two first lug plates of the other joint, the pin holes in the lug plates are opposite, and then the connecting pins are inserted into the pin holes of the lug plates to complete assembly.

The walking part provides a walking supporting function for the joints, the balls are used as walking wheels of the joints, the balls can rotate 360 degrees, and a manipulator composed of a plurality of joints can axially move on the pipe fitting and can rotate around the pipe fitting, so that the multi-directional movement capability is realized.

Compared with the existing manipulator joint, the manipulator joint has the advantages of simple structure, low cost, stable connection and the like.

Preferably, the bottom of the body is provided with a spherical containing groove capable of containing balls, the upper part of the balls is located in the containing groove, the bottom of the body is also fixedly connected with a limiting plate, a circular hole right opposite to the containing groove is formed in the limiting plate, and the diameter of the circular hole are smaller than the diameter of the balls when the lower parts of the balls penetrate through the circular hole.

Preferably, the organism includes two blocks of curb plates, fixedly connected with roof between two blocks of curb plate tops, fixedly connected with bottom plate between two blocks of curb plate bottoms, and integrated into one piece has the intermediate lamella of vertical setting between two blocks of curb plates middle part.

Preferably, both side plates are inverted trapezoids.

Preferably, the middle plate is provided with a first through hole and a second through hole which are vertically arranged.

Preferably, the second penetrating hole is internally detachably connected with a thread fixing device, a thread hole is formed in the thread fixing device, and two ends of the thread hole are both designed to be horn-shaped with large outside and small inside.

Preferably, one end of the wire fixer is provided with a limiting ring with the diameter larger than that of the second through hole, and the other end of the wire fixer is clamped with a clamping ring.

Preferably, the organism is located two first otic placodes inboard departments and all is equipped with the first breach of dodging, and the organism is located two second otic placodes outsides and all is equipped with the second breach of dodging.

Drawings

FIG. 1 is a schematic diagram of an embodiment of the present invention;

FIG. 2 is a perspective view of a joint;

FIG. 3 is a cross-sectional view of a joint;

FIG. 4 is a split view of a joint walking part;

figure 5 is a schematic view of two articulations.

Reference numerals in the drawings of the specification include: the wire fixing device comprises a machine body 10, side plates 101, a top plate 102, a middle plate 103, a bottom plate 104, an accommodating groove 20, balls 21, a limiting plate 22, a circular hole 23, a first lug plate 31, a second lug plate 32, a connecting pin 33, a first avoiding notch 34, a second avoiding notch 35, a first inserting hole 40, a wire fixing device 41 and a wire hole 42.

Detailed Description

Various embodiments according to the present invention will be described in detail with reference to the accompanying drawings. Here, it is to be noted that, in the drawings, the same reference numerals are given to constituent parts having substantially the same or similar structures and functions, and repeated description thereof will be omitted. The term "sequentially comprising A, B, C, etc" merely indicates the order of the included elements A, B, C, etc. and does not exclude the possibility of including other elements between a and B and/or between B and C. The description of "first" and its variants is merely for distinguishing the components and does not limit the scope of the utility model, and "first" may be written as "second" and the like without departing from the scope of the utility model.

The drawings in the present specification are schematic views to assist in explaining the concept of the present invention, and schematically show the shapes of respective portions and their mutual relationships.

Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to fig. 1 to 5.

The present embodiment provides a manipulator joint, which includes a machine body 10, and a connecting portion and a traveling portion provided on the machine body 10.

Referring to fig. 1, the body 10 includes two side plates 101, a top plate 102 is integrally formed between tops of the two side plates 101, a bottom plate 104 is integrally formed between bottoms of the two side plates 101, and a middle plate 103 is vertically disposed between middle portions of the two side plates 101, wherein the two side plates 101 are parallel to each other, the top plate 102 and the bottom plate 104 are parallel to each other, and the middle plate 103 is located at middle positions of other plates. The plates are assembled by injection molding to form the housing 10 shown in the figure.

Referring to fig. 2 and 5, the connecting portion includes two first ear plates 31 and two second ear plates 32, the two first ear plates 31 are integrally formed at the top ends of the right sides of the two side plates 101, the two first ear plates 31 are opposite to each other, the two second ear plates 32 are integrally formed at the top ends of the left sides of the two side plates 101, the two second ear plates 32 are opposite to each other, and pin holes are formed in the first ear plates 31 and the second ear plates 32. Wherein the distance between the inner sides of the two first ear plates 31 is greater than or equal to the distance between the outer sides of the two second ear plates 32, so that the two second ear plates 32 can be embedded between the two first ear plates 31.

The first avoidance notch 34 is provided at the position of the upper end of the right side of the two side plates 101 opposite to the second ear plate 32, similarly, the second avoidance notch 35 is provided at the position of the upper end of the left side of the two side plates 101 opposite to the first ear plate 31, specifically, the two first avoidance notches 34 on the right side of the side plates 101 are respectively located at the inner sides of the two first ear plates 31, and the two second avoidance notches 35 on the left side of the side plates 101 are respectively located at the outer sides of the two second ear plates 32.

Referring to fig. 5, when two joints are assembled, two second ear plates 32 of a joint B are inserted between two first ear plates 31 of a joint a, pin holes of the four ear plates are opposite, at this time, the first ear plates 31 of the joint a are positioned in the second avoidance notches 35 of the joint B, the second ear plates 32 of the joint B are positioned in the first avoidance notches 34 of the joint a, and then the connecting pins 33 are inserted into pin holes of the ear plates to complete the assembly.

In some embodiments, the side plate 101 is a plate member with an inverted trapezoid shape, and referring to fig. 5, since the side plate 101 of the body 10 has an inverted trapezoid shape, when two joints are assembled together through the ear plate at the upper end, a triangular avoiding gap is formed between the two joints, so that the joints can rotate around the connecting pin 33 into the avoiding gap until the joints abut against another joint.

Referring to fig. 1, in some embodiments, the middle plate 103 is provided with a first through hole 40 and a second through hole which are vertically arranged. The first insertion hole 40 is used for inserting the rebounding steel bar, and the second insertion hole is used for inserting the traction line or the power rope.

Referring to fig. 3, in this embodiment, a wire fixing device 41 made of rubber material is disposed in the second insertion hole, a limiting ring having a diameter larger than that of the second insertion hole is disposed at the right end of the wire fixing device 41, and a snap ring is clamped at the left end of the wire fixing device 41, so that the wire fixing device 41 is stably located in the second insertion hole. Wherein, be equipped with the line hole 42 that can supply power rope or pull wire to pass in the solidus ware 41, the line hole 42 both ends are the loudspeaker form of big end outside and little end inside, make power rope or pull wire can be suitable to swing all around and do not influence solidus ware 41.

Referring to fig. 3 and 4, a walking part is disposed at the bottom of each joint, the walking part includes a ball 21 rotatably disposed at the bottom of the machine body 10, specifically, a spherical receiving groove 20 is disposed on the joint bottom plate 104, the diameter of the receiving groove 20 is slightly larger than that of the ball 21, so that the ball 21 can be received in the receiving groove 20 and the ball 21 fits with the inner wall of the receiving groove 20, and the depth of the receiving groove 20 is smaller than the radius of the ball 21, so that the upper portion of the ball 21 is located in the receiving groove 20, and the lower portion of the ball 21 is exposed below the receiving groove 20. Still through screw fixedly connected with limiting plate 22 on the bottom plate 104, limiting plate 22 middle part is seted up with holding tank 20 just right circular port 23, and the diameter of circular port 23 is less than the diameter of ball 21, and the lower part of ball 21 passes circular port 23 and exposes to limiting plate 22 below.

So set up, limiting plate 22 is spacing ball 21 in holding tank 20, and when the joint was walked, ball 21 rolled under receiving the circumstances of external friction as the walking wheel, and ball 21 can carry out 360 degrees circumferential motion moreover, made the joint have the ability of multi-directional motion.

Based on the scheme, when a plurality of joints are assembled, the two second ear plates 32 of one joint are inserted between the two first ear plates 31 of the other joint, and then the connecting pin 33 is inserted into the pin hole of each ear plate to complete assembly. After the joints are connected to form the manipulator, each joint can rotate around the connecting pin 33 to the avoidance gap, so that the manipulator is integrally bent, and when two adjacent joints are abutted, the manipulator is bent to the limit position. The manipulator formed by the joints has the function of surrounding rod pieces, pipe fittings and the like.

The walking part provides the walking support function for the joint, makes it can 360 degrees rotations as the walking wheel of joint with ball 21, makes the manipulator that a plurality of joints are constituteed not only can axial displacement on the pipe fitting, can also rotate around the pipe fitting, has multi-direction motion ability.

Compared with the existing manipulator joint, the manipulator joint has the advantages of simple structure, low cost, stable connection and the like.

The foregoing detailed description of the preferred embodiments of the utility model has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.

Claims (8)

1. A manipulator joint, its characterized in that: including organism (10) and set up connecting portion and walking portion on organism (10), connecting portion are including two first otic placodes (31) and two second otic placodes (32) of locating organism (10) both sides, distance between two first otic placodes (31) inboards is more than or equal to the distance between two second otic placodes (32) outsides, all be equipped with the pinhole on first otic placode (31) and second otic placode (32), walking portion sets up ball (21) in organism (10) bottom including rotating.

2. A manipulator joint according to claim 1, wherein: spherical holding tank (20) that can hold ball (21) are seted up to organism (10) bottom, and ball (21) upper portion is arranged in holding tank (20), and organism (10) bottom fixedly connected with limiting plate (22) still sets up on limiting plate (22) and just right circular port (23) with holding tank (20), and the diameter that ball (21) lower part passed circular port (23) and circular port (23) is less than the diameter of ball (21).

3. A manipulator joint according to claim 1 or 2, wherein: organism (10) include two curb plates (101), fixedly connected with roof (102) between two curb plate (101) tops, fixedly connected with bottom plate (104) between two curb plate (101) bottoms, and integrated into one piece has intermediate lamella (103) of vertical setting between two curb plate (101) middle parts.

4. A manipulator joint according to claim 3, wherein: the two side plates (101) are both in an inverted trapezoid shape.

5. A manipulator joint according to claim 4, wherein: the middle plate (103) is provided with a first through hole (40) and a second through hole which are vertically arranged.

6. A manipulator joint according to claim 5, wherein: the wire fixing device (41) is detachably connected in the second penetrating hole, a wire hole (42) is formed in the wire fixing device (41), and two ends of the wire hole (42) are both in a horn shape with a large outer part and a small inner part.

7. The manipulator joint according to claim 6, wherein: one end of the wire fixing device (41) is provided with a limiting ring with the diameter larger than that of the second through hole, and the other end of the wire fixing device (41) is clamped with a clamping ring.

8. A manipulator joint according to claim 1 or 2, wherein: the machine body (10) is located on the inner sides of the two first ear plates (31) and is provided with a first avoidance notch (34), and the machine body (10) is located on the outer sides of the two second ear plates (32) and is provided with a second avoidance notch (35).

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