CN118789585B - Multi-direction angle-adjusting mechanical joint capable of being locked by itself - Google Patents
Multi-direction angle-adjusting mechanical joint capable of being locked by itself Download PDFInfo
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- CN118789585B CN118789585B CN202411288013.3A CN202411288013A CN118789585B CN 118789585 B CN118789585 B CN 118789585B CN 202411288013 A CN202411288013 A CN 202411288013A CN 118789585 B CN118789585 B CN 118789585B
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- 238000010586 diagram Methods 0.000 description 6
- 230000000149 penetrating effect Effects 0.000 description 4
- 230000002457 bidirectional effect Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
- Gear Transmission (AREA)
Abstract
本发明公开了一种多方向调节角度可自行锁定的机械关节，涉及机械臂关节技术领域，包括臂体和关节组件，所述臂体的端部内壁固定有安置板，所述关节组件转动连接于臂体的端部，所述关节组件包括关节壳、第一齿环、第二齿环、第三齿环、微型电推杆、环形盒、内齿圈和外齿圈，所述环形盒的开口处外侧面固定有外齿圈。该发明，外齿圈、内齿圈分别与第一齿环和第一齿轮、第二齿环和第二齿轮之间进行替换啮合，使得第一齿轮和第二齿轮可以交替空转并逐步降速直至停转，由此实现关节壳携带机械臂快速正反交替转动以调节角度的同时，避免第一驱动电机和第二驱动电机的输出端在高速转动时骤然刹停并反向转动造成的疲劳损耗。
The present invention discloses a mechanical joint that can adjust the angle in multiple directions and can be locked by itself, and relates to the technical field of mechanical arm joints, including an arm body and a joint assembly, wherein a placement plate is fixed to the inner wall of the end of the arm body, and the joint assembly is rotatably connected to the end of the arm body, and the joint assembly includes a joint shell, a first gear ring, a second gear ring, a third gear ring, a micro electric push rod, an annular box, an inner gear ring and an outer gear ring, and an outer gear ring is fixed to the outer side of the opening of the annular box. In this invention, the outer gear ring and the inner gear ring are respectively engaged with the first gear ring and the first gear, and the second gear ring and the second gear, so that the first gear and the second gear can alternately idle and gradually reduce speed until they stop, thereby achieving the joint shell carrying the mechanical arm to rotate rapidly in forward and reverse directions to adjust the angle, while avoiding fatigue loss caused by the output ends of the first drive motor and the second drive motor suddenly stopping and rotating in the opposite direction when rotating at high speed.
Description
Technical Field
The invention relates to the technical field of mechanical arm joints, in particular to a mechanical joint with a multidirectional angle adjustment and self-locking function.
Background
The mechanical joints are structures for connecting mechanical arm parts and allowing relative movement between the mechanical arm parts, the mechanical joints are often arranged in a plurality, and the mechanical joints are mutually matched to realize multi-direction angle adjustment of the mechanical arm.
The existing mechanical joint can complete forward rotation and reverse rotation through the driving mechanism, when the quick response is needed to be dealt with, the driving mechanism always needs to be driven in a quick forward and reverse alternating mode so that the joint can make a quick response, but fatigue damage is often caused after quick braking and reverse acceleration rotation in the high-speed rotation process and long-term fatigue damage is caused, local thermal stress concentration is easily caused, and therefore the reliability of the joint is affected.
In view of the above, research and improvement have been made on the conventional structure and the conventional drawbacks, and a mechanical joint capable of self-locking in a multidirectional adjustment angle has been proposed.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a mechanical joint with a multidirectional adjusting angle capable of being locked by itself, and solves the problems in the prior art.
The mechanical joint comprises an arm body and a joint component, wherein a mounting plate is fixed on the inner wall of the end part of the arm body, a first driving motor and a second driving motor are symmetrically fixed on one side of the mounting plate, the output end of the first driving motor is connected with a first gear, the output end of the second driving motor is connected with a second gear, the joint component is rotationally connected to the end part of the arm body, the joint component comprises a joint shell, a first toothed ring, a second toothed ring, a third toothed ring, a miniature electric push rod, an annular box, an inner gear ring and an outer gear ring, the first toothed ring, the second toothed ring and the third toothed ring are sequentially fixed on the inner wall of the joint shell from outside to inside on the side close to the arm body, a miniature electric push rod is fixed on the outer side of the joint shell, the end part of the miniature electric push rod is rotationally connected with an annular box, an inner gear ring is fixed on the inner side of an opening of the annular box, and an outer gear ring is fixed on the outer side of the opening of the annular box.
Further, the length of the output end of the first driving motor is smaller than that of the output end of the second driving motor, and the output ends of the first driving motor and the second driving motor extend into the joint shell.
Further, a space is arranged between the first toothed ring and the second toothed ring, and the space width is matched with the maximum outer diameter of the outer gear ring.
Further, the first gear and the first gear ring are located in the same plane, and the second gear ring are located in the same plane.
Furthermore, the whole gear tooth parts of the first gear ring, the second gear ring, the inner gear ring, the outer gear ring, the first gear and the second gear are in conical structures, and two adjacent sides among the gear teeth still keep planar structures.
Further, a penetrating hole is formed in the middle of the placement plate, and a self-locking assembly is penetrated in the penetrating hole.
Further, the self-locking assembly comprises a connecting shaft, a support and an angle detector, wherein one end of the connecting shaft is fixed with the support, and the angle detector is arranged in the support.
Furthermore, the angle detector and the support are fixedly connected with the inner wall of the annular box, and the angle detector and the support are not contacted with each other.
Further, the self-locking assembly further comprises a tube shaft and a baffle, the tube shaft is arranged on one side, far away from the first driving motor, of the placement plate, and the baffle is sleeved on the outer wall of the tube shaft.
Further, the self-locking assembly further comprises a self-locking column, and the end, far away from the bracket, of the connecting shaft is fixed with the self-locking column.
The invention provides a mechanical joint with a multidirectional angle adjustment and self-locking function, which has the following beneficial effects:
1. The mechanical joint with the multi-direction adjusting angle capable of being locked automatically changes the mechanical joint into a semi-extending state or a full-extending state by utilizing the extension of the micro electric push rod, so that the outer gear ring and the inner gear ring are respectively in replacement engagement with the first gear ring, the first gear ring and the second gear ring, when the outer gear ring and the inner gear ring are engaged with the second gear ring and the second gear ring, the first gear idles and gradually slows down until stopping rotation, and similarly, when the outer gear ring and the inner gear ring are switched to be engaged with the first gear ring and the first gear ring, the second gear idles and gradually slows down until stopping rotation, and therefore fatigue loss caused by sudden stopping and reverse rotation of the output ends of the first driving motor and the second driving motor during high-speed rotation is avoided when the joint shell carries the mechanical arm to rotate in a rapid positive-negative alternating mode to adjust the angle.
2. The mechanical joint with the multi-direction adjusting angle capable of being locked automatically comprises a conical structure at the gear tooth positions of a first gear ring, a second gear ring, an inner gear ring, an outer gear ring, a first gear and a second gear, wherein two adjacent sides between the gear teeth still keep a planar structure, and when the inner gear ring and the outer gear ring translate, the gear teeth can be meshed quickly and stably by means of the arc surfaces of the gear teeth and the rotation speed adjustment of the first gear and the second gear.
Drawings
FIG. 1 is a schematic diagram of a self-locking column structure in a half-extended state of a miniature electric push rod of a mechanical joint capable of automatically locking a multidirectional adjustment angle;
FIG. 2 is a schematic diagram of the structure of a first gear and a second gear of a mechanical joint with a multidirectional adjustable angle capable of being locked by itself;
FIG. 3 is a schematic view of the exterior structure of a joint housing of a multi-direction angle-adjustable self-locking mechanical joint according to the present invention;
FIG. 4 is a schematic view showing the internal structure of a joint housing of a mechanical joint with self-locking multidirectional adjustment angle according to the present invention;
FIG. 5 is a schematic diagram showing the meshing structure of an outer gear ring and a first gear ring of a mechanical joint with a multidirectional adjustable angle capable of being locked by itself;
FIG. 6 is a schematic diagram of the meshing structure of the outer gear ring and the second gear ring of the mechanical joint with self-locking multidirectional adjustment angle;
FIG. 7 is a schematic diagram showing the meshing structure of an outer gear ring and a third gear ring of a mechanical joint with a multidirectional adjustable angle capable of being locked by itself;
Fig. 8 is a schematic diagram of a self-locking column structure when a miniature electric push rod of a mechanical joint capable of automatically locking by adjusting angles in multiple directions is not extended.
The device comprises a first driving motor, a second driving motor, a first gear, a second gear, a joint component, a first gear, a second gear, a third gear, a micro electric push rod, a first gear ring, a second gear ring, a third gear ring, a micro electric push rod, a ring box, a 707, an inner gear ring, a 708, an outer gear ring, a through hole, a self-locking component, a connecting shaft, a 902, a bracket, a 903, an angle detector, a 904, a pipe shaft, a 905, a baffle, a 906 and a self-locking column.
Detailed Description
Embodiments of the present invention are described in further detail below with reference to the accompanying drawings and examples. The following examples are illustrative of the invention but are not intended to limit the scope of the invention.
As shown in fig. 1 to 8, the present invention provides the following technical solutions: the mechanical joint capable of automatically locking the multidirectional adjustment angle comprises an arm body 1 and a joint component 7, wherein a mounting plate 2 is fixed on the inner wall of the end part of the arm body 1, a first driving motor 3 and a second driving motor 4 are symmetrically fixed on one side of the mounting plate 2, the output end of the first driving motor 3 is connected with a first gear 5, the output end of the second driving motor 4 is connected with a second gear 6, the joint component 7 is rotationally connected with the end part of the arm body 1, the joint component 7 comprises a joint shell 701, a first toothed ring 702, a second toothed ring 703, a third toothed ring 704, a miniature electric push rod 705, a ring box 706, an inner gear 707 and an outer gear 708, a first toothed ring 702, a second toothed ring 703 and a third toothed ring 704 are sequentially fixed on the inner wall of the joint shell 701 from outside to inside on one side close to the arm body 1, the miniature electric push rod 705 is fixed on the outer side of the joint shell 701, the end part of the miniature electric push rod 705 is rotationally connected with an annular box 706, an inner side surface of an opening of the annular box 706 is fixed with an inner gear ring 707, an outer gear ring 708 is fixed on an outer side surface of the opening of the annular box 706, the length of an output end of the first driving motor 3 is smaller than that of an output end of the second driving motor 4, the output ends of the first driving motor 3 and the second driving motor 4 extend into the joint shell 701, a space is arranged between the first gear ring 702 and the second gear ring 703, the space width is matched with the maximum outer diameter of the outer gear ring 708, the first gear 5 and the first gear ring 702 are positioned in the same plane, the second gear ring 703 and the second gear 6 are positioned in the same plane, the whole gear tooth parts of the first gear ring 702, the second gear ring 703, the inner gear ring 707, the outer gear ring 708, the first gear 5 and the second gear 6 are in conical structures, and the two adjacent sides between the gear teeth still keep a planar structure;
The micro electric push rod 705 is fully extended in the initial condition, at this time, the outer gear 708 on the outer side surface of the annular box 706 is in meshed connection with the first toothed ring 702, the inner gear 707 is in meshed connection with the first gear 5, at this time, the first gear 5 is driven to rotate by the first driving motor 3, so that the annular box 706 drives the joint shell 701 to rotate through the outer gear 708 and the first toothed ring 702, thereby realizing unidirectional angle adjustment of the mechanical arm, when the mechanical arm needs to rotate in the opposite direction, the micro electric push rod 705 is contracted to a half-extended state, at this time, the outer gear 708 on the outer side surface of the annular box 706 is in meshed connection with the second toothed ring 703 due to movement, and the inner gear 707 is in meshed connection with the second gear 6, at this time, the second driving motor 4 drives the second gear 6 to rotate, so that the annular box 706 drives the joint shell 701 to rotate in the opposite direction through the outer gear 708 and the first toothed ring 702, thereby realizing bidirectional angle adjustment of forward and reverse fast switching of the mechanical arm, and the mechanical arm is provided with a plurality of multidirectional flexible angle adjustment of the mechanical arm;
Based on the above description, the extension of the micro electric push rod 705 is utilized to change the micro electric push rod 705 into a semi-extension state or a fully extension state, so that the outer gear ring 708 and the inner gear ring 707 are respectively in replacement engagement with the first gear ring 702 and the first gear 5, the second gear ring 703 and the second gear 6, when the outer gear ring 708 and the inner gear ring 707 are engaged with the second gear ring 703 and the second gear 6, the first gear ring 5 idles and gradually slows down until stopping, and when the outer gear ring 708 and the inner gear ring 707 are switched to be engaged with the first gear ring 702 and the first gear ring 5, the second gear ring 6 idles and gradually slows down until stopping, thereby realizing that the joint housing 701 carries the mechanical arm to rotate in a rapid positive-negative alternation to adjust the angle, and simultaneously avoiding fatigue loss caused by abrupt stopping and reverse rotation of the output ends of the first driving motor 3 and the second driving motor 4 when rotating at a high speed;
The first driving motor 3 and the second driving motor 4 are variable frequency speed regulating motors capable of automatically regulating the rotation speed, the positions of the gear teeth of the inner gear ring 707 and the outer gear ring 708 are monitored in real time by utilizing the monitoring sensor, the whole gear teeth of the first gear ring 702, the second gear ring 703, the inner gear ring 707, the outer gear ring 708, the first gear 5 and the second gear 6 are in conical structures, the two adjacent sides among the gear teeth still keep planar structures, and during translation of the inner gear ring 707 and the outer gear ring 708, the gear teeth can be quickly and stably meshed by means of the arc surfaces of the gear teeth and the rotation speed regulation of the first gear 5 and the second gear 6.
As shown in fig. 1-8, a penetrating hole 8 is formed in the middle of the mounting plate 2, a self-locking assembly 9 is penetrated in the penetrating hole 8, the self-locking assembly 9 comprises a linkage shaft 901, a support 902 and an angle detector 903, one end of the linkage shaft 901 is fixedly provided with the support 902, the angle detector 903 is arranged in the support 902, the angle detector 903 and the support 902 are fixedly connected with the inner wall of the annular box 706, the angle detector 903 and the support 902 are not contacted with each other, the self-locking assembly 9 further comprises a tube shaft 904 and a baffle 905, a tube shaft 904 is arranged on one side of the mounting plate 2 far from the first driving motor 3, the baffle 905 is sleeved on the outer wall of the tube shaft 904, the self-locking assembly 9 further comprises a self-locking column 906, and the end of the linkage shaft 901 far from the support 902 is fixedly provided with the self-locking column 906;
The operation is that when the annular box 706 drives the joint shell 701 to rotate through engagement, the angle detector 903 monitors the change of the joint angle in real time, the angle detector 903 can be a potentiometer, when the joint angle reaches a preset value and the micro electric push rod 705 is contracted from a semi-stretching state to a non-stretching state without performing the next adjustment, at this time, the outer gear ring 708 translates to the side surface of the second gear ring 703 to realize separation and engage with the third gear ring 704, meanwhile, the connecting shaft 901 translates along with the annular box 706, so that the self-locking column 906 translates to the side surface of the baffle 905, the baffle 905 rotates through the motor and engaged gear through the angle after the preset joint adjustment, wherein the motor and the engaged gear are shown in figures 1, 2 and 5, the baffle 905 is matched with the angle of the joint to block the outer side face of the self-locking column 906 when the self-locking column 906 rotates to the angle, at the moment, the self-locking column 906 cannot rotate any more, the third toothed ring 704 meshed with the annular box 706 cannot carry the joint shell 701 to rotate, so that the angle self-locking after the adjustment of the angle of the joint is completed, the self-locking column 906 translates and rotates, the baffle 905 can also perform rotating speed adaptation according to the rotating speed of the self-locking column 906, the self-locking column 906 can gradually decelerate during translation, fatigue damage caused by sudden stop is avoided, the annular box 706 can be meshed with the third toothed ring 704 stably, and the acquisition of each rotating speed parameter can be monitored in real time through a rotating speed sensor.
In summary, when the mechanical joint with the multi-directional adjusting angle capable of being locked by itself is used, firstly, under the initial condition, the micro electric push rod 705 is completely extended, at this moment, the outer gear ring 708 on the outer side face of the annular box 706 is in meshed connection with the first toothed ring 702, the inner gear ring 707 is in meshed connection with the first gear 5, at this moment, the first driving motor 3 drives the first gear 5 to rotate, so that the annular box 706 drives the joint shell 701 to rotate through the outer gear ring 708 and the first toothed ring 702, thereby realizing the unidirectional angle adjustment of the mechanical arm, and when the mechanical joint needs to rotate in a rapid reverse direction, the micro electric push rod 705 is contracted to a semi-extended state, at this moment, the outer gear ring 708 on the outer side face of the annular box 706 is in meshed connection with the second toothed ring 703 due to movement, and the inner gear ring 707 is in meshed connection with the second gear 6, at this moment, the second driving motor 4 drives the second gear 6 to rotate, so that the annular box 706 drives the joint shell 701 to rotate in a reverse direction through the outer gear ring 708 and the first toothed ring 702, thereby realizing the bidirectional angle adjustment of the forward and reverse direction fast switching of the mechanical arm, and the mechanical joint is provided with a plurality of bidirectional angle adjustment of the mechanical arm, thereby realizing the multidirectional flexible angle adjustment of the mechanical arm;
When the annular box 706 drives the joint shell 701 to rotate through engagement, the joint angle change is monitored in real time through the angle detector 903, the angle detector 903 can be a potentiometer, when the joint angle reaches a preset value and the miniature electric push rod 705 does not need to be contracted from a semi-stretching state to a non-stretching state when the joint angle is adjusted next time, at this time, the outer gear ring 708 translates to the side surface of the second gear ring 703 to realize separation and is engaged with the third gear ring 704, meanwhile, the connecting shaft 901 translates along with the annular box 706, so that the self-locking column 906 translates to the side surface of the baffle 905, the baffle 905 drives the baffle 905 to rotate through a motor and an engaged gear through the preset angle after joint adjustment, wherein the motor and the engaged gear are as shown in fig. 1, 2 and 5, so that the baffle 906 can not rotate again when the baffle 905 is matched with the angle after joint adjustment and the self-locking column 906 rotates to the angle, the third gear ring 704 can not carry the joint shell to rotate, thereby finish the self-locking angle after joint angle adjustment, and the self-locking column is translated, when the baffle 701 rotates, the baffle 905 can also rotate at a speed adapted to the speed of the self-locking column 906, and the self-locking column 906 can be prevented from being damaged by gradually slowing down, and the self-locking column 906 can be prevented from being damaged when the self-locking column 906 rotates.
The embodiments of the invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
Claims (10)
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411288013.3A CN118789585B (en) | 2024-09-14 | 2024-09-14 | Multi-direction angle-adjusting mechanical joint capable of being locked by itself |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411288013.3A CN118789585B (en) | 2024-09-14 | 2024-09-14 | Multi-direction angle-adjusting mechanical joint capable of being locked by itself |
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| Publication Number | Publication Date |
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| CN118789585A CN118789585A (en) | 2024-10-18 |
| CN118789585B true CN118789585B (en) | 2024-12-03 |
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| CN202411288013.3A Active CN118789585B (en) | 2024-09-14 | 2024-09-14 | Multi-direction angle-adjusting mechanical joint capable of being locked by itself |
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| CN120462824A (en) * | 2025-07-17 | 2025-08-12 | 山西潞安安太机械有限责任公司 | Colliery is with reversed loader in pit with pre-crushing function |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1616672A1 (en) * | 2004-07-16 | 2006-01-18 | Harmonic Drive Systems Inc. | Joint mechanism with two actuators for robot hand and the like |
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| WO2016080276A1 (en) * | 2014-11-17 | 2016-05-26 | Ntn株式会社 | Driving force-transmitting mechanism |
| US10315309B2 (en) * | 2016-03-15 | 2019-06-11 | Lon Radin | Modular snake arm with articulated drive shaft |
| EP4230365A4 (en) * | 2020-11-17 | 2024-04-03 | Wuhan United Imaging Healthcare Surgical Technology Co., Ltd. | QUICK CHANGE ARTICULATION MECHANICAL ARM CONNECTOR AND MECHANICAL ARM |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP1616672A1 (en) * | 2004-07-16 | 2006-01-18 | Harmonic Drive Systems Inc. | Joint mechanism with two actuators for robot hand and the like |
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