CN110524573A - A kind of flexibility artificial mechanism joint - Google Patents
A kind of flexibility artificial mechanism joint Download PDFInfo
- Publication number
- CN110524573A CN110524573A CN201810512010.1A CN201810512010A CN110524573A CN 110524573 A CN110524573 A CN 110524573A CN 201810512010 A CN201810512010 A CN 201810512010A CN 110524573 A CN110524573 A CN 110524573A
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- CN
- China
- Prior art keywords
- joint
- slideway
- flexible
- spring
- glenoid
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- 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.)
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
Abstract
本发明公开了一种柔性人工机械关节，包括：关节半球（8）、柔性绳（2）、关节窝（7）、关节凹槽（3）、滑道（4）、T型滑块（5）、弹簧（6）、螺栓（9）、螺母（1），柔性绳（2）的一端固定所述螺栓（9）上，柔性绳（2）的另一端固定在T型滑块（5）上，关节窝（7）内设置有滑道（4），滑块设置在滑道（4）内，弹簧（6）在T型滑块（5）上，滑块（5）压缩弹簧（6）可在滑道（4）内上下移动。本发明提供的一种柔性人工机械关节可以实现机械关节的全方位转动，并具有结构简单、成本低、结构稳定、传动可靠的特点。
The invention discloses a flexible artificial mechanical joint, comprising: a joint hemisphere (8), a flexible rope (2), a joint socket (7), a joint groove (3), a slideway (4), a T-shaped slider (5 ), spring (6), bolt (9), nut (1), one end of the flexible rope (2) is fixed on the bolt (9), and the other end of the flexible rope (2) is fixed on the T-shaped slider (5) Above, a slideway (4) is arranged in the joint fossa (7), the slider is set in the slideway (4), the spring (6) is on the T-shaped slider (5), and the slider (5) compresses the spring (6 ) can move up and down in the slideway (4). The flexible artificial mechanical joint provided by the invention can realize the omnidirectional rotation of the mechanical joint, and has the characteristics of simple structure, low cost, stable structure and reliable transmission.
Description
Technical field
The present invention relates to the technical field of mechanical joint, in particular to a kind of flexible artificial mechanism joint.
Background technique
Joint of robot is the basic components of robot, and the quality of performance directly affects the performance of robot.Joint type
Robot can be made of a variety of joints, and typical module joint, can by cradle head, linear joint, swinging joint, pitching joint
Rotation, flexible, swing, pitching movement are realized respectively.For revolute robot, joint is its important component, is realized
The relative motion of mechanical arm.Currently, most of articulated robots, only a kind of opposite fortune between every two mechanical arms
It is dynamic, when articulated robot needs more complex movement or needs to reach wider regional scope, need with multiple arms with
Multiple joints are composed, and its structure is complicated, and kinematic dexterity is poor.A kind of flexible mechanical joint proposed by the present invention can be realized
All-direction rotation between two mechanical arms of mechanical joint connection solves drawbacks described above, and the simple, cost with structure
The advantages of low, stable structure, reliable transmission.
Summary of the invention
The purpose of invention: the present invention, which discloses, has designed and developed a kind of flexible artificial mechanism joint, overcomes existing machinery pass
Section structure is complicated, uncontrollable, the small defect of rotational angle between mechanical joint, with all-direction rotation angle between mechanical joint
Feature.
Technical solution: in order to achieve the goal above, the invention discloses a kind of flexible artificial mechanism joints, comprising: joint
Hemisphere, flexible strand, glenoid, joint groove, slideway, sliding block, spring, bolt, nut, described in one end of the flexible strand is fixed
On bolt, the other end of the flexible strand is fixed on T-type sliding block, and sliding slot is provided in the glenoid, and the T-type sliding block is set
It sets in sliding slot, on T-type sliding block, the T-type sliding block compressed spring can move up and down the spring in sliding slot.The joint
Hemisphere wears hole among the groove of joint and extends there through convenient for flexible strand.The flexible strand is fixed on top gasket and bottom
It holds on sliding block.
Further, spring is provided in the sliding slot, the spring is arranged between one end and sliding block in glenoid.
Further, the glenoid is with shank of bolt by the way of being fixedly connected.
Further, it is described by screw upwards bolt tightening nut come so that flexible strand tensioning and stable equilibrium.
The all-direction rotation of mechanical joint may be implemented in a kind of flexible artificial mechanism joint provided by the invention, and has knot
The characteristics of structure is simple, at low cost, stable structure, reliable transmission.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram in flexible artificial mechanism joint of the present invention；
In figure: 1- nut, 2- flexible strand, the joint 3- groove, 4- slideway, 5-T type sliding block, 6- spring, 7- glenoid, the joint 8- half
Ball, 9- bolt, 10- internal screw thread, the hole 11-.
Specific embodiment
A kind of flexible artificial mechanism joint of the invention, as shown in Figure 1, comprising: joint hemisphere 8, flexible strand 2, glenoid
7, one end of joint groove 3, slideway 4, sliding block 5, spring 6, bolt 9, nut 1, the flexible strand 2 is fixed on the bolt 9, institute
The other end for stating flexible strand 2 is fixed on sliding block 5, and slideway 4 is provided in the glenoid 7, and there are a through-hole, institute in 4 top of slideway
It states sliding block 5 to be arranged in slideway 4, flexible strand 2 passes through through-hole and is connected respectively at sliding block 5 with joint hemisphere 8, and sliding block 5 can be in cunning
It is moved up and down in road 4.Spring 6 passes through flexible strand 2, and is arranged between slideway center tip and sliding block 5.It is set on joint hemisphere 8
There is threaded hole and wear bolt 9, realizes the tensioning and stable equilibrium of flexible strand by screwing bolt 9 upwards and tightening nut 1.
7 bottom end of glenoid and joint hemisphere top are designed with internal screw thread, the convenient connection with other components.
When joint hemisphere 8 extends around to wave, joint hemisphere 8 is detached from joint groove 3, and the dragging of flexible strand 2 at this time is slided
Block 5 moves up in slideway, and spring 6 is compressed at this time, and sliding block 5 moves up in slideway, and joint hemisphere 8 is made to be rocked to institute
The angle to be rotated, spring 6 restore former length, and pulling flexible strand 2 makes joint hemisphere 8 restore normotopia.Since joint groove 3 is not right
The limitation of 8 freedom degree of joint hemisphere, to reach all-direction rotation angle between mechanical joint.
Claims (6)
1. a kind of flexibility artificial mechanism joint characterized by comprising joint hemisphere (8), glenoid (7), closes at flexible strand (2)
Groove (3), slideway (4), sliding block (5), spring (6), bolt (9), nut (1), internal screw thread (10) are saved, the flexible strand (2)
Self-locking by tightening nut (1) realization on the fixed bolt (9) in one end, the other end of the flexible strand (2) is fixed on cunning
It on block (5), is provided with slideway (4) in the glenoid (7), the sliding block setting is in slideway (4), and the spring (6) is in cunning
On block (5), T-type sliding block (5) compressed spring (6) can move up and down in slideway (4).
2. a kind of flexible artificial mechanism joint according to claim 1, it is characterised in that: be provided in the slideway (4)
Spring (6), the spring (6) are arranged between one end and T-type sliding block (5) of glenoid (7).
3. a kind of flexible artificial mechanism joint according to claim 1, it is characterised in that: have inside the glenoid (7)
Internal screw thread (10) is convenient for the connection of other component, and a series of devices such as slideway (4) are placed in inside.
4. a kind of flexible artificial mechanism joint according to claim 1, it is characterised in that: the joint hemisphere (8) and pass
Hole (11) are worn among section groove (3) to extend there through convenient for flexible strand (2).
5. a kind of flexible artificial mechanism joint according to claim 2, it is characterised in that: glenoid (7) joint half
Ball (8) has internal screw thread (10), convenient for the connection of other component.
6. a kind of flexibility artificial mechanism joint described in any one of -5 according to claim 1, which is characterized in that the joint
Ball, joint groove and shank of bolt use and are fixedly connected with mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810512010.1A CN110524573A (en) | 2018-05-25 | 2018-05-25 | A kind of flexibility artificial mechanism joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810512010.1A CN110524573A (en) | 2018-05-25 | 2018-05-25 | A kind of flexibility artificial mechanism joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110524573A true CN110524573A (en) | 2019-12-03 |
Family
ID=68656986
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810512010.1A Pending CN110524573A (en) | 2018-05-25 | 2018-05-25 | A kind of flexibility artificial mechanism joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110524573A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113510742A (en) * | 2021-07-07 | 2021-10-19 | 绍兴安迪自动化设备有限公司 | Self-centering flexible offset joint mechanism |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0169463A1 (en) * | 1984-07-25 | 1986-01-29 | Hans Dr. Fehrensen | Connection device for two members |
| CN1218547A (en) * | 1996-05-07 | 1999-06-02 | 凤凰股份有限公司 | Pneumatic spring |
| CN202540314U (en) * | 2011-10-25 | 2012-11-21 | 兰州交通大学 | Flexible pneumatic snake-shaped robot joint module |
| US20160039098A1 (en) * | 2014-08-11 | 2016-02-11 | Swivel-Link, LLC | Swivel link for mounting end of arm tooling |
| CN106113079A (en) * | 2016-07-01 | 2016-11-16 | 江苏捷帝机器人股份有限公司 | A kind of mechanical joint of flexible catching robot |
| CN208773633U (en) * | 2018-05-25 | 2019-04-23 | 长春工业大学 | A flexible artificial mechanical joint |
-
2018
- 2018-05-25 CN CN201810512010.1A patent/CN110524573A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0169463A1 (en) * | 1984-07-25 | 1986-01-29 | Hans Dr. Fehrensen | Connection device for two members |
| CN1218547A (en) * | 1996-05-07 | 1999-06-02 | 凤凰股份有限公司 | Pneumatic spring |
| CN202540314U (en) * | 2011-10-25 | 2012-11-21 | 兰州交通大学 | Flexible pneumatic snake-shaped robot joint module |
| US20160039098A1 (en) * | 2014-08-11 | 2016-02-11 | Swivel-Link, LLC | Swivel link for mounting end of arm tooling |
| CN106113079A (en) * | 2016-07-01 | 2016-11-16 | 江苏捷帝机器人股份有限公司 | A kind of mechanical joint of flexible catching robot |
| CN208773633U (en) * | 2018-05-25 | 2019-04-23 | 长春工业大学 | A flexible artificial mechanical joint |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113510742A (en) * | 2021-07-07 | 2021-10-19 | 绍兴安迪自动化设备有限公司 | Self-centering flexible offset joint mechanism |
| CN113510742B (en) * | 2021-07-07 | 2023-02-28 | 绍兴安迪自动化设备有限公司 | Self-centering flexible offset joint mechanism |
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|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191203 |