Rotary type joint of robot

Abstract

The invention relates to a robot rotary joint, belonging to the mechanical technical field. In the invention, a screw rod is installed on a fixing frame. A nut is fixed on a moving block. A guide rod is also installed on the fixing frame and penetrates the moving block. A tilting table is installed on a fixing bottom base. Certain distance is maintained between the fixing bottom base and the fixing frame for the fixing installation. The distance is equal to the radius of the tilting table. A steel wire couple comprises a pair of steel wires. One end of the steel wire is fixed on a lateral wall of the tilting table and, the steel wire winds in semicycle along the lateral wall of the tilting table and then winds to the moving block. The other end is fixed on the moving block and maintains the tension state. The winding directions of the pair of the steel wires of the steel wire couple are opposite. A robot is fixed on an upper plane of the tilting table. The steel wires drive the tilting table to rotate. Thus, the positive and negative rotary action of the rotary joint of the external robot is formed. The robot rotary joint can realize the non-clearance transmission and has the advantages of high precision, low price, easy purchase application, large transmission torque, high transmission stiffness and large reduction ratio.

Description

technical field [0001] The invention relates to a device in the field of mechanical technology, in particular to a robot rotary joint. Background technique [0002] The rotary joint of the robot is the key element that determines the spatial motion capability of the robot. The transmission mechanism of the rotary joint determines the size of the transmission torque of the corresponding joint, the transmission clearance and the transmission accuracy. Robot rotary joints, such as robot waist rotary joints, usually do not rotate continuously but reciprocate rotary motion within a certain angle range. In order to meet the precision requirements of the end of the robot, especially the mechanical arm, the transmission mechanism of the rotary joint is mostly realized by a series connection of high-precision, high-torque, and high-rigidity reducers. [0003] Found through document retrieval to prior art, G.Hirzinger etc. published paper "A mechatronics approach to the design of li...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the deficiencies of the prior art, the present invention provides a rotary joint of a robot, which solves the cost-effectiveness problem existing in the design of the transmission mechanism of the rotary joint of the existing robot, especially the mechanical arm, and reduces the realization while ensuring the transmission torque and precision. cost

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