Four-degree-of-freedom integrated robot joint mechanism

A technology of robot joints and degrees of freedom, applied in the direction of manipulators, manufacturing tools, joints, etc., can solve the problems of complex and huge robot overall mechanism, and achieve the effect of improving integration and modularization

Inactive Publication Date: 2011-10-19
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0007] In order to solve the problem that the robot in actual application is basically composed of single-degree-of-freedom joints and the overall structure of the robot is complex and huge, the present invention designs a 4-degree-of-freedom integrated robot joint mechanism to realize the integration and intensification of multi-degree-of-freedom drives , that is, a robot joint mechanism (the present invention) can realize multi-free movement of robot joints

Method used

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  • Four-degree-of-freedom integrated robot joint mechanism
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  • Four-degree-of-freedom integrated robot joint mechanism

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specific Embodiment approach 1

[0018] Specific implementation mode one: as Figure 1-7 As shown, a four-degree-of-freedom integrated robot joint mechanism described in this embodiment includes an end platform 1, a support body and a drive assembly, and the support body is composed of an end cover 11 and a first sliding plate 4 , the second sliding plate 5, six guide rods 6, retaining ring 8 and outer cylinder body 10 constitute; the drive assembly includes drive cylinder 7, three drivers 3 and three connecting rods 2; each driver 3 consists of Cylindrical curved driver main body 3-1, first end plate 3-2, second end plate 3-3 and driver extension rod 3-4 are formed, cylindrical curved driver main body 3-1, first end The plate 3-2 and the second end plate 3-3 constitute the cylinder part of the driver; the inner surface of the drive cylinder 7 of the joint mechanism is provided with a lattice winding (coil) 7-1, and the cylindrical curved surface driver body 3- The outer surface of 1 is provided with a latti...

specific Embodiment approach 2

[0022] Specific implementation mode two: as figure 2 As shown, the joint mechanism of this embodiment also includes a rubber ring 9, and the rubber ring 9 is sandwiched between the corresponding end surface of the outer cylinder body 10 and the inner end surface of the flange 10-1, and the rubber ring 9 and the outer cylinder body flange inside contact. The rubber ring can ensure the reliability of the installation and fixation of the drive cylinder. Other components and connections are the same as those in the second embodiment.

specific Embodiment approach 3

[0023] Embodiment 3: In this embodiment, the outer surfaces of the first sliding plate 4 and the second sliding plate 5 are provided with a layer of polytetrafluoroethylene coating, so as to reduce friction and enhance smoothness of rotation. Other compositions and connections are the same as those in Embodiment 1 or 2.

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Abstract

The invention provides a four-degree-of-freedom integrated robot joint mechanism, relates to a robot joint, and aims to solve the problems of complex and huge whole mechanism of the robot because the conventional actually applied robot basically consists of single-degree-of-freedom joints. The robot joint comprises the technical key points that: the inner surface of a driving cylinder of the joint mechanism is provided with dot matrix windings; the outer surface of the main body of a driven element is provided with dot matrix permanent magnets; three first end plates and three second end plates are combined together respectively to form contours, and all the contours are circular rings which are coaxial with the inner surface of the driving cylinder; the main bodies of three cylindrical curve driven elements are combined together to form contours, and the contours are cylinders which are coaxial with the inner surface of the driving cylinder; each driven element axially slides along two corresponding guide rods; and one end of each of the three connecting rods is connected with the extending end of an extending end rod of each of the three driven elements, while the other end is connected with the inner side surface of an end platform through a spherical pair. The mechanism can be applied to the fields of robot joints and rehabilitation of patients with joint injuries or dyskinesia and the like.

Description

technical field [0001] The invention relates to a robot joint, in particular to a four-degree-of-freedom integrated robot joint mechanism, which belongs to the technical field of robot motion structure and drive. Background technique [0002] A robot is a highly flexible automated machine that can replace humans in many types of work. The robot joint is the key part and core technology of the robot to realize the movement and positioning. Its structure, weight and size have a direct impact on the performance of the robot. At present, the common forms of industrial and entertainment robot kinematic joints in practical application mainly include mobile joints and rotary joints. Basically, a single motor, cylinder or hydraulic cylinder and other drive modules independently drive a single degree of freedom joint. The poor system concentration leads to complex robot mechanisms. Huge, low power output to weight ratio. [0003] If it is changed to a multi-degree-of-freedom mechan...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/00
Inventor 张广玉顾海栋陈志刚
Owner HARBIN INST OF TECH
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