Universal joint knuckle of assembly-type universal robot
A technology of universal joints and robots, which is applied in the direction of manipulators, manufacturing tools, joints, etc., can solve the problems of lack of versatility, and achieve the effects of simplified motion equations, easy disassembly, and easy installation and disassembly
Inactive Publication Date: 2014-03-12
HARBIN ENG UNIV
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Problems solved by technology
The structure is rarely universal in previous universal joint designs
Method used
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[0030] The present invention will be described in more detail below with examples in conjunction with the accompanying drawings.
[0031] to combine Figure 1-Figure 8 . The composition of the assembled universal robot universal joint of the present invention includes an upper joint socket 1 , a lower joint socket 2 , a filling block 3 , a concave shaft 4 and a convex shaft 5 . The filling block 3 has a pair of through holes that are orthogonal to each other. The installation holes of the upper glenoid socket 1 and the lower glenoid socket 2 are respectively aligned with the through holes of the packing block 3. The concave shaft 4 is inserted first, and then the convex shaft 5 is inserted to achieve locking. Effect.
[0032] The present invention may also include:
[0033] 1. The drive mode of the two degrees of freedom of the universal joint is the tendon drive mode. The tendon wire is embedded in the pulley boss of the filler block, and a small pin is inserted into the s...
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The invention provides a universal joint knuckle of an assembly-type universal robot. The universal joint knuckle comprises an upper knuckle pit, a lower knuckle pit, a filling block, a concave shaft and a convex shaft, wherein the filling block is provided with a pair of through holes which are orthogonal to each other, mounting holes corresponding to the through holes in the filling block are formed in the upper knuckle pit and the lower knuckle pit, a groove is formed in the middle part of the concave shaft, one side of the convex shaft is provided with an incision corresponding to the groove in the middle part of the concave shaft, the concave shaft and the convex shaft are inserted in the mounting holes and the through holes in sequence, the concave shaft and the convex shaft are orthogonal to each other in the filling block and are locked with each other, and a driving mechanism with two degrees of freedom is arranged on the filling block. The universal joint knuckle of the assembly-type universal robot has the advantages that the requirements of the robot knuckle on different driving modes can be satisfied by changing the driving manner of the filling block, the requirements of the robot knuckle on different structures can be satisfied by changing the sizes and shapes of the upper knuckle pit and the lower knuckle pit, and therefore, the universal joint knuckle has certain structure and function universality.
Description
technical field [0001] The invention relates to a universal joint mechanism of a universal robot. Background technique [0002] The joints of the robot are the basic part of the robot and the key to the performance of the robot. The design of the joints of the robot directly determines the quality of the robot. At present, most of the robot joints are designed and manufactured for a specific purpose, with a single purpose, complex assembly and maintenance, and time-consuming and laborious. There are few universally designed joints that can be easily disassembled for use in robots. [0003] In the movement of the robot, the joints are divided into mobile joints and rotational joints according to the movement mode, and the universal joint belongs to the rotational joint. Rotation is the main motion form of robot joints. During the rotation process, it is necessary to complete the output of different axis forces, which requires universal joints. To achieve this purpose, unive...
Claims
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Inventor 李冰李文强赵劲中刘阳王潇楠汤云龙韩飞黄俊源王艺谋任化龙
Owner HARBIN ENG UNIV