Movable joint structure of annular manipulator and installation method thereof
A technology of movable joints and manipulators, applied in the field of robotics, can solve the problems of reduced lifespan of movable joints, and achieve the effect of good supporting force
Active Publication Date: 2016-10-19
宁夏巨能机器人股份有限公司
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Problems solved by technology
Since the connecting arm of the ring manipulator is arc-shaped, this causes the movable joint to be subjected not only to the axial deviation force but also to the radial deviation force when the load rotates. If the movable joint of the transmission is still used, the movable joint will appear The problem of reduced lifespan
Method used
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[0017] refer to Figure 1-3 , a specific embodiment of the present invention comprises a joint cover 1, the joint cover 1 is sleeved with a joint inner cover 2, the joint cover 1 and the joint cover 2 are respectively connected with two connecting arms 3 of an annular manipulator, and the joint inner cover 2. The bottom of the joint cover 1 is slidingly socketed together. The top of the joint cover 2 is in clearance fit with the joint cover 1. A rotating motor 4 is arranged inside the joint cover 2. The rotating motor 4 is connected to a damping block 5, and the damping block 5 is connected with the joint cover 1 at the same time. The joint inner sleeve 2 and the joint outer sleeve 1 are in close contact, the bottom of the joint outer sleeve 1 is provided with a chute 6, the bottom of the joint inner sleeve 2 is provided with a flange 7, the flange slides and is arranged in the chute 6, and the bottom surface of the chute 6 is evenly arranged There are several elastic hemisphe...
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The invention discloses a movable joint structure of an annular manipulator and an installation method thereof. The movable joint structure includes a joint outer sleeve and a joint inner sleeve, the bottom of the joint inner sleeve and the joint outer sleeve are slidingly sleeved, a rotary motor is arranged in the joint inner sleeve, the rotary motor is connected with a damping block, the damping block is tightly contacted with the joint inner sleeve and the joint outer sleeve, the bottom of the joint outer sleeve is provided with a chute, the bottom of the joint inner sleeve is provided with a flange, the flange is slidingly arranged in the chute, a plurality of elastic hemispheres are evenly arranged in the bottom surface of the chute, the inner sides of all of the elastic hemispheres are connected to each other by elastic connecting rods, and each elastic connecting rod is provided with a support bar which is in contact with the joint inner sleeve through the side wall of the chute. The invention further discloses a method for installing the movable joint structure of the annular manipulator. According to the invention, the problem of the prior art can be solved and the carrying capacity of the movable joint for the annular manipulator is improved.
Description
technical field [0001] The invention relates to the technical field of robots, in particular to a movable joint structure of a circular manipulator and an installation method thereof. Background technique [0002] In the prior art, the rotation of the robot is accomplished through movable joints. Ordinary robot movable joints are connected by two straight-line connecting arms. In the process of load rotation in this connection, only axial deviation force will appear in the movable joints. However, as the types of robots increase, ring manipulators will be used in some special working conditions. Since the connecting arm of the ring manipulator is arc-shaped, this causes the movable joint to be subjected not only to the axial deviation force but also to the radial deviation force when the load rotates. If the movable joint of the transmission is still used, the movable joint will appear The problem of reduced lifespan. Contents of the invention [0003] The technical pro...
Claims
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IPC IPC(8): B25J17/02
Inventor 宋明安孙洁刘学平李志博同彦恒麻辉
Owner 宁夏巨能机器人股份有限公司