Lockable robot joint with three-rotating-shaft crossing feature

Abstract

The invention relates to a lockable robot joint with a three-rotating-shaft crossing feature. The lockable robot joint with the three-rotating-shaft crossing feature comprises a base, wherein two opposite ends of the base are hinged through a first rotating shaft and a first connecting flange. A second rotating shaft is arranged at the other two opposite ends of the base in a sleeving mode througha hinge pin, and a third rotating shaft is vertically arranged on the top of the second rotating shaft. A first locking mechanism comprises a transverse sliding external spline lantern ring, whereinthe transverse sliding external spline lantern ring sleeves the periphery of the hinge pin in a coaxial mode. First internal splines which are used for being connected with external splines of the transverse sliding external spline lantern ring are coaxially arranged on the second rotating shaft, and second internal splines which are used for being connected with the external splines of the transverse sliding external spline lantern ring are coaxially arranged on the base. A second locking mechanism comprises an external spline shaft, wherein the external spline shaft is fixedly arranged at the top end of the third rotating shaft in a coaxial mode. A vertical sliding external spline lantern ring is coaxially connected with the periphery of the external spline shaft through third internal splines, a second connecting flange is further arranged on the periphery of the external spline shaft in a coaxial mode, and fourth internal splines which are used for being connected with external splines of the vertical sliding external spline lantern ring are coaxially arranged on the second connecting flange. The lockable robot joint with the three-rotating-shaft crossing feature is simple in structural design, convenient to use and high in efficiency.

Description

Technical field [0001] The invention relates to a lockable robot joint with crossed three rotating shafts. Background technique [0002] The lockable mechanical joint disclosed in the existing patent US7367740 includes a rotating shaft that realizes the joint rotation function, a joint connecting rod component that connects two moving joints, and an external spline shaft and internal spline teeth for realizing the self-locking function of the mechanical joint Structural parts such as circles. Among them, each self-locking joint rotates around its own rotation axis to realize the function of free rotation and locking. Two lockable joints arranged perpendicular to each other are rigidly connected by the joint link member to realize the rotation of the two-degree-of-freedom Hooke joint. Ability, and the lockable function of the mechanical joint is realized by whether the external spline shaft and the internal spline ring gear mesh or not. The disadvantage of this lockable joint is...

AI Technical Summary

Problems solved by technology

Its shortcoming is that the lockable robot joint is designed for independent shafts, and it is difficult to be used in the construction of multi-degree-of-freedom compound hinges widely used in the structural design of parallel robots, and what is realized here by worm gear transmission is only the self-locking of joint unidirectional motion , can not achieve arbitrary locking in all directions of joint motion, which is not conducive to arbitrary control of joint pose and attitude maintenance

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