Combined type weak-torsion continuous mechanical arm connecting joint

Abstract

The invention relates to a combined type weak-torsion continuous mechanical arm connecting joint, and belongs to the technical field of robots. The combined type weak-torsion continuous mechanical armconnecting joint comprises a ball socket base flange, a ball socket, a spin ball, a spin ball fixing cover, three torsional springs and a spin ball base flange, wherein the ball socket base flange isof a horizontally placed plate-like structure; the ball socket is fixedly installed at a central position of the upper surface of the ball socket base flange; a spherical groove is formed in the topof the ball socket; the spin ball extends into the spherical groove; the spin ball fixing cover is fixedly installed at the top of the ball socket to realize the limiting of the spin ball in the vertical direction; the spin ball base flange is fixedly connected with the top of the spin ball; the three torsional springs are axially and vertically placed between the ball socket base flange and the spin ball base flange; and the three torsional springs are annularly and uniformly around the outer side of the ball socket. According to the combined type weak-torsion continuous mechanical arm connecting joint, combined type installation can be realized, and weak-torsion universal rotation can further be realized.

Description

technical field [0001] The invention belongs to the technical field of robots and relates to a combined weak torsion continuous mechanical arm connection joint. Background technique [0002] The joints of the continuous manipulator need to be connected by special joints. Usually, Hooke hinges, springs or universal ball joints are used alone, but there are certain disadvantages. Using Hooke hinges alone is only It can realize the movement of two degrees of freedom. It is connected by spring alone, and its bearing capacity is poor. It is connected by universal ball joint alone, and its torsion cannot be effectively controlled. At the same time, the parts and components of many connected joints are integrated In this way, the cost of replacement increases and the efficiency of use decreases. Contents of the invention [0003] The technical problem solved by the present invention is: to overcome the deficiencies of the prior art, and propose a combined weak torsion continuous...

AI Technical Summary

Problems solved by technology

[0002] The joints of the continuous manipulator need to be connected by special joints. Usually, Hooke hinges, springs or universal ball joints are used alone, but there are certain disadvantages. Using Hooke hinges alone is only It can realize the movement of two degrees of freedom. It is connected by spring alone, and its bearing capacity is poor. It is connected by universal ball joint alone, and its torsion cannot be effectively controlled. At the same time, the parts and components of many connected joints are integrated mode, which increases the cost of replacement and reduces the efficiency of use

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