Composite deflection joint mechanism of robot

Abstract

The invention provides a composite deflection joint mechanism of a robot and belongs to the technical field of robots. The composite deflection joint mechanism of the robot comprises a first joint, a second joint, a cylindrical cam mechanism, a steering driving motor, a spring rod mechanism and a rotation mechanism, wherein the first joint comprises a first joint outer connecting base and a first joint shaft, the second joint comprises a second joint outer connecting base and a second joint shaft, and the cylindrical cam mechanism comprises a cylindrical cam, a roller push rod and a landing platform. An upper motor shaft of the steering driving motor is connected with a driving rocker, the driving rocker is connected with a movable sliding block, the movable sliding block is installed in an arc-shaped sliding way, and a lower motor shaft of the steering driving motor is connected with the cylindrical cam. The spring rod mechanism comprises springs, a spring rod and a spring seat. The rotation mechanism comprises a rotation block, a pin joint connecting rod and a pin joint block. The composite deflection joint mechanism of the robot can effectively adapt to various obstacles in different working environments, the stress condition is reasonable, the deflection angle is larger than that of a traditional rotary joint, and the working space is more flexible.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a robot compound deflection joint mechanism. Background technique [0002] The multi-unit serial robot configuration has good obstacle avoidance and fault tolerance capabilities, and has a wide range of applications in the fields of disaster rescue, inspection and monitoring of complex environments. Traditional tandem robot deflection joints mostly use a single rotary shaft, and the center of rotation is arranged in the symmetrical plane of the robot. The steering drive motor directly drives the rotary shaft to rotate or indirectly drives the rotary shaft to rotate through intermediate transmission mechanisms such as reducers and synchronous belts. The rotary shaft and the components on one side of the joint Fixed connection or keyed connection, hinged to the other side member. The joint deflection angle of this type of joint robot is limited by the width of the robot rods on bot...

AI Technical Summary

Problems solved by technology

The joint deflection angle of this type of joint robot is limited by the width of the robot rods on both sides of the joint. Under the condition of a certain size of the robot's rotary joint, the larger the width of the rods on both sides, the smaller the deflection angle of the joint, and the robot's motion ability and flexibility are limited.

Especially the special robot structure in the special field has high requirements on the flexibility and structural size of the robot. The traditional robot deflection joint structure is difficult to meet the design requirements for improving the performance of this type of robot, such as rescue and search robots, transmission line inspection robots, etc.

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