CN105216007A - Robot limited flex wrist joint and its implementation - Google Patents
Robot limited flex wrist joint and its implementation Download PDFInfo
- Publication number
- CN105216007A CN105216007A CN201510760274.5A CN201510760274A CN105216007A CN 105216007 A CN105216007 A CN 105216007A CN 201510760274 A CN201510760274 A CN 201510760274A CN 105216007 A CN105216007 A CN 105216007A
- Authority
- CN
- China
- Prior art keywords
- crosshead shoe
- extension spring
- stage clip
- ball
- groups
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 210000003857 wrist joint Anatomy 0.000 title claims abstract description 40
- 238000006073 displacement reaction Methods 0.000 claims abstract description 23
- 210000000707 wrist Anatomy 0.000 claims abstract description 4
- 238000009826 distribution Methods 0.000 claims description 6
- 238000003825 pressing Methods 0.000 claims description 6
- 238000007789 sealing Methods 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 4
- 239000000203 mixture Substances 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 2
- 239000004519 grease Substances 0.000 claims description 2
- 230000001050 lubricating effect Effects 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 7
- 238000000034 method Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 abstract description 3
- 239000007943 implant Substances 0.000 abstract 1
- 238000004519 manufacturing process Methods 0.000 description 8
- 238000002347 injection Methods 0.000 description 6
- 239000007924 injection Substances 0.000 description 6
- 230000000149 penetrating effect Effects 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 4
- 230000000750 progressive effect Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 230000003252 repetitive effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 238000001746 injection moulding Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot limited flex wrist joint and its implementation, belong to Industrial Robot Technology field, solve and need robot wrist to have flexible technical problem.Comprise little flange, core retainer plate, oscillating bearing, cross shell, extension spring, crosshead shoe, ball, stage clip, spring base and large flange etc. specifically, little flange and core retainer plate are fixed, oscillating bearing is had outside core retainer plate, the exterior cross shell of oscillating bearing, the built-in crosshead shoe of cross shell, crosshead shoe and cross shell interorbital bury ball, and crosshead shoe and large flange interorbital bury ball, establish stage clip to keep displacement initial point between crosshead shoe and spring base, between little flange and cross shell, establish extension spring to keep angle initial point.Robot limited flex wrist joint has five degree of freedom limited flex, be particularly useful for the occasion that robot accurately implants inserts in mould, solve because require that robot wrist's three-dimensional coordinate and spatial attitude accurately need to carry out extreme difficulty to robot, a difficult problem in the industry for the teach programming process that wastes time and energy.
Description
Technical field
The invention belongs to Industrial Robot Technology field, be specifically related to a kind of robot limited flex wrist joint and its implementation.
Background technology
The occasion embedding part in mould is in advance needed before injection machine injection moulding, current main employing artificial manual embedding and applied robot in advance embed two kinds of modes automatically in advance, and wherein applied robot embeds part automatically in advance in the mode in mould, all need to carry out precision programming to robot with current technology, the positioning precision of the levels of precision of in advance programming and robot itself must be relied on, embedding precision that repetitive positioning accuracy ensures to embed in advance part.
There is following problem in current techniques: 1. adopts the mode production efficiency of the artificial manual part of embedding in advance progressive die tool low, and its poor stability; 2. applied robot embeds the mode of part progressive die tool automatically in advance, accurately enters mold cavity for ensureing to embed in advance part and needs the difficulty of robot being carried out to precision programming quite large; 3. applied robot embeds the mode of part progressive die tool automatically, by the impact of robot localization precision and repetitive positioning accuracy, accurately cannot embed when having and affect production efficiency or the hidden danger of matched moulds and mold damage under causing product rejection because of insert position deviation and even embedding part situation not in place in advance; 4., when mould is pulled down after repairing from injection machine, again load onto before injection machine returns to normal production, equally also need to expend the very long Operational preparation time and again accurate teach programming is carried out to robot.
Summary of the invention
For the problems existed in current techniques, the present invention proposes a kind ofly to be applied to a kind of robot limited flex wrist joint that robot accurately embeds occasion in part to injection mold in advance.
Described robot limited flex wrist joint, comprise the little flange with robot wrist Flange joint, it is characterized in that described little flange installs core retainer plate, core retainer plate installs oscillating bearing outward, oscillating bearing installs cross shell outward, cross shell has four groups of spherical guide grooves, large flange has four composition cross distribution guide-track grooves, each two groups of uniform crosshead shoe I and crosshead shoe II between four groups of spherical guide grooves on four groups of cross distribution guide-track grooves and cross shell on large flange, crosshead shoe I and crosshead shoe II has the guide-track groove of space right-angled intersection, ball I and ball II is imbedded between crosshead shoe I upper rall groove and cross shell guide-track groove, ball III and ball IV is imbedded between crosshead shoe II upper rall groove and cross shell guide-track groove, crosshead shoe I and imbed ball V and ball VI between crosshead shoe II lower guide groove and large flange guide-track groove, unify from inside to outside interior catch to be installed successively outside crosshead shoe I and each end face of crosshead shoe II, sealing gasket, outer catch and pressing plate, stage clip I is housed between crosshead shoe I lower outside and spring base, stage clip II is housed between crosshead shoe II lower outside and spring base, crosshead shoe I and between crosshead shoe II top left-external side and spring leaf I, stage clip III is housed, between the right outside side of crosshead shoe I and crosshead shoe II top and spring leaf II, stage clip IV is housed, spring base is fixed on outside large flange, spring leaf I and spring leaf II is fixed on outside cross shell, by pillar I and pillar II, extension spring I is installed between little flange and cross shell, by pillar III and pillar IV, extension spring II is installed between little flange and cross shell.
Described robot limited flex wrist joint, is characterized in that being provided with oscillating bearing between described core retainer plate and cross shell obtains Three Degree Of Freedom corner flexibility function.
Described robot limited flex wrist joint, it is characterized in that, between described cross shell guide-track groove and large flange guide-track groove, crosshead shoe I and crosshead shoe II is installed, and imbed ball I, ball II and ball III, ball IV to obtain two degrees of freedom displacement flexibility function in pairing guide-track groove.
Described robot limited flex wrist joint, it is characterized in that pillar I uniform by four groups between described little flange and cross shell and pillar II installs extension spring I, by four groups of uniform pillar III and pillar IV, extension spring II is installed, uniform its pretension provided of extension spring II of uniform extension spring I and the four group of reverse prestretching of four groups of forward prestretchings balances mutually relative to the moment of the oscillating bearing sphere centre of gyration, keeps Three Degree Of Freedom corner initial point original state.
Described robot limited flex wrist joint, it is characterized in that, between four groups of described uniform crosshead shoe I lower outsides and spring base I, stage clip I is all housed, between crosshead shoe II lower outside and spring base II, stage clip II is all housed, two groups of uniform stage clip I and stage clip II are in precompression poised state mutually between two, between four groups of uniform crosshead shoe I top left-external sides and spring leaf I, stage clip III is housed, between right outside side, crosshead shoe I top and spring leaf II, stage clip IV is housed, stage clip III and stage clip IV is in the mutual poised state of precompression, the stage clip I of two groups of precompression balances and stage clip II, the stage clip III of four groups of precompression balances and stage clip IV, common structure also keeps two degrees of freedom displacement initial point original state.
Described robot limited flex wrist joint, when it is characterized in that needing robot limited flex wrist joint to realize angle flexibility, cross shell rotates respective angles around oscillating bearing, there is corresponding change in four groups of uniform extension spring I and extension spring II prestretching length and pretension, when flexible joint needs to be reset to angle initial point, under the balanced action of four groups of uniform extension spring I and extension spring II original state pretension, cross shell is reset to angle initial point original state around oscillating bearing backwards rotation respective angles.
Described robot limited flex wrist joint, when it is characterized in that needing robot limited flex wrist joint to realize displacement flexibility, between large flange to cross shell by crosshead shoe I by the rolling of ball I and ball II and crosshead shoe II by the corresponding displacement of the scrolling realization of ball III and ball IV, the change of two groups of stage clip I and stage clip II and four group stage clip III and stage clip IV precompressed length and precompression generation correspondence, when flexible joint needs to be reset to displacement initial point, under the balance of stage clip I and stage clip II and stage clip III and stage clip IV original state precompression, large flange is reset to displacement initial point original state along the corresponding displacement of the reverse movement of cross shell track.
Described robot limited flex wrist joint, is characterized in that the outer each end face of crosshead shoe I and crosshead shoe II guide-track groove is equipped with interior catch, sealing gasket, outer catch and pressing plate from inside to outside successively, reach prevent ball from coming off, lubricating grease keeps and dust-proof function.
By adopting above-mentioned technology, compared with prior art, beneficial effect of the present invention is as follows:
1) the present invention is by arranging the compliant mechanism of five degree of freedom, can substitute high accuracy import robot and complete and imbed pre-inserts work to injection mold, significantly reduce robot cost of investment with low precision domestically produced machine people;
2) the present invention is by arranging the compliant mechanism of five degree of freedom, greatly simplifies robotic programming process, is reduced to grade displacement request and degree level angle requirement, significantly shortens robot debug time to robot location and the required precision of attitude detail programming;
3) the present invention is by arranging the compliant mechanism of five degree of freedom, when again installing injection machine after mould rolls off the production line maintenance, need not again programme to robot, and during shortening Operational preparation, chien shih production efficiency is improved;
4) the present invention obtains a kind of robot limited flex wrist joint by the compliant mechanism arranging five degree of freedom; can eliminate may to the extra additional force of the generation of robot when pre-insert in current production technology enters mold cavity; guarantee Robot Stiffness and precision stability for a long time not by the negative effect of improper load; flexible Auto-matching function can make robot, with the higher speed of service, pre-inserts be imbedded mold cavity; production efficiency is improved, and can promote in suitability for industrialized production.
Accompanying drawing explanation
Fig. 1 is front view structural representation of the present invention;
Fig. 2 is left view structural representation of the present invention;
Fig. 3 is top view structural representation of the present invention.
In figure: the little flange of 1-, 2-core retainer plate, 3-oscillating bearing, 4-cross shell, 5-crosshead shoe I, 6-ball I, 7-spring base I, 8-stage clip I, 9-large flange, 10-ball II, 11-stage clip II, 12-spring base II, 13-ball III, 14-crosshead shoe II, 15-ball IV, 16-pillar I, 17-extension spring I, 18-pillar II, 19-spring leaf I, 20-stage clip III, 21-ball V, 22-ball VI, catch in 23-, 24-sealing gasket, the outer catch of 25-, 26-pressing plate, 27-stage clip IV, 28-spring leaf II, 29-pillar III, 30-extension spring II, 31-pillar IV, 32-extension spring III, 33-extension spring IV, 34-extension spring V, 35-extension spring VI, 36-extension spring VII, 37-extension spring VIII.
Detailed description of the invention
Below in conjunction with Figure of description, the invention will be further described:
As Fig. 1, Fig. 2, shown in Fig. 3, robot limited flex wrist joint, comprise little flange 1, described little flange 1 installs core retainer plate 2 below, oscillating bearing 3 is installed outside core retainer plate 2, cross shell 4 is installed outside oscillating bearing 3, cross shell 4 has four groups of spherical guide grooves below, cross shell is for 4 times large flange 9, large flange 9 has four composition cross distribution guide-track grooves above, large flange 9 is uniformly distributed between four groups of cross distribution guide-track grooves and cross shell 4 times four groups of spherical guide grooves each two groups of crosshead shoe I5 and crosshead shoe II14 is set, crosshead shoe I5 and crosshead shoe II14 side have the staggered guide-track groove of two composition space crosses, ball I6 and ball II10 is imbedded between crosshead shoe I5 upper rall groove and cross shell 4 guide-track groove, ball III13 and ball IV15 is imbedded between crosshead shoe II14 upper rall groove and cross shell 4 guide-track groove, crosshead shoe I5 and imbed ball V21 and ball VI22 between crosshead shoe II14 lower guide groove and large flange 9 guide-track groove, from inside to outside interior catch 23 is installed successively outside crosshead shoe I5 and crosshead shoe II14 both ends of the surface, sealing gasket 24, outer catch 25 and pressing plate 26, between crosshead shoe I5 Lower Half left-external side and spring base I7, stage clip I8 is housed, between the right outside side of crosshead shoe II14 Lower Half and spring base II12, stage clip II11 is housed, crosshead shoe I5 and between crosshead shoe II14 first half left-external side and spring leaf I19, stage clip III20 is housed, between the right outside side of crosshead shoe I5 and crosshead shoe II14 top and spring leaf II28, stage clip IV27 is housed, spring base I7 is fixed on outside large flange 9, spring leaf I19 and spring leaf II28 is fixed on outside cross shell 4, by four groups of pillar I16s uniform relative to central axis and pillar II18, extension spring I17 is installed between little flange 1 and cross shell 4, by four groups of pillar III29s uniform relative to central axis and pillar IV31, extension spring II3 is installed between little flange 1 and cross shell 4, four groups of uniform extension spring I17 and extension spring II3 are in pretensioned state, and pretension balances mutually, make the poised state being in initial tension between little flange 1 and cross shell 4.
The carpal little flange 1 of robot of the present invention limited flex is installed on robot arm front end flange place, when terminal use's execution unit that robot is installed together with robot of the present invention limited flex wrist joint and front end is close to target, the space coordinates of terminal use's execution unit of permission robot arm front end and attitude are in X-direction displacement, Y-direction displacement, around X-axis corner, around Y-axis corner, around five degree of freedom directions such as Z axis corners and there is plyability error between the correct space coordinates of theory and attitude, robot of the present invention limited flex wrist joint can this plyability error of auto-compensation, specific implementation process is as follows:
1) there is X-direction displacement error between robot arm front end flange actual coordinate and theoretical correct coordinates when needing to revise, the stage clip I8 installed at two ends, X-direction left and right between this flexible wrist joint cross shell 4 and large flange 9 and stage clip II11, side stage clip decrement increases, opposite side stage clip pre compressed magnitude reduces simultaneously, large flange 9 revises displacement in X direction relative to cross shell 4, thus reach auto modification robot front end flange coordinate X-direction offset deviation object, as shown in Figure 1;
2) there is Y-direction displacement error between robot arm front end flange actual coordinate and theoretical correct coordinates when needing to revise, the stage clip III20 of two ends, left and right installation in the Y direction between this flexible wrist joint cross shell 4 and large flange 9 and stage clip IV27, side stage clip decrement increases, opposite side stage clip pre compressed magnitude reduces simultaneously, large flange 9 relative to cross shell 4 along Y-direction correction displacement, thus reach auto modification robot front end flange coordinate Y-direction offset deviation object, as shown in Figure 2;
3) exist between robot arm front end flange real space attitude and the correct spatial attitude of theory when X-axis angular errors needs to revise, when flexible wrist joint cross shell 4 transfers straightener device human arm front end flange X-axis angular errors relative to little flange 1 around the X-axis dextrorotation penetrating oscillating bearing central point, while extension spring II30 as shown in Figure 3 and extension spring III32 amount of tension increase, extension spring VI35 and extension spring VII36 prestretched amount reduce; When flexible wrist joint cross shell 4 relative to little flange 1 along the X-axis penetrating oscillating bearing central point be rotated counterclockwise revise robot arm front end flange X-axis angular errors time, while extension spring II30 as shown in Figure 3 and extension spring III32 prestretched amount reduce, extension spring VI35 and extension spring VII36 amount of tension increase; When robot arm front end flange withdraw working region need be reset to initial point around X-axis corner time, extension spring II30, extension spring III32 and extension spring VI35, extension spring VII36 all return to initial pretension length condition;
4) exist between robot arm front end flange real space attitude and the correct spatial attitude of theory when Y-axis angular errors needs to revise, when flexible wrist joint cross shell 4 relative to little flange 1 when transferring straightener device human arm front end flange Y-axis angular errors around the Y-axis dextrorotation penetrating oscillating bearing central point, while extension spring I17 as shown in Figure 3 and extension spring VIII (37) amount of tension increase, extension spring IV33 and extension spring V34 prestretched amount reduce; When flexible wrist joint cross shell 4 relative to little flange 1 be rotated counterclockwise around the Y-axis penetrating oscillating bearing central point revise robot arm front end flange Y-axis angular errors time, while extension spring I17 as shown in Figure 3 and extension spring VIII (37) prestretched amount reduce, extension spring IV33 and extension spring V34 amount of tension increase; When robot arm front end flange withdraw working region need be reset to initial point around Y-axis corner time, extension spring I17, extension spring VIII (37) and extension spring IV33, extension spring V34 all return to initial pretension length condition;
5) exist between robot arm front end flange real space attitude and the correct spatial attitude of theory when Z axis angular errors needs to revise, as shown in Figure 3, when flexible wrist joint cross shell 4 relative to little flange 1 when transferring straightener device human arm front end flange Z axis angular errors around the Z axis dextrorotation penetrating oscillating bearing central point, while extension spring II30, extension spring IV33, extension spring VI35 and extension spring VIII (37) amount of tension increase, extension spring I17, extension spring III32, extension spring V34 and extension spring VII36 prestretched amount reduce; When flexible wrist joint cross shell 4 relative to little flange 1 be rotated counterclockwise around the Z axis penetrating oscillating bearing central point revise robot arm front end flange Z axis angular errors time, extension spring I17, extension spring III32 while extension spring II30, extension spring IV33, extension spring VI35 and extension spring VIII (37) prestretched amount reduce, extension spring V34 and extension spring VII36 amount of tension increase; When robot arm front end flange withdraw working region need be reset to initial point around Z axis corner time, extension spring II30, extension spring IV33, extension spring VI35, extension spring VIII (37) and extension spring I17, extension spring III32, extension spring V34, extension spring VII36 all return to initial pretension length condition;
The present invention is by adopting above-mentioned technology, the robot limited flex wrist joint obtained, with the stage clip III20 of the stage clip I8 of two groups of preloading conditions, stage clip II11 and four group preloading condition, stage clip IV27 hybrid compensation X, Y-direction displacement error, with the extension spring II30 of pre-tension state, extension spring IV33, extension spring VI35, extension spring VIII (37) and extension spring I17, extension spring III32, extension spring V34, extension spring VII36 hybrid compensation X, Y, Z axis angular errors, realize wrist joint of robot five degree of freedom flexible.
Claims (8)
1. robot limited flex wrist joint, comprise the little flange (1) with robot wrist Flange joint, under it is characterized in that described little flange (1), core retainer plate (2) is installed, core retainer plate (2) installs oscillating bearing (3) outward, oscillating bearing (3) installs cross shell (4) outward, four groups of spherical guide grooves are had under cross shell (4), large flange (9) has four composition cross distribution guide-track grooves, uniform crosshead shoe I (5) and each two groups of crosshead shoe II (14) between four groups of spherical guide grooves under the upper four groups of cross distribution guide-track grooves of large flange (9) and cross shell (4), the guide-track groove that crosshead shoe I (5) is staggered with crosshead shoe II (14) having into space cross, ball I (6) and ball II (10) is imbedded between crosshead shoe I (5) upper rall groove and cross shell (4) guide-track groove, ball III (13) and ball IV (15) is imbedded between crosshead shoe II (14) upper rall groove and cross shell (4) guide-track groove, crosshead shoe I (5) and imbed ball V (21) and ball VI (22) between crosshead shoe II (14) lower guide groove and large flange (9) guide-track groove, unify from inside to outside interior catch (23) to be installed successively outside crosshead shoe I (5) and crosshead shoe II (14) each end face, sealing gasket (24), outer catch (25) and pressing plate (26), stage clip I (8) is housed between crosshead shoe I (5) bottom left-external side and spring base I (7), outside crosshead shoe II (14) lower right and between spring base II (12), stage clip II (11) is housed, crosshead shoe I (5) and between crosshead shoe II (14) top left-external side and spring leaf I (19), stage clip III (20) is housed, crosshead shoe I (5) and between right outside side, crosshead shoe II (14) top and spring leaf II (28), stage clip IV (27) is housed, spring base I (7) is fixed on large flange (9) outside, spring leaf I (19) and spring leaf II (28) is fixed on cross shell (4) outside, by pillar I (16) and pillar II (18), extension spring I (17) is installed between little flange (1) and cross shell (4), by pillar III (29) and pillar IV (31), extension spring II (30) is installed between little flange (1) and cross shell (4).
2. robot according to claim 1 limited flex wrist joint, is characterized in that being provided with oscillating bearing (3) between described core retainer plate (2) and cross shell (4) obtains Three Degree Of Freedom pivoting flexible function.
3. robot according to claim 1 limited flex wrist joint, it is characterized in that, between described cross shell (4) guide-track groove and large flange (9) guide-track groove, crosshead shoe I (5) and crosshead shoe II (14) is installed, and in pairing guide-track groove, imbed ball I (6), ball II (10) and ball III (13), ball IV (15) obtains two degrees of freedom displacement flexibility function.
4. robot according to claim 1 limited flex wrist joint, it is characterized in that pillar I (16) uniform by four groups between described little flange (1) and cross shell (4) and pillar II (18) installs extension spring I (17), by four groups of uniform pillar III (29) and pillar IV (31), extension spring II (30) is installed, the extension spring I (17) that four groups of forward prestretchings are uniform and uniform its pretension provided of extension spring II (30) of four groups of reverse prestretchings balance mutually relative to the moment of oscillating bearing (3) the sphere centre of gyration, Three Degree Of Freedom is kept to rotate initial point original state.
5. robot according to claim 1 limited flex wrist joint, it is characterized in that, between four groups of described uniform crosshead shoe I (5) lower outsides and spring base I (7), stage clip I (8) is all housed, stage clip II (11) is all housed between crosshead shoe II (14) lower outside and spring base II (12), two groups of uniform stage clip I (8) and stage clip II (11) are in precompression poised state mutually between two, between four groups of uniform crosshead shoe I (5) top left-external sides and spring leaf I (19), stage clip III (20) is housed, stage clip IV (27) is housed between right outside side, crosshead shoe I (5) top and spring leaf II (28), stage clip III (20) and stage clip IV (27) is in the mutual poised state of precompression, the stage clip I (8) of two groups of precompression balances and stage clip II (11), the stage clip III (20) of four groups of precompression balances and stage clip IV (27), common structure also keeps two degrees of freedom displacement initial point original state.
6. robot according to claim 1 limited flex wrist joint, it is characterized in that the outer each end face of crosshead shoe I (5) and crosshead shoe II (14) guide-track groove is equipped with interior catch (22), sealing gasket (23), outer catch (24) and pressing plate (25) from inside to outside successively, reach prevent ball from coming off, lubricating grease storage and dust-proof function.
7. according to claim 2 and robot according to claim 4 limited flex wrist joint, when its implementation is to need robot limited flex wrist joint to realize angle flexibility, cross shell (4) rotates respective angles around oscillating bearing (3), eight groups of uniform extension spring I (17), extension spring II (30), extension spring III (32), extension spring IV (33), extension spring V (34), extension spring VI (35), extension spring VII (36), there is corresponding change in extension spring VIII (37) prestretching length and pretension, when flexible joint needs to be reset to angle initial point, at eight groups of uniform extension spring I (17), extension spring II (30), extension spring III (32), extension spring IV (33), extension spring V (34), extension spring VI (35), extension spring VII (36), under the balanced action of extension spring VIII (37) original state pretension, cross shell (4) is reset to angle initial point original state around oscillating bearing (3) backwards rotation respective angles.
8. according to claim 3 and robot according to claim 5 limited flex wrist joint, when its implementation is to need robot limited flex wrist joint to realize displacement flexibility, crosshead shoe I (5) is passed through by ball I (6) between large flange (9) and cross shell (4), ball II (10) and ball V (21), the low-frictional force of ball VI (22) roll and crosshead shoe II (14) by the corresponding displacement of low-frictional force scrolling realization of ball III (13) and ball IV (15), the change of two groups of stage clip I (8) and stage clip II (11) and four groups of stage clip III (20) and stage clip IV (27) precompressed length and precompression generation correspondence, when flexible joint needs to be reset to displacement initial point, under the balance of stage clip I (8) and stage clip II (11) and stage clip III (20) and stage clip IV (27) original state precompression, large flange (9) is reset to displacement initial point original state along the corresponding displacement of the reverse movement of cross shell (4) track.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510760274.5A CN105216007B (en) | 2015-11-10 | 2015-11-10 | Robot limited flex wrist joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510760274.5A CN105216007B (en) | 2015-11-10 | 2015-11-10 | Robot limited flex wrist joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105216007A true CN105216007A (en) | 2016-01-06 |
| CN105216007B CN105216007B (en) | 2017-05-31 |
Family
ID=54985446
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510760274.5A Active CN105216007B (en) | 2015-11-10 | 2015-11-10 | Robot limited flex wrist joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105216007B (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108098831A (en) * | 2017-12-26 | 2018-06-01 | 常州大学 | A kind of three-degree of freedom flexible joint structure |
| CN108151944A (en) * | 2017-12-05 | 2018-06-12 | 燕山大学 | Flexible large deformation constant force transmits three-dimensional force sensing mechanisms |
| CN109724816A (en) * | 2017-10-31 | 2019-05-07 | 北京精密机电控制设备研究所 | A loading device based on crank-slider configuration |
| TWI690399B (en) * | 2018-04-27 | 2020-04-11 | 日商第一精工股份有限公司 | Position correction device, robot, and connecting jig |
| CN112549070A (en) * | 2020-12-10 | 2021-03-26 | 国网天津市电力公司 | Flexible automatic centering electric clamping jaw for charging robot |
| CN113510742A (en) * | 2021-07-07 | 2021-10-19 | 绍兴安迪自动化设备有限公司 | Self-centering flexible offset joint mechanism |
| CN113601163A (en) * | 2021-07-07 | 2021-11-05 | 北京工业大学 | Flexible wrist joint for assembling fingertip gyroscope |
| CN115476389A (en) * | 2022-09-29 | 2022-12-16 | 西安交通大学 | A fork reed type double core column continuum robot unit and robot |
| CN115741764A (en) * | 2022-11-22 | 2023-03-07 | 北京凡川智能机器人科技有限公司 | Two finger manipulators of multipurpose self-adaptation |
| CN118809127A (en) * | 2024-09-18 | 2024-10-22 | 南通新蓝机器人科技有限公司 | A six-dimensional adaptive adjustment module |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07276273A (en) * | 1994-04-11 | 1995-10-24 | Nippon Steel Corp | Deflection correction control method for parallel link manipulator |
| CN1962209A (en) * | 2006-12-08 | 2007-05-16 | 哈尔滨工业大学 | Three-branch chain six-freedom degree parallel flexible hinge micromotion mechanism |
| CN101543997A (en) * | 2009-05-12 | 2009-09-30 | 纪瑞星 | Joint driving device of flexible manipulator and flexible manipulator thereof |
| CN201824359U (en) * | 2010-07-02 | 2011-05-11 | 华中科技大学 | Flexible wrist for a robot |
| JP2011218485A (en) * | 2010-04-09 | 2011-11-04 | Triforce Management:Kk | Driving apparatus with force detecting function |
| CN102865985A (en) * | 2012-09-03 | 2013-01-09 | 江苏大学 | Spatial three-translation parallel shock excitation vibrating device based on flexible joint |
| CN103302677A (en) * | 2013-06-03 | 2013-09-18 | 哈尔滨工程大学 | Hydraulically-driven two-freedom degree bionic spinal joint module |
| CN205415680U (en) * | 2015-11-10 | 2016-08-03 | 方勇 | Limited flexible wrist joint of robot |
-
2015
- 2015-11-10 CN CN201510760274.5A patent/CN105216007B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07276273A (en) * | 1994-04-11 | 1995-10-24 | Nippon Steel Corp | Deflection correction control method for parallel link manipulator |
| CN1962209A (en) * | 2006-12-08 | 2007-05-16 | 哈尔滨工业大学 | Three-branch chain six-freedom degree parallel flexible hinge micromotion mechanism |
| CN101543997A (en) * | 2009-05-12 | 2009-09-30 | 纪瑞星 | Joint driving device of flexible manipulator and flexible manipulator thereof |
| JP2011218485A (en) * | 2010-04-09 | 2011-11-04 | Triforce Management:Kk | Driving apparatus with force detecting function |
| CN201824359U (en) * | 2010-07-02 | 2011-05-11 | 华中科技大学 | Flexible wrist for a robot |
| CN102865985A (en) * | 2012-09-03 | 2013-01-09 | 江苏大学 | Spatial three-translation parallel shock excitation vibrating device based on flexible joint |
| CN103302677A (en) * | 2013-06-03 | 2013-09-18 | 哈尔滨工程大学 | Hydraulically-driven two-freedom degree bionic spinal joint module |
| CN205415680U (en) * | 2015-11-10 | 2016-08-03 | 方勇 | Limited flexible wrist joint of robot |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109724816A (en) * | 2017-10-31 | 2019-05-07 | 北京精密机电控制设备研究所 | A loading device based on crank-slider configuration |
| CN108151944A (en) * | 2017-12-05 | 2018-06-12 | 燕山大学 | Flexible large deformation constant force transmits three-dimensional force sensing mechanisms |
| CN108098831B (en) * | 2017-12-26 | 2020-11-10 | 常州大学 | A three-degree-of-freedom flexible joint structure |
| CN108098831A (en) * | 2017-12-26 | 2018-06-01 | 常州大学 | A kind of three-degree of freedom flexible joint structure |
| US11577403B2 (en) * | 2018-04-27 | 2023-02-14 | Dai-Ichi Seiko Co., Ltd. | Position correction device, robot, and connection jig |
| TWI690399B (en) * | 2018-04-27 | 2020-04-11 | 日商第一精工股份有限公司 | Position correction device, robot, and connecting jig |
| CN112549070A (en) * | 2020-12-10 | 2021-03-26 | 国网天津市电力公司 | Flexible automatic centering electric clamping jaw for charging robot |
| CN113510742A (en) * | 2021-07-07 | 2021-10-19 | 绍兴安迪自动化设备有限公司 | Self-centering flexible offset joint mechanism |
| CN113601163B (en) * | 2021-07-07 | 2022-07-19 | 北京工业大学 | Flexible wrist joint for assembling fingertip gyroscope |
| CN113601163A (en) * | 2021-07-07 | 2021-11-05 | 北京工业大学 | Flexible wrist joint for assembling fingertip gyroscope |
| CN113510742B (en) * | 2021-07-07 | 2023-02-28 | 绍兴安迪自动化设备有限公司 | Self-centering flexible offset joint mechanism |
| CN115476389A (en) * | 2022-09-29 | 2022-12-16 | 西安交通大学 | A fork reed type double core column continuum robot unit and robot |
| CN115741764A (en) * | 2022-11-22 | 2023-03-07 | 北京凡川智能机器人科技有限公司 | Two finger manipulators of multipurpose self-adaptation |
| CN118809127A (en) * | 2024-09-18 | 2024-10-22 | 南通新蓝机器人科技有限公司 | A six-dimensional adaptive adjustment module |
| CN118809127B (en) * | 2024-09-18 | 2024-11-15 | 南通新蓝机器人科技有限公司 | Six-dimensional self-adaptive adjusting module |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105216007B (en) | 2017-05-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105216007A (en) | Robot limited flex wrist joint and its implementation | |
| CN110341831B (en) | Double-mobile-robot flexible-connection cooperative carrying system and composite navigation device thereof | |
| CN205415680U (en) | Limited flexible wrist joint of robot | |
| CN106625665A (en) | Movable drilling and milling robot system achieving automatic addressing | |
| US20120011915A1 (en) | Method of incremental forming with successive wrap surfaces | |
| CN102161153B (en) | Modular flexible SDOF(six degrees of freedom) parallel redundant driving attitude adjusting mechanism for automatic assembly and adjusting method thereof | |
| CN108655827B (en) | Spatial Error Identification Method of Five-axis CNC Machine Tool | |
| CN103231254B (en) | Redundant drive three-freedom-degree parallel mechanism with double motion platforms | |
| CN207139838U (en) | A kind of end effector mechanism for automobile die polishing robot | |
| JP6067805B1 (en) | Combined work device using link actuator | |
| Baigunchekov et al. | Direct kinematics of a 3-PRRS type parallel manipulator | |
| CN110006339B (en) | Antenna reflector composite material mold surface precision in-situ measurement method and system | |
| US20230103159A1 (en) | A High-Precision Mobile Robot Management and Scheduling System | |
| CN201405250Y (en) | Grinding wheel frame structure with virtual Y axis | |
| CN112847306B (en) | Speed inverse solution method of six-axis robot and six-axis robot | |
| CN101109407A (en) | A sliding ball hinge | |
| CN202441737U (en) | Ball cage type universal joint | |
| US9308679B2 (en) | Apparatus for manufacturing hybrid stabilizer link | |
| Xu et al. | Design, development, and analysis of a hybrid serial-parallel machine for precision polishing | |
| WO2021012606A1 (en) | High-precision movable robot secondary positioning device | |
| CN112847307B (en) | Six-axis robot and counter-force inverse solution method thereof | |
| CN202684711U (en) | Novel mold polishing device | |
| CN103195865A (en) | Supporting device and supporting simulation test table thereof | |
| CN116141052A (en) | An Attitude Adjustment System for Fragile Material Structural Parts | |
| CN202507817U (en) | Novel 3/3-RPRS robot arm engraving mechanism with six freedom degrees |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| DD01 | Delivery of document by public notice |
Addressee: Fang Yong Document name: Notification of Passing Examination on Formalities |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |