CN104196964A - Parallel drive-based shoulder joint - Google Patents
Parallel drive-based shoulder joint Download PDFInfo
- Publication number
- CN104196964A CN104196964A CN201410377154.2A CN201410377154A CN104196964A CN 104196964 A CN104196964 A CN 104196964A CN 201410377154 A CN201410377154 A CN 201410377154A CN 104196964 A CN104196964 A CN 104196964A
- Authority
- CN
- China
- Prior art keywords
- gear
- inner ring
- outer ring
- bevel gear
- gearwheel
- 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
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Abstract
The invention relates to a shoulder joint, in particular to a parallel drive-based shoulder joint which aims at solving the problem of poor movement accuracy of an existing assist robot shoulder joint. An inner ring straight gear is meshed with an inner ring transmission gear. An inner ring bevel gear is connected with the inner ring straight gear and is installed on the outer diameter of a supporting frame in a sleeved mode through a needle bearing. An outer ring straight gear is meshed with an outer ring transmission gear. An outer ring bevel gear is connected with the outer ring straight gear and is installed on the outer diameter of an inner ring in a sleeved mode through a needle bearing. An upper arm supporting frame is arranged in the supporting frame. A left bevel gear is meshed with the outer ring bevel gear. A left transmission pinion is fixed to a gear shaft of the left bevel gear through a key. A left transmission rack wheel is meshed with the left transmission pinion. A right bevel gear is meshed with the inner ring bevel gear. A right transmission pinion is fixed to a gear shaft of the right bevel gear through a key. A right transmission rack wheel is meshed with the right transmission pinion. The two ends of an upper arm fixing frame are fixedly connected with the corresponding gear shafts of the left transmission rack wheel and the corresponding right transmission rack wheel respectively. The parallel drive-based shoulder joint is used on an assist robot.
Description
Technical field
The present invention relates to a kind of shoulder joint, be specifically related to a kind of shoulder joint based on parallel drive.
Background technique
At present, for human upper limb power-assisting robot, the design of shoulder joint is a vital ring.Current existing shoulder joint design be mostly with cascaded structure, be designed to main, this structure motion low precision, and each degrees of freedom has separate electrical motor to drive, and makes motor burden large, thereby causes motor size to increase.And existing parallel-connection structure mostly is connecting rod link form, range of movement is also greatly limited.
Summary of the invention
The problem that of the present invention is the existing power-assisting robot shoulder joint kinesitherapy low precision of solution, volume is large, range of movement is little, and a kind of shoulder joint based on parallel drive is proposed.
A kind of shoulder joint based on parallel drive of the present invention comprises inner ring drive motor, outer ring drive motor, inner ring retarder, outer ring retarder, inner ring driving gear, outer ring driving gear, supporting frame, inner ring spur gear, inner ring bevel gear, outer ring spur gear, outer ring bevel gear, upper arm supporting frame, left angular wheel, right bevel gear, Left Drive small gear, Left Drive gearwheel, right transmission gearwheel, right driving pinion, left gear case lid, right gear case lid, upper arm fixing frame and support plate, supporting frame is ring, support plate is arranged on the end of supporting frame, the vertical setting of axis of support plate and supporting frame, inner ring retarder and outer ring retarder be arranged in parallel, and the output shaft of inner ring retarder and outer ring retarder is all through support plate, inner ring drive motor is connected with inner ring retarder, outer ring drive motor is connected with outer ring retarder, inner ring driving gear is fixed on the output shaft of inner ring retarder by key, outer ring driving gear is fixed on the output shaft of outer ring retarder by key, inner ring spur gear and the engagement of inner ring driving gear, inner ring bevel gear and inner ring spur gear arrange side by side and coaxially, inner ring bevel gear and inner ring spur gear are connected by screw and form inner ring annulus, inner ring annulus is sleeved on the external diameter of supporting frame by needle bearing, outer ring spur gear and the engagement of outer ring driving gear, outer ring bevel gear and outer ring spur gear arrange side by side and coaxially, outer ring bevel gear and outer ring spur gear are connected by screw and form outer ring annulus, outer ring annulus is sleeved on the external diameter of inner ring annulus by needle bearing, upper arm supporting frame comprises support ring, left gear case and right gear case, left gear case is identical with the structure of right gear case, left gear case and right gear case be take the axis of support ring and are symmetricly set on the inwall of support ring as benchmark, left gear case through-thickness is provided with left angular wheel axis hole, the inner side end of left gear case is provided with Left Drive gearwheel axial trough, the axis of the axis of left angular wheel axis hole and Left Drive gearwheel axial trough is parallel and arrange in the same horizontal line, the axis of left angular wheel axis hole arranges with the axis of support ring is vertical, right gear case through-thickness be provided with left angular wheel axis hole over against right bevel gear axis hole, the inner side end of right gear case be provided with Left Drive gearwheel axial trough over against right transmission gearwheel axial trough, support ring is arranged in the internal diameter of supporting frame 7 by needle bearing, left angular wheel and the engagement of outer ring bevel gear, left angular wheel is arranged on the outside of left gear case, and the gear shaft on left angular wheel is through left angular wheel axis hole, the gear shaft of left angular wheel is fixed in left angular wheel axis hole by ball bearing, Left Drive small gear is arranged in Left Drive gearwheel axial trough, and Left Drive small gear is fixed on the gear shaft of left angular wheel by key, Left Drive gearwheel and the engagement of Left Drive small gear, and gear shaft one end of Left Drive gearwheel is fixed in Left Drive gearwheel axial trough 1 by ball bearing, the gear shaft the other end of Left Drive gearwheel is arranged in left gear case lid by ball bearing, left gear case lid is arranged on left gear case by screw,
Right bevel gear and the engagement of inner ring bevel gear, right bevel gear is arranged on the outside of right gear case, and the gear shaft on right bevel gear is through right bevel gear axis hole, the gear shaft of right bevel gear is fixed in right bevel gear axis hole by ball bearing, right driving pinion is arranged in right transmission gearwheel axial trough, and right driving pinion is fixed on the gear shaft of right bevel gear by key, right transmission gearwheel and the engagement of right driving pinion, and gear shaft one end of right transmission gearwheel is fixed in right transmission gearwheel axial trough by ball bearing, the gear shaft the other end of right transmission gearwheel is arranged in right gear case lid by ball bearing, right gear case lid is arranged on right gear case by screw,
Upper arm fixing frame is arranged between left gear case and right gear case, and the two ends of upper arm fixing frame are fixedly connected with the gear shaft of right transmission gearwheel with corresponding Left Drive gearwheel respectively.
The present invention compared with prior art has following beneficial effect:
One, due to the present invention, adopted the mode of parallel drive, the kind of drive adopts gear transmission, has increased accuracy and the range of movement of motion.Kinematic accuracy is more than doubled compared to existing technology.
Two, the present invention has two motors to bear when each degrees of freedom motion, has shared the burden of motor, and motor parallel setting, thereby reduces the volume of motor, has increased compactedness.
Accompanying drawing explanation
Fig. 1 is overall structure stereogram of the present invention;
Fig. 2 is the position relationship stereogram of inner ring drive motor 1, outer ring drive motor 2, inner ring retarder 3, outer ring retarder 4, inner ring driving gear 5, outer ring driving gear 6 and supporting frame 7;
Fig. 3 is the position relationship stereogram of inner ring spur gear 8, inner ring bevel gear 9 and supporting frame 7;
Fig. 4 is the position relationship stereogram of outer ring spur gear 10, outer ring bevel gear 11, upper arm supporting frame 12 and supporting frame 7;
Fig. 5 is the structural perspective of upper arm supporting frame 12;
Fig. 6 is the structural perspective of upper arm supporting frame 12;
Fig. 7 is the position relationship stereogram of left angular wheel 13, Left Drive small gear 15, Left Drive gearwheel 16 and left gear case 12-2;
Fig. 8 is the mounting point of left gear case lid 19 and left gear case 12-2, the mounting point stereogram of right gear case lid 20 and right gear case 12-3;
Fig. 9 is the position relationship stereogram of right bevel gear 14, right driving pinion 18, right transmission gearwheel 17 and right gear case 12-3.
Embodiment
Embodiment one: present embodiment is described in conjunction with Fig. 1～Fig. 9, present embodiment comprises inner ring drive motor 1, outer ring drive motor 2, inner ring retarder 3, outer ring retarder 4, inner ring driving gear 5, outer ring driving gear 6, supporting frame 7, inner ring spur gear 8, inner ring bevel gear 9, outer ring spur gear 10, outer ring bevel gear 11, upper arm supporting frame 12, left angular wheel 13, right bevel gear 14, Left Drive small gear 15, Left Drive gearwheel 16, right transmission gearwheel 17, right driving pinion 18, left gear case lid 19, right gear case lid 20, upper arm fixing frame 21 and support plate 22,
Supporting frame 7 is ring, support plate 22 is arranged on the end of supporting frame 7, the vertical setting of axis of support plate 22 and supporting frame 7, inner ring retarder 3 be arranged in parallel with outer ring retarder 4, and the output shaft of inner ring retarder 3 and outer ring retarder 4 is all through support plate 22, inner ring retarder 3 and outer ring retarder 4 are all fixed on support plate 22, inner ring drive motor 1 is connected with inner ring retarder 3, outer ring drive motor 2 is connected with outer ring retarder 4, inner ring driving gear 5 is fixed on the output shaft of inner ring retarder 3 by key, outer ring driving gear 6 is fixed on the output shaft of outer ring retarder 4 by key, see Fig. 2, inner ring spur gear 8 and 5 engagements of inner ring driving gear, inner ring bevel gear 9 arranges side by side and coaxially with inner ring spur gear 8, inner ring bevel gear 9 is connected by screw and forms inner ring annulus with inner ring spur gear 8, inner ring annulus is sleeved on the external diameter of supporting frame 7 by needle bearing, inner ring spur gear 8 and inner ring bevel gear 9 can with supporting frame 7 relative rotation motion of driving system, rotation by inner ring drive motor 1 can directly drive inner ring spur gear 8 and inner ring bevel gear 9 to rotate, see Fig. 3, outer ring spur gear 10 and 6 engagements of outer ring driving gear, outer ring bevel gear 11 arranges side by side and coaxially with outer ring spur gear 10, outer ring bevel gear 11 is connected by screw and forms outer ring annulus with outer ring spur gear 10, outer ring annulus is sleeved on the external diameter of inner ring annulus by needle bearing, outer ring annulus, inner ring annulus and supporting frame 7 can be done independently rotational motion, by the rotation of outer ring drive motor 2, can directly drive the rotation of outer ring spur gear 10 and outer ring bevel gear 11, see Fig. 4,
Upper arm supporting frame 12 comprises support ring 12-1, left gear case 12-2 and right gear case 12-3, left gear case 12-2 is identical with the structure of right gear case 12-3, left gear case 12-2 and right gear case 12-3 be take the axis of support ring 12-1 and are symmetricly set on the inwall of support ring 12-1 as benchmark, left gear case 12-2 through-thickness is provided with left angular wheel axis hole 12-4, the inner side end of left gear case 12-2 is provided with Left Drive gearwheel axial trough 12-5, the axis of the axis of left angular wheel axis hole 12-4 and Left Drive gearwheel axial trough 12-5 is parallel and arrange in the same horizontal line, the vertical setting of axis of the axis of left angular wheel axis hole 12-4 and support ring 12-1, right gear case 12-3 through-thickness be provided with left angular wheel axis hole 12-4 over against right bevel gear axis hole 12-6, the inner side end of right gear case 12-3 be provided with Left Drive gearwheel axial trough 12-5 over against right transmission gearwheel axial trough 12-7, support ring 12-1 is arranged in the internal diameter of supporting frame 7 by needle bearing, upper arm supporting frame 12 can be done independently rotational motion, see Fig. 4, Fig. 5 and Fig. 6,
Left angular wheel 13 and 11 engagements of outer ring bevel gear, left angular wheel 13 is arranged on the outside of left gear case 12-2, and the gear shaft on left angular wheel 13 is through left angular wheel axis hole 12-4, the gear shaft of left angular wheel 13 is fixed in left angular wheel axis hole 12-4 by ball bearing, Left Drive small gear 15 is arranged in Left Drive gearwheel axial trough 12-5, and Left Drive small gear 15 is fixed on the gear shaft of left angular wheel 13 by key, Left Drive gearwheel 16 and 15 engagements of Left Drive small gear, and gear shaft one end of Left Drive gearwheel 16 is fixed in Left Drive gearwheel axial trough 12-5 by ball bearing, the gear shaft the other end of Left Drive gearwheel 16 is arranged in left gear case lid 19 by ball bearing, left gear case lid 19 is arranged on left gear case 12-2 by screw, see Fig. 7 and Fig. 8,
Right bevel gear 14 and 9 engagements of inner ring bevel gear, right bevel gear 14 is arranged on the outside of right gear case 12-3, and the gear shaft on right bevel gear 14 is through right bevel gear axis hole 12-6, the gear shaft of right bevel gear 14 is fixed in right bevel gear axis hole 12-6 by ball bearing, right driving pinion 18 is arranged in right transmission gearwheel axial trough 12-7, and right driving pinion 18 is fixed on the gear shaft of right bevel gear 14 by key, right transmission gearwheel 17 and right driving pinion 18 engagements, and gear shaft one end of right transmission gearwheel 17 is fixed in right transmission gearwheel axial trough 12-7 by ball bearing, the gear shaft the other end of right transmission gearwheel 17 is arranged in right gear case lid 20 by ball bearing, right gear case lid 20 is arranged on right gear case 12-3 by screw, see Fig. 8 and Fig. 9,
Upper arm fixing frame 21 is arranged between left gear case 12-2 and right gear case 12-3, the two ends of upper arm fixing frame 21 are fixedly connected with the gear shaft of right transmission gearwheel 17 with corresponding Left Drive gearwheel 16 respectively, along with the rotation of Left Drive gearwheel 16 and right transmission gearwheel 17, can drive upper arm fixing frame 21 to rotate around the axis of Left Drive gearwheel 16 and right transmission gearwheel 17 like this.
Embodiment two: in conjunction with Fig. 2, present embodiment is described, the support plate 22 of present embodiment is fan-shaped, and fan-shaped internal diameter is identical with the internal diameter of supporting frame 7.Design makes structure more reasonable like this.Other composition and annexation are identical with embodiment one.
Embodiment three: in conjunction with Fig. 2, present embodiment is described, support plate 22 and the supporting frame 7 of present embodiment are made one.Can increase the stability of shoulder joint like this.Other composition and annexation are identical with embodiment one or two.
Embodiment four: in conjunction with Fig. 3, present embodiment is described, the external diameter of the inner ring bevel gear 9 of present embodiment is identical with the external diameter of inner ring spur gear 8.Other composition and annexation are identical with embodiment three.
Embodiment five: in conjunction with Fig. 4, present embodiment is described, the external diameter of the outer ring bevel gear 11 of present embodiment is identical with the external diameter of outer ring spur gear 10.Other composition and annexation are identical with embodiment four.
Embodiment six: in conjunction with Fig. 5, present embodiment is described, the axis of the axis of the left angular wheel axis hole 12-4 of present embodiment and Left Drive gearwheel axial trough 12-5 in the same horizontal line.Other composition and annexation are identical with embodiment one, two, four or five.
Embodiment seven: in conjunction with Fig. 6, present embodiment is described, the axis of the axis of the right bevel gear axis hole 12-6 of present embodiment and right transmission gearwheel axial trough 12-7 in the same horizontal line.Other composition and annexation are identical with embodiment six.
Embodiment eight: in conjunction with Fig. 5 and Fig. 6, present embodiment is described, left gear case 12-2, right gear case 12-3 and the support ring 12-1 of present embodiment make one.Design is improved the stability of upper arm supporting frame 12 like this.Other composition and annexation are identical with embodiment seven.
Embodiment nine: in conjunction with Fig. 1, present embodiment is described, the upper arm fixing frame 21 of present embodiment is provided with elongated slot 21-1.Elongated slot 21-1 is for being connected with miscellaneous part.Other composition and annexation are identical with embodiment eight.
Embodiment ten: present embodiment is described in conjunction with Fig. 5, Fig. 6 and Fig. 7, present embodiment different from embodiment seven are that it also increases and has gear baffle 12-8, gear baffle 12-8 is positioned at the below of upper arm fixing frame 21 and is arranged on inner ring bevel gear 9 and a side for outer ring bevel gear 11, and gear baffle 12-8 and support ring 12-1 make one.Gear baffle 12-8 is keeping off inner ring bevel gear 9 and outer ring bevel gear 11, prevents that inner ring bevel gear 9 from contacting with arm with outer ring bevel gear 11.Other composition and annexation are identical with embodiment nine.
Working principle:
1, when inner ring driving gear 5 and outer ring driving gear 6 rotate backward, left angular wheel 13 is done rotating in same direction with right bevel gear 14, be that Left Drive gearwheel 16 is done motion in the same way with right transmission gearwheel 17, drive upper arm fixing frame 21 in the vertical direction motion that rotates, upper arm fixing frame 21 is around the axis rotation of Left Drive gearwheel 16 and right transmission gearwheel 17.
2, when inner ring driving gear 5 and outer ring driving gear 6 rotating in same direction, left angular wheel 13 is done counter-rotational trend with right bevel gear 14, but because Left Drive gearwheel 16 is fixedly connected with upper arm fixing frame 21 with right transmission gearwheel 17, so left angular wheel 13 can not occur with the rotational motion of right bevel gear 14, now, due to reaction force, and left angular wheel 13 and 11 engagements of outer ring bevel gear, right bevel gear 14 and 9 engagements of inner ring bevel gear, being equivalent to left angular wheel 13 is fixed on outer ring bevel gear 11, right bevel gear 14 is fixed on inner ring bevel gear 9, inner ring bevel gear 9 and outer ring bevel gear 11 are rotated and will drive upper arm fixing frame 21 around the axial-movement of inner ring bevel gear 9 and outer ring bevel gear 11, it is the rotation that upper arm fixing frame 21 is done substantially horizontal.
Claims (10)
1. the shoulder joint based on parallel drive, it is characterized in that: described a kind of shoulder joint based on parallel drive comprises inner ring drive motor (1), outer ring drive motor (2), inner ring retarder (3), outer ring retarder (4), inner ring driving gear (5), outer ring driving gear (6), supporting frame (7), inner ring spur gear (8), inner ring bevel gear (9), outer ring spur gear (10), outer ring bevel gear (11), upper arm supporting frame (12), left angular wheel (13), right bevel gear (14), Left Drive small gear (15), Left Drive gearwheel (16), right transmission gearwheel (17), right driving pinion (18), left gear case lid (19), right gear case lid (20), upper arm fixing frame (21) and support plate (22), supporting frame (7) is ring, support plate (22) is arranged on the end of supporting frame (7), the vertical setting of axis of support plate (22) and supporting frame (7), inner ring retarder (3) be arranged in parallel with outer ring retarder (4), and the output shaft of inner ring retarder (3) and outer ring retarder (4) is all through support plate (22), inner ring drive motor (1) is connected with inner ring retarder (3), outer ring drive motor (2) is connected with outer ring retarder (4), inner ring driving gear (5) is fixed on the output shaft of inner ring retarder (3) by key, outer ring driving gear (6) is fixed on the output shaft of outer ring retarder (4) by key, inner ring spur gear (8) and inner ring driving gear (5) engagement, inner ring bevel gear (9) arranges side by side and coaxially with inner ring spur gear (8), inner ring bevel gear (9) is connected by screw and forms inner ring annulus with inner ring spur gear (8), inner ring annulus is sleeved on the external diameter of supporting frame (7) by needle bearing, outer ring spur gear (10) and outer ring driving gear (6) engagement, outer ring bevel gear (11) arranges side by side and coaxially with outer ring spur gear (10), outer ring bevel gear (11) is connected by screw and forms outer ring annulus with outer ring spur gear (10), outer ring annulus is sleeved on the external diameter of inner ring annulus by needle bearing, upper arm supporting frame (12) comprises support ring (12-1), left gear case (12-2) and right gear case (12-3), left gear case (12-2) is identical with the structure of right gear case (12-3), left gear case (12-2) and right gear case (12-3) be take the axis of support ring (12-1) and are symmetricly set on the inwall of support ring (12-1) as benchmark, left gear case (12-2) through-thickness is provided with left angular wheel axis hole (12-4), the inner side end of left gear case (12-2) is provided with Left Drive gearwheel axial trough (12-5), the axis of the axis of left angular wheel axis hole (12-4) and Left Drive gearwheel axial trough (12-5) is parallel and arrange in the same horizontal line, the vertical setting of axis of the axis of left angular wheel axis hole (12-4) and support ring (12-1), right gear case (12-3) through-thickness be provided with left angular wheel axis hole (12-4) over against right bevel gear axis hole (12-6), the inner side end of right gear case (12-3) be provided with Left Drive gearwheel axial trough (12-5) over against right transmission gearwheel axial trough (12-7), support ring (12-1) is arranged in the internal diameter of supporting frame (7) by needle bearing, left angular wheel (13) and outer ring bevel gear (11) engagement, left angular wheel (13) is arranged on the outside of left gear case (12-2), and the gear shaft on left angular wheel (13) is through left angular wheel axis hole (12-4), the gear shaft of left angular wheel (13) is fixed in left angular wheel axis hole (12-4) by ball bearing, Left Drive small gear (15) is arranged in Left Drive gearwheel axial trough (12-5), and Left Drive small gear (15) is fixed on the gear shaft of left angular wheel (13) by key, Left Drive gearwheel (16) and Left Drive small gear (15) engagement, and gear shaft one end of Left Drive gearwheel (16) is fixed in Left Drive gearwheel axial trough (12-5) by ball bearing, the gear shaft the other end of Left Drive gearwheel (16) is arranged in left gear case lid (19) by ball bearing, left gear case lid (19) is arranged on left gear case (12-2) by screw, right bevel gear (14) and inner ring bevel gear (9) engagement, right bevel gear (14) is arranged on the outside of right gear case (12-3), and the gear shaft on right bevel gear (14) is through right bevel gear axis hole (12-6), the gear shaft of right bevel gear (14) is fixed in right bevel gear axis hole (12-6) by ball bearing, right driving pinion (18) is arranged in right transmission gearwheel axial trough (12-7), and right driving pinion (18) is fixed on the gear shaft of right bevel gear (14) by key, right transmission gearwheel (17) and right driving pinion (18) engagement, and gear shaft one end of right transmission gearwheel (17) is fixed in right transmission gearwheel axial trough (12-7) by ball bearing, the gear shaft the other end of right transmission gearwheel (17) is arranged in right gear case lid (20) by ball bearing, right gear case lid (20) is arranged on right gear case (12-3) by screw, upper arm fixing frame (21) is arranged between left gear case (12-2) and right gear case (12-3), the two ends of upper arm fixing frame (21) are fixedly connected with the gear shaft of right transmission gearwheel (17) with corresponding Left Drive gearwheel (16) respectively.
2. a kind of shoulder joint based on parallel drive according to claim 1, is characterized in that: described support plate (22) is for fan-shaped, and fan-shaped internal diameter is identical with the internal diameter of supporting frame (7).
3. according to a kind of shoulder joint based on parallel drive described in claim 1 or 2, it is characterized in that: described support plate (22) is made one with supporting frame (7).
4. a kind of shoulder joint based on parallel drive according to claim 3, is characterized in that: the external diameter of inner ring bevel gear (9) is identical with the external diameter of inner ring spur gear (8).
5. a kind of shoulder joint based on parallel drive according to claim 4, is characterized in that: the external diameter of outer ring bevel gear (11) is identical with the external diameter of outer ring spur gear (10).
6. according to a kind of shoulder joint based on parallel drive described in claim 1,2,4 or 5, it is characterized in that: the axis of the axis of described left angular wheel axis hole (12-4) and Left Drive gearwheel axial trough (12-5) in the same horizontal line.
7. a kind of shoulder joint based on parallel drive according to claim 6, is characterized in that: the axis of the axis of described right bevel gear axis hole (12-6) and right transmission gearwheel axial trough (12-7) in the same horizontal line.
8. a kind of shoulder joint based on parallel drive according to claim 7, is characterized in that: described left gear case (12-2), right gear case (12-3) and support ring (12-1) are made one.
9. a kind of shoulder joint based on parallel drive according to claim 8, is characterized in that: described upper arm fixing frame (21) is provided with elongated slot (21-1).
10. a kind of shoulder joint based on parallel drive according to claim 9, it is characterized in that: described upper arm supporting frame (12) also comprises gear baffle (12-8), gear baffle (12-8) is positioned at the below of upper arm fixing frame (21) and is arranged on inner ring bevel gear (9) and a side for outer ring bevel gear (11), and gear baffle (12-8) is made one with support ring (12-1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410377154.2A CN104196964B (en) | 2014-08-01 | 2014-08-01 | Parallel drive-based shoulder joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410377154.2A CN104196964B (en) | 2014-08-01 | 2014-08-01 | Parallel drive-based shoulder joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104196964A true CN104196964A (en) | 2014-12-10 |
| CN104196964B CN104196964B (en) | 2017-02-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410377154.2A Active CN104196964B (en) | 2014-08-01 | 2014-08-01 | Parallel drive-based shoulder joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104196964B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008136405A1 (en) * | 2007-04-27 | 2008-11-13 | Thk Co., Ltd. | Rotary drive, joint structure of robot and robot arm |
| CN201721535U (en) * | 2010-07-13 | 2011-01-26 | 张化玲 | Multi-drive bionic robot |
| JP2011196486A (en) * | 2010-03-19 | 2011-10-06 | Sumitomo Heavy Ind Ltd | Reduction gear and power transmission part structure having the reduction gear |
| CN202971757U (en) * | 2012-11-21 | 2013-06-05 | 中国船舶重工集团公司第七一六研究所 | Hypoid bevel gear drive device |
| CN103307214A (en) * | 2013-05-22 | 2013-09-18 | 北京邮电大学 | Coplaner double-inside engaged gear with few tooth differences and reducer adopting coplaner double-inside engaged gear |
-
2014
- 2014-08-01 CN CN201410377154.2A patent/CN104196964B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008136405A1 (en) * | 2007-04-27 | 2008-11-13 | Thk Co., Ltd. | Rotary drive, joint structure of robot and robot arm |
| JP2011196486A (en) * | 2010-03-19 | 2011-10-06 | Sumitomo Heavy Ind Ltd | Reduction gear and power transmission part structure having the reduction gear |
| CN201721535U (en) * | 2010-07-13 | 2011-01-26 | 张化玲 | Multi-drive bionic robot |
| CN202971757U (en) * | 2012-11-21 | 2013-06-05 | 中国船舶重工集团公司第七一六研究所 | Hypoid bevel gear drive device |
| CN103307214A (en) * | 2013-05-22 | 2013-09-18 | 北京邮电大学 | Coplaner double-inside engaged gear with few tooth differences and reducer adopting coplaner double-inside engaged gear |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104196964B (en) | 2017-02-15 |
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