CN106737589A - Robot and its robot shoulder arm rotational structure - Google Patents
Robot and its robot shoulder arm rotational structure Download PDFInfo
- Publication number
- CN106737589A CN106737589A CN201611257655.2A CN201611257655A CN106737589A CN 106737589 A CN106737589 A CN 106737589A CN 201611257655 A CN201611257655 A CN 201611257655A CN 106737589 A CN106737589 A CN 106737589A
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- Prior art keywords
- arm
- shoulder
- robot
- rotating disk
- rotational structure
- Prior art date
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- 230000000994 depressogenic effect Effects 0.000 claims description 17
- 238000009434 installation Methods 0.000 claims description 8
- 230000013011 mating Effects 0.000 claims description 8
- 238000005034 decoration Methods 0.000 claims description 7
- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical compound C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 claims description 3
- 230000008878 coupling Effects 0.000 description 38
- 238000010168 coupling process Methods 0.000 description 38
- 238000005859 coupling reaction Methods 0.000 description 38
- 230000005540 biological transmission Effects 0.000 description 19
- 230000007246 mechanism Effects 0.000 description 8
- 230000002093 peripheral effect Effects 0.000 description 8
- 108090000565 Capsid Proteins Proteins 0.000 description 5
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000011120 plywood Substances 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The present invention relates to the technical field of robot, there is provided a kind of robot and its robot shoulder arm rotational structure, for connecting shoulder and arm, the shoulder includes first end and second end relative with first end with spherical structure；The arm has the ball and socket base coordinated with the spherical structure, the rotating disk for being connected with the ball and socket base is provided with the spherical structure and makes the force piece that the rotating disk rotates centered on the axis of the rotating disk.It is compared with the prior art, the robot shoulder arm rotational structure that the present invention is provided, shoulder uses spherical structure, arm, in such manner, it is possible to improve the connection reliability of arm and shoulder, to realize swinging for arm opposite shoulder with the ball and socket base coordinated with spherical structure.The present invention provide robot, arm have operating flexibility higher, can opposite shoulder be rocked to larger pendulum angle.
Description
Technical field
The present invention relates to the technical field of robot, knot is rotated more particularly, to a kind of robot and its robot shoulder arm
Structure.
Background technology
At present, the robot with general program capability and operating function, referred to as intelligent robot, it has wider
Range of application.Traditional intelligent robot, mainly includes head and trunk, and the both sides of trunk are provided with arm, however, traditional
Arm and trunk articulated section, connection reliability are poor, and articulated section is easily broken off.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of robot and its robot shoulder arm rotational structure, it is intended to
Solve in the prior art, there is arm and trunk articulated section, the defect of connection reliability difference.
A kind of robot shoulder arm rotational structure that the present invention is provided, for connecting shoulder and arm, the shoulder includes tool
There are the first end of spherical structure and second end relative with first end；The arm has the ball-and-socket coordinated with the spherical structure
Seat, is provided with the rotating disk for being connected with the ball and socket base and makes the rotating disk with the rotating disk in the spherical structure
Axis centered on rotate force piece.
Further, the fixed support for fixing the force piece, the force piece are provided with the spherical structure
It is the steering wheel with an output shaft, the rotating disk is arranged on the output shaft.
Further, the ball and socket base is connected and composed by the first socket member and the second socket member, and described first and
Two socket members are respectively provided with the arc mating surface being adapted to the outer surface of the spherical structure；The rotating disk and first ball
Nest component is connected.
Further, the force piece has the first side for being provided with rotating disk connection and relative with first side
The second side；The robot shoulder arm rotational structure also includes the hollow revolution being installed in rotation on second side
Body, the revolving body is coaxial with the rotating disk.
Further, to be provided with corresponding with the rotating disk first circular recessed the center on the outside of first socket member
Fall into, the first end cap for closing first circular depressed is connected with the first socket member；In on the outside of second socket member
The second circular depressed corresponding with the revolving body is provided with the heart, is connected with the second socket member for closing second circle
Second end cap of depression.
Further, the cabling breach for being easy to power line to pass is offered on the revolving body.
Further, the arm includes the upper arm parts that be connecteds with ball and socket base, and the upper arm parts include the of interconnection
One lid and the second lid, first lid and the first socket member are integrally formed, second lid and second ball
Nest component is integrally formed；First lid is connected with second lid by fastener.
Further, the upper arm parts also include decoration, and the decoration is fastened on the first lid and the second lid respectively
The outside of body.
Further, the robot shoulder arm rotational structure includes adaptor and the driving source with a rotating shaft；Described turn
Fitting is included for connecting the discoid installation pan portion of the shoulder, for the drive division being connected with the rotating shaft and connection
Maintaining part between the installation pan portion and the drive division；The axis of the rotating shaft is vertical with the axis of the rotating disk.
A kind of robot that the present invention is provided, including shoulder and arm, wherein, the shoulder is provided with the arm
The robot shoulder arm rotational structure stated.
It is compared with the prior art, the robot shoulder arm rotational structure that the present invention is provided, shoulder uses spherical structure, arm tool
There is the ball and socket base coordinated with spherical structure, in such manner, it is possible to improve the connection reliability of arm and shoulder, realize arm opposite shoulder
Swing.
It is compared with the prior art, the robot that the present invention is provided is provided with above-mentioned robot using in shoulder and arm
Shoulder arm rotational structure, arm have operating flexibility higher, can opposite shoulder be rocked to larger pendulum angle.
Brief description of the drawings
Fig. 1 is the schematic perspective view of robot head provided in an embodiment of the present invention；
Fig. 2 is the decomposing schematic representation of robot head provided in an embodiment of the present invention；
Fig. 3 is the schematic perspective view of fixed mount provided in an embodiment of the present invention；
Fig. 4 is the decomposing schematic representation of fixed mount provided in an embodiment of the present invention, coupling assembly and transmission mechanism；
Fig. 5 is the enlarged drawing in A portions in Fig. 4；
Fig. 6 is the schematic side view of robot head provided in an embodiment of the present invention；
Fig. 7 is the schematic cross-sectional view in I-I faces in Fig. 6；
Fig. 8 is the enlarged drawing in B portions in Fig. 7；
Fig. 9 is the decomposing schematic representation of robot head provided in an embodiment of the present invention, shoulder and arm；
Figure 10 is the schematic cross-sectional view of robot head provided in an embodiment of the present invention, shoulder and arm；
Figure 11 is the enlarged drawing in C portions in Figure 10；
Figure 12 is the schematic cross-sectional view of shoulder provided in an embodiment of the present invention and arm；
Figure 13 is the schematic perspective view of shoulder provided in an embodiment of the present invention and arm；
Figure 14 is the decomposing schematic representation one of shoulder provided in an embodiment of the present invention and arm；
Figure 15 is the enlarged drawing in D portions in Figure 14
Figure 16 is the decomposing schematic representation two of shoulder provided in an embodiment of the present invention and arm
Figure 17 is the enlarged drawing in E portions in Figure 16.
Main element symbol description
100：Robot head
1：Shell 1a：Inner space
11：Fore shell 12：Bonnet
13：Cross line three-way hole 14：Locking holes
2：Fixed support 21：Top plate
22：Lower plywood 23：Locking support
24：Side plate 25：Supporting plate
3：Coupling assembly
3a：First coupling assembly 3b：Second coupling assembly
31：Fixing axle 311：Axis body portion
312：Chassis portion 313：Pilot hole
314：Locating notch 315：Sleeve part
316：Support section 317：First supporting surface
318：Second supporting surface 319：Locating dowel
31a：First axis hole
32：Clutch shaft bearing
33：Ring flange 331：Flange portion
332：Department of assembly 333：Connecting portion
334：Lock pays hole 335：Extension
336：Jut 33a：Second axis hole
4：Rotating driving device 41：Power source
42：Transmission mechanism 421：Driven pulley
422：Driving wheel 423：Defining flange
424：Transmission belt 425：Anticreep flange
426：Only move flange 421a：First teeth portion
422a：Second teeth portion 424a：3rd teeth portion
6：Adaptor 61：Pan portion is installed
62：Drive division 63：Maintaining part
7：Driving source 71：Steering wheel
8：Second bearing
300：Shoulder 400：Arm
300a：Spherical structure 301：First end
302：Second end 303：Rotating disk
304：Force piece 305：Procapsid
306：Back casing 307：Revolving body
3071：Rotation dish 3072：Rotary column
3061：First mating holes 3051：Second mating holes
307a：Cabling breach
308：Fixed support 309：Bearing is installed
401：Ball and socket base 4011：First socket member
4012：Second socket member 4013：First circular depressed
4014：Second circular depressed 4015：First end cap
4016：The via of second end cap 4017
402：Upper arm parts 4021：First lid
4022：Second lid 4023：Decoration
403：Lower arm part
Specific embodiment
In order that the technical problems to be solved by the invention, technical scheme and beneficial effect become more apparent, below tie
Drawings and Examples are closed, the present invention will be described in further detail.It should be appreciated that described embodiment is of the invention one
Section Example, rather than whole embodiments.Based on described embodiments of the invention, those of ordinary skill in the art exist
The every other embodiment obtained on the premise of without creative work, belongs to the scope of protection of the invention.
In order that those skilled in the art more fully understands technical scheme, with reference to specific accompanying drawing to this
The realization of invention is described in detail.
For sake of convenience, hereinafter alleged " preceding " " afterwards " " left side " " right side " " on " D score and accompanying drawing in itself it is forward and backward, left,
Right, upper and lower to structure of the invention does not play restriction effect to consistent.
Unless otherwise defined, technical term used herein or scientific terminology should be in art of the present invention and have
The ordinary meaning that the personage of general technical ability is understood.Used in present patent application specification and claims " the
One ", " second " and similar word are not offered as any order, quantity or importance, and are used only to distinguish different
Part.Equally, the similar word such as " one " or " " does not indicate that quantity is limited yet, but expression has at least one.
As shown in Fig. 1 to 17, for the preferred embodiment that the present invention is provided.
The robot shoulder arm rotational structure that the present embodiment is provided, for connecting shoulder 300 and arm 400, shoulder 300 includes
First end 301 and second end 302 relative with first end 301 with spherical structure 300a；Arm 400 has and spherical structure
The ball and socket base 401 that 300a coordinates, is provided with the rotating disk 303 for being connected with ball and socket base 401 and makes rotation in spherical structure 300a
The force piece 304 that rotating disk 303 is rotated centered on the axis of the rotating disk 303.
Above-mentioned robot shoulder arm rotational structure, shoulder uses spherical structure, and arm is with the ball coordinated with spherical structure
Socket, in such manner, it is possible to improve the connection reliability of arm and shoulder, realizes swinging for arm opposite shoulder.
The present embodiment provide robot include robot head 100, arm 400 and be connected to robot head 100 with
Shoulder 300 between arm 400.
Referring to Fig. 1 and 2, the robot head 100 that the present embodiment is provided, including the shell 1 with an inner space 1a with
And it is built in fixed mount 2 in the 1a of the inner space, coupling assembly 3 and rotating driving device 4.
Referring to Fig. 1 and 2, shell 1 is substantially spherical in shape, and above-mentioned part is built in shell 1 and is protected by shell 1, in this reality
Apply in example, the entirety of shell 1 can be relatively fixed frame 2 and rotate, and the inwall of shell 1 can be mounted with pinboard, power panel etc., and this is outer
Shell 1 includes the fore shell 11 and bonnet 12 that are connected with each other, and the two encloses to form inner space 1a, and the front side of fore shell 11 is flat with one
Face, can be provided with display screen, camera in the plane.Fore shell 11 and bonnet 12 include the side for being connected with ring flange 33
Portion, was provided with line three-way hole 13 on the sidepiece of fore shell 11.
Referring to Fig. 2 to 4, fixed mount 2, as the rotational support structure of shell 1, fixed mount 2 and outside shell 1 one
Support base (not shown) is fixedly connected, and in the present embodiment, fixed mount 2 is but is not limited to the quadra of two-layer stratigraphic structure,
The fixed mount 2 includes a top plate 21, the lower plywood 22 positioned at the lower section of top plate 21, locks support 23 and positioned at laminate two
The side plate 24 of side, be can be set on upper and lower laminate 21,22 has supporting plate 25, is used to place electrical equipment, and locking support 23 is connected
Between the rear side of upper and lower laminate 21,22, for being fixed with support base.
Referring to Fig. 2 to 4, coupling assembly 3 includes fixing axle 31, first to Connection Bracket 2 and shell 1, coupling assembly 3
Bearing 32 and ring flange 33, fixing axle 31 are fixedly connected on the side plate 24 of fixed mount 2, and clutch shaft bearing 32 can be rolling bearing,
Clutch shaft bearing 32 is arranged in the fixing axle 31, and ring flange 33 is set on clutch shaft bearing 32, and ring flange 33 is fixed with shell 1 and connected
Connect, rotation of the shell 1 by ring flange 33 in fixing axle 31 is rotated with being relatively fixed frame 2.In the present embodiment, coupling assembly
3 quantity is but is not limited to two groups, and two groups of coupling assemblies 3 are with the center line perpendicular to upper and lower laminate 21,22 of fixed mount 2
Axle, symmetrical mode is arranged at the both sides of the fixed mount 2, and the clutch shaft bearing 32 of the left and right sides is coaxially disposed.So, Gu
The left and right sides of frame 2 is determined as the articulated section being pivotally connected with shell 1, and shell 1 is relatively fixed frame 2 and rotates more steady, rotates knot
Structure is more firm.
For the ease of narration, two coupling assemblies are respectively the first coupling assembly 3a and the second coupling assembly 3b, and first connects
Connected components 3a and the second coupling assembly 3b are symmetrically arranged at the both sides of the fixed mount 2, the first coupling assembly 3a and second
Coupling assembly 3b is coaxially disposed.The structure of the first coupling assembly 3a and the second coupling assembly 3b can be with same or similar.Below with
Briefly explained as a example by first coupling assembly 3a.The structure of the first coupling assembly 3a and the second coupling assembly 3b.
Referring to Fig. 4 to 8, the fixing axle 31 of the first coupling assembly 3a is hollow structure, and the fixing axle 31 includes horizontal-extending
And cylindrical axis body portion 311 and the chassis portion 312 for being connected to the side of axis body portion 311, in the present embodiment, the shape of fixing axle 31
Into there is the first axis hole 31a, axis body portion 311 and chassis portion 312 are integrally formed, circumferentially-spaced are offered along its in chassis portion 312
Multiple pilot holes 313, offered on side plate 24 with the corresponding screw of pilot hole 313, by screw pass through pilot hole 313,
So that fixing axle 31 to be fixed on the outside of fixed mount 2, chassis portion 312 has a locating notch 314 to screw, and chassis portion 312 is convex
Locating dowel is provided with, so as to the quick connection of fixing axle 31 and fixed mount 2.Specifically, axis body portion 311 includes projection in chassis portion
312 away from fixed mount 2 a side surfaces sleeve part 315 and the outer face from sleeve part 315 along sleeve part 315 axle
The annular support section 316 that line stretches out, the outer face of sleeve part 315 has the outside for being looped around support section 316
The first supporting surface 317, the outer peripheral face of support section 316 has the second supporting surface 318, and clutch shaft bearing 32 can be by tight fit side
Formula is set on support section 316, and the second supporting surface 318 is abutted with the inner peripheral surface of clutch shaft bearing 32, while the first supporting surface
317 abut with clutch shaft bearing 32 near a side end face of fixed mount 2, are moved to the direction of chassis portion 312 with limiting clutch shaft bearing 32.
Referring to Fig. 4 to 8, the ring flange 33 of the first coupling assembly 3a includes the flange portion for being fixedly connected with shell 1
331st, department of assembly 332 and the connecting portion 333 being connected between flange portion 331 and department of assembly 332.In the present embodiment, flange
Disk 33 is formed with the second axis hole 33a, and flange portion 331, department of assembly 332, connecting portion 333 are integrally formed, and flange portion 331 is substantially in circle
The plate-like of shape, from the inner edge of flange portion 331 along the axially extending of flange portion 331, department of assembly 332 is from connecting portion 333 for connecting portion 333
One end inner edge the radially extending along connecting portion 333 away from flange portion 331, be provided at circumferentially spaced along it in flange portion 331
Multiple lock pays hole 334, is opened up on the sidepiece of fore shell 11 and the sidepiece of bonnet 12 because lock pays the corresponding locking holes 14 in hole 334,
By screw hole 334 is paid through the locking holes 14 and corresponding lock of fore shell 11 and through the locking holes 14 of bonnet 12 and corresponding lock
After paying hole 334, by fore shell 11 and the outside of the fixed flange 33 of bonnet 12, and fore shell 11, bonnet 12 is set to be connected.
Referring to Fig. 4 to 8, rotating driving device 4, the ring flange 33 for making the first coupling assembly 3a rotates to drive shell
1 is relatively fixed frame 2 rotates.In the present embodiment, the quantity of rotating driving device 4 is but is not limited to one, rotation driving dress
Putting 4 includes power source 41 and the transmission mechanism 42 being connected between power source 41 and ring flange 33.Power source 41 can be but not office
It is limited to steering wheel, above-mentioned transmission mechanism 42 includes the driven pulley 421 being fixedly connected with ring flange 33 and for driving 421 turns of driven pulley
Dynamic driving wheel 422, driving wheel 422 is connected on the output shaft of power source 41, and is coaxially disposed with the output shaft, and then is driven
Wheel 422 is rotated when power source 41 works by output shaft.Shell 1 is set to be relatively fixed 2 turns of frame by rotating driving device 4
It is dynamic, so that the swing of robot head 100, realizes leaning forward and backward wing for head.
Certainly, steering wheel is also equipped with the output shaft of power source 41, driving wheel 422 can be arranged on steering wheel, power
The driving steering wheel of source 41 rotates driving wheel 422.
Specifically, referring to Fig. 4 to 8, a side end face of driven pulley 421 is by ring flange in screw and the first coupling assembly 3a
33 department of assembly 332 is mutually locked to pay and fixes, and driven pulley 421 is rotatably set on clutch shaft bearing 32, the inwall of driven pulley 421
Inside projection is formed with the defining flange 423 for limiting the movement of clutch shaft bearing 32 on (i.e. inner peripheral surface).It is noted that from
After driving wheel 421 is set in the axis body portion 311 of fixing axle 31, first axle in the inwall of driven pulley 421 and the first coupling assembly 3a
The outer peripheral face for holding 32 is abutted, and the outer face (near a side end face of fixed mount 2) of defining flange 423 and clutch shaft bearing 32 are away from solid
The side end face for determining frame 2 abuts, and defines a limit for accommodating clutch shaft bearing 32 between driven pulley 421 and axis body portion 311 jointly
Bit space, the first supporting surface 317, the second supporting surface 318, the outer face of defining flange 423 are respectively positioned in the spacing space, and then
The position of clutch shaft bearing 32 is locked, when shell 1 is rotated, clutch shaft bearing 32 will not be moved, and shell 1 and fixed mount 2 are not yet
Can relatively move, so as to have preferable stability of rotation.
It is pointed out that due in the present embodiment only with a rotating driving device 4, rotating driving device 4 and
One coupling assembly 3a is connected, and be arranged on the second coupling assembly 3b of the opposite side of fixed mount 2 then not with rotating driving device 4, because
And the main difference part of the first coupling assembly 3a and the second coupling assembly 3b is the structure of ring flange 33, the first coupling assembly
The ring flange 33 of 3a is assemblied on the clutch shaft bearing 32 of the first coupling assembly 3a by driven pulley 421.From figure 7 it can be seen that the
The ring flange 33 of two coupling assembly 3b is fit directly on the clutch shaft bearing 32 of the second coupling assembly 3b, the second coupling assembly 3b bags
Include flange portion 331, department of assembly 332, the company that is connected between flange portion 331 and department of assembly 332 for being fixedly connected with shell 1
Socket part 333, from department of assembly along the axially extending extension 335 of flange portion 331 and projection on the inwall of extension 335
Jut 336, after ring flange 33 is set in the axis body portion 311 of fixing axle 31, inwall and the clutch shaft bearing 32 of extension 335
Outer peripheral face is abutted, and the outer face (near a side end face of fixed mount 2) of jut 336 and clutch shaft bearing 32 are away from fixed mount 2
One side end face abuts.
Certainly, when using two rotating driving devices 4, the first coupling assembly 3a and the second coupling assembly 3b with it is corresponding
Rotating driving device 4 connect, the first coupling assembly 3a is identical with the structure of the second coupling assembly 3b.
Referring to Fig. 4 to 8, the transmission mechanism 42 of the present embodiment is belt wheel transmission mechanism, and driven pulley 421 and driving wheel 422 are equal
It is belt wheel, the transmission mechanism 42 also includes the transmission belt 424 between driven pulley 421 and driving wheel 422, driven pulley 421
Outer wall (i.e. outer peripheral face) on outwards projection be formed with for limit transmission belt 424 movement anticreep flange 425, transmission belt 424
Upper part be clamped between anticreep flange 425 and department of assembly 332, with avoid transmission belt 424 depart from driven pulley 421.Need
Illustrate, driving wheel 422 also has the disconnecting prevention structure of the limitation movement of transmission belt 424, disconnecting prevention structure is to be formed in driving wheel 422
On outer wall (i.e. outer peripheral face) two only move flange 426, and two only move flange 426 is spaced on the axis of driving wheel 422, transmission belt
424 end portion is clamped in two and only moves between flange 426, to avoid transmission belt 424 from departing from driving wheel 422.
Certainly, transmission mechanism 42 can also be gear drive, and driven pulley 421 and driving wheel 422 are gear, can lead to
Driven pulley 421 is crossed to be meshed with driving wheel 422 so that driven pulley 421 is rotated, or is set between driven pulley 421 and driving wheel 422
It is equipped with the gear train for being driven.
Referring to Fig. 4 to 8, the outer wall of driven pulley 421 is formed with the first teeth portion 421a, is formed with the outer wall of driving wheel 422
Second teeth portion 422a, transmission belt 424 is single cog band, and inner circumferential surface is rubber contact face, shape on the inner peripheral surface of the transmission belt 424
Into there is the 3rd teeth portion 424a that is engaged with the first teeth portion 421a and the second teeth portion 422a respectively, so, transmission belt 424 dozens can be avoided
It is sliding, it is easy to control upset before and after shell 1.
As shown in figure 9, the robot is configured with two shoulders 300, two shoulders 300 are connected in symmetrical mode
Robot head 100.Being provided with fixed mount 2 makes shoulder 300 rotate and with the driving source 7 of a rotating shaft (not shown), rotating shaft
Axis overlapped with the axis of above-mentioned fixing axle 31, driving source 7 is but is not limited to two, two driving sources 7 and two shoulders
300 correspond respectively, and driving source 7 can be the steering wheel with steering wheel 71, and steering wheel 71 is coaxially disposed and passes through with above-mentioned rotating shaft
The rotating shaft is connected with steering wheel.
Referring to Fig. 9 to 11, adaptor 6 is rotatably attached fixing axle 31, adaptor centered on the axis of fixing axle 31
6 include for the discoid installation pan portion 61 for connecting shoulder 300, the drive division 62 that is connected for the rotating shaft with driving source 7 with
And the maintaining part 63 installed between pan portion 61 and drive division 62 is connected to, in the present embodiment, the quantity of adaptor 6 is but not office
It is limited to two, two adaptors 6 are connected with right and left shoulders 300 respectively, adaptor 6 can be hollow structure, in order to power line
Cabling.Maintaining part 63 is cylindrical, and it is axially extending from the side for installing pan portion 61, and the external diameter of maintaining part 63 is less than installation pan portion
61 external diameter；Drive division 62 is cylindrical, and it is axially extending from one end of maintaining part 63, and the external diameter of the drive division 62 is less than holding
The external diameter in portion 63.Drive division 62 is placed into the first axis hole 31a through the second axis hole 33a, the outer end of steering wheel 71 and drive division 62
Face is connected, and drive division 62 is coaxially disposed with fixing axle 31, and between the inner edge of the periphery of drive division 62 and fixing axle 31
Second bearing 8 is provided with, second bearing 8 can be rolling bearing.It is noted that two driving sources 7 can be simultaneously or different
When work, two shoulders can rotate individually, adaptor 6 is rotated around the axis of fixing axle 31 by driving source 7, to realize arm
Swing.
Referring to Figure 12 to 17, shoulder 300 includes the first end 301 (diagram right-hand member) and first end for connecting arm 400
301 the second relative ends 302 (diagram left end), the second end 302 is connected in the installation pan portion 61 of adaptor 6, shoulder 300 and sets
There are rotating disk 303 and the force piece 304 for making rotating disk 303 be rotated centered on the axis of the rotating disk 303.In the present embodiment
In, the axis of rotating disk 303 and the axis of fixing axle 31 are vertically arranged the (axis of the namely axis of rotating disk 303 and rotating shaft
It is vertically arranged), it is the spherical structure 300a of sphere that first end 301 has outer surface, and shoulder 300 is hollow structure, and shoulder 300 is wrapped
The procapsid 305 and back casing 306 of interconnection are included, procapsid 305 and back casing 306 connect solid by fasteners such as screws
It is fixed.To be not limited to steering wheel, the inside of shoulder 300 has the installation position of force piece 304 to force piece 304, and force piece 304 is by fixed branch
Frame 308 be arranged on back casing 306 on, offered on back casing 306 with the corresponding hole of rotating disk 303, rotating disk 303 is arranged on defeated
In shaft (not shown).
Referring to Figure 12 to 17, arm 400 includes upper arm parts 402 and the lower arm part 403 being connected with upper arm parts 402, upper arm parts
402 upper end is formed with the ball and socket base 401 coordinated with spherical structure 300a.In the present embodiment, ball and socket base 401 is by the first ball-and-socket
The socket member 4012 of component 4011 and second is connected and composed, and the first and second socket members 4011,4012 are respectively provided with and spherical junctions
The arc mating surface of the outer surface adaptation of structure 300a, rotating disk 303 is connected with the first socket member 4011.So, dynamic
Under the drive of power part 304, arm 400 can be made to be swung out around the axis opposite shoulder 300 of rotating disk 303, to realize arm 400
The action that swings.
As further optimizing, force piece 304 have the first side (not shown) for being provided with the connection of rotating disk 303 and with
The second relative side (not shown) of first side；Robot shoulder arm rotational structure also includes being installed in rotation on second side
Hollow revolving body 307, revolving body 307 is coaxial with rotating disk 303, to reach the effect of Auxiliary support ball and socket base 401.Namely
Say, by coaxial revolving body 307 and rotating disk 303, drive the first and second socket member 4011,4012 to rotate respectively, make
Arm 400 swings more steady, gearing more preferable.
From Figure 14 to 17 as can be seen that in the present embodiment, revolving body 307 includes rotation dish 3071 and is formed in rotation dish
3071 sides and the rotary column 3072 of the axis extension along the rotation dish 3071, the rotary column 3072 can be turned by an installation bearing 309
It is arranged on dynamicly on force piece 304 and is coaxially disposed with rotating disk (not shown), is offered in the rotation dish 3071 of revolving body 307
It is easy to the cabling breach 307a that power line is passed.
Specifically, the center in the outside of the first socket member 4011 is provided with first circular depressed corresponding with rotating disk 303
4013, the first cooperation inside the back casing 306 penetrated for the bottom of the first circular depressed 4013 is offered on back casing 306
Hole 3061, the shape of first mating holes 3061 matches with the bottom shape of the first circular depressed 4013, and first is circular recessed
The bottom surface for falling into 4013 is formed with for screw through the hole so that the first socket member 4011 to be fixed with rotating disk 303.Second ball-and-socket
The center in the outside of component 4012 is provided with second circular depressed 4014 corresponding with revolving body 307, the rotation dish of the revolving body 307
It is built in the second circular depressed 4014, the bottom of the second circular depressed 4014 offers and passes the second ball-and-socket for rotary column 3072
The via 4017 of component, offers inside the procapsid 305 penetrated for the bottom of the second circular depressed 4014 on procapsid 305
The second mating holes 3051, the shape of second mating holes 3051 matches with the bottom shape of the second circular depressed 4014.
The first end cap 4015 for closing first circular depressed 4013, the second socket member are connected with first socket member 4011
The second end cap 4016 for closing second circular depressed 4014, the first end cap 4015 and the first ball-and-socket structure are connected with 4012
Between part 4011 and the second end cap 4016 is engaged by buckle structure respectively with the second socket member 4012.
Referring to Figure 12 to 17, arm 400 includes the upper arm parts 402 being connected with ball and socket base 401, and upper arm parts 402 include mutual
First lid 4021 and the second lid 4022 of connection, the first lid 4021 and the first socket member 4011 are integrally formed, and second
The socket member 4012 of lid 4022 and second is integrally formed, and the first lid 4021 and the second lid 4022 are by fasteners such as screws
It is connected.Upper arm parts 402 also include decoration 4023, and decoration 4023 is fastened on the first lid 4021 and the second lid respectively
4022 outside.
These are only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all it is of the invention spirit and
Any modification, equivalent or improvement for being made within principle etc., should be included within the scope of the present invention.
Claims (10)
1. a kind of robot shoulder arm rotational structure, for connecting shoulder and arm, it is characterised in that the shoulder includes thering is ball
The first end of shape structure and second end relative with first end；The arm has the ball and socket base coordinated with the spherical structure,
The rotating disk for being connected with the ball and socket base is provided with the spherical structure and makes the rotating disk with the rotating disk
The force piece rotated centered on axis.
2. robot shoulder arm rotational structure according to claim 1, it is characterised in that be provided with use in the spherical structure
In the fixed support of the fixation force piece, the force piece is the steering wheel with an output shaft, and the rotating disk is arranged on institute
State on output shaft.
3. robot shoulder arm rotational structure according to claim 2, it is characterised in that the ball and socket base is by the first ball-and-socket structure
Part and the second socket member are connected and composed, and first and second socket member is respectively provided with fits with the outer surface of the spherical structure
The arc mating surface matched somebody with somebody；The rotating disk is connected with first socket member.
4. robot shoulder arm rotational structure according to claim 3, it is characterised in that the force piece has to be installed
State first side and second side relative with first side of rotating disk connection；The robot shoulder arm rotational structure also includes can
The hollow revolving body on second side is rotatably mounted at, the revolving body is coaxial with the rotating disk.
5. robot shoulder arm rotational structure according to claim 4, it is characterised in that on the outside of first socket member
Center is provided with the first circular depressed corresponding with the rotating disk, is connected with the first socket member for closing first circle
First end cap of shape depression；Center on the outside of second socket member is provided with the second circular depressed corresponding with the revolving body,
The second end cap for closing second circular depressed is connected with second socket member.
6. robot shoulder arm rotational structure according to claim 4, it is characterised in that offered on the revolving body and be easy to
The cabling breach that power line is passed.
7. robot shoulder arm rotational structure according to claim 3, it is characterised in that the arm includes and ball and socket base connects
The upper arm parts for connecing, the upper arm parts include the first lid and the second lid that are connected with each other, first lid and the first ball-and-socket
Component is integrally formed, and second lid is integrally formed with second socket member；First lid and the described second lid
Body is connected by fastener.
8. robot shoulder arm rotational structure according to claim 7, it is characterised in that the upper arm parts also include decoration
Part, the decoration is fastened on the outside of the first lid and the second lid respectively.
9. robot shoulder arm rotational structure according to claim 1, it is characterised in that the robot shoulder arm rotational structure
Driving source including adaptor and with a rotating shaft；The adaptor includes the discoid mounting disc for connecting the shoulder
Portion, for the drive division that is connected with the rotating shaft and the maintaining part being connected between the installation pan portion and the drive division；
The axis of the rotating shaft is vertical with the axis of the rotating disk.
10. a kind of robot, including shoulder and arm, it is characterised in that the shoulder is set with the arm will just like right
Seek the robot shoulder arm rotational structure any one of 1 to 9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611257655.2A CN106737589B (en) | 2016-12-30 | 2016-12-30 | Robot and robot shoulder arm rotating structure thereof |
| PCT/CN2017/119689 WO2018121711A1 (en) | 2016-12-30 | 2017-12-29 | Robot and robot shoulder/arm rotating structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611257655.2A CN106737589B (en) | 2016-12-30 | 2016-12-30 | Robot and robot shoulder arm rotating structure thereof |
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| Publication Number | Publication Date |
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| CN106737589A true CN106737589A (en) | 2017-05-31 |
| CN106737589B CN106737589B (en) | 2024-04-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611257655.2A Active CN106737589B (en) | 2016-12-30 | 2016-12-30 | Robot and robot shoulder arm rotating structure thereof |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106737589B (en) |
| WO (1) | WO2018121711A1 (en) |
Cited By (4)
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| CN108081307A (en) * | 2017-12-12 | 2018-05-29 | 常州大学 | A kind of flexible elbow joint of two-freedom |
| WO2018121711A1 (en) * | 2016-12-30 | 2018-07-05 | 深圳市优必选科技有限公司 | Robot and robot shoulder/arm rotating structure |
| CN108555960A (en) * | 2018-01-10 | 2018-09-21 | 辽宁工程技术大学 | A kind of joint of robot connector |
| WO2023202463A1 (en) * | 2022-04-20 | 2023-10-26 | 华为技术有限公司 | Device and movable apparatus |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102021133593A1 (en) * | 2021-12-17 | 2023-06-22 | Aesculap Ag | Cover cap and kit of cover cap and base cap |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106737589B (en) | 2024-04-19 |
| WO2018121711A1 (en) | 2018-07-05 |
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