CN107053140A - A kind of shoulder transmission device and its robot of application - Google Patents
A kind of shoulder transmission device and its robot of application Download PDFInfo
- Publication number
- CN107053140A CN107053140A CN201710307507.5A CN201710307507A CN107053140A CN 107053140 A CN107053140 A CN 107053140A CN 201710307507 A CN201710307507 A CN 201710307507A CN 107053140 A CN107053140 A CN 107053140A
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- CN
- China
- Prior art keywords
- transmission device
- steering wheel
- shoulder
- rotating mechanism
- hole
- 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.)
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Classifications
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- 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
- B25J9/0024—Wrist motors at rear part of the upper arm
Abstract
The present invention relates to robotic technology field, more particularly to a kind of shoulder transmission device and its robot of application.Shoulder transmission device in the present invention includes the first transmission device, one end of first transmission device is rotatably connected to the second transmission device, rotated in first transmission device and be provided with the first rotating mechanism, the one end of first rotating mechanism away from the second transmission device is fixedly connected with attachment means, attachment means are mutually fixed with the second transmission device, rotated in second transmission device and be provided with the second rotating mechanism, the rotating shaft of the first rotating mechanism and the second rotating mechanism is not parallel.Integrated shoulder transmission device in the present invention can realize the rotation of two frees degree of shoulder joints, and whole shoulder joints overall structure can also be made simple, and dynamic response is good, be easy to safeguard.The shoulder joints of robot in the present invention can realize the rotation of two frees degree, and the installation of robot complete machine is simple, and dynamic response is good and is easy to safeguard.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of shoulder transmission device and its robot of application.
Background technology
With continuing to develop for robot, the motion mode of robot increasingly requires the actual act close to the mankind, is
The uniformity of the motion in each joint of robot and the actual joint motions of the mankind is realized, allows the robot to imitate the mankind as far as possible
Action, it is necessary to ensure that the free degree of each joint of robot is consistent with the free degree of the corresponding joint of the mankind.Shoulder is needed
There is the rotation of two frees degree, so the shoulder joint of robot of the prior art is generally using separate in two groups of structures
Transmission device, every group of transmission device provide one degree of freedom respectively, and this causes joint complicated integral structure, dynamic response
Difference, assembling is complicated, and inconvenience is safeguarded；In addition, connected by sheet metal component between two frees degree, two transmission devices in order to realize
Connect, the connecting line of the inside extraction of two transmission devices is realized and is connected with other parts in the routed outside of transmission device,
Because each transmission device needs to rotate when motion, so connecting line will be caused to be in contact with sheet metal component, and metal plate
Part edge carries corner angle, so when transmission device is rotated, the corner angle of sheet metal component can cut to connecting line, and this will be substantially reduced
The service life of connecting line, is unfavorable for the normal work of robot.
The content of the invention
The purpose of the present invention is to propose to a kind of shoulder transmission device, for realizing that two frees degree of shoulder joints are rotated and knot
Structure is simple, and dynamic response is good, is easy to safeguard.
Another object of the present invention is to propose a kind of robot with above-mentioned shoulder transmission device.
For up to this purpose, the present invention uses following technical scheme：
A kind of shoulder transmission device, is provided commonly for realizing the first transmission device that two frees degree of shoulder joints rotate and the
Two transmission devices.
As a kind of preferred scheme of shoulder transmission device, one end of first transmission device is rotatably connected to the second biography
Rotated in dynamic device, first transmission device and be provided with the first rotating mechanism, first rotating mechanism is away from described second
One end of transmission device is fixedly connected with attachment means, and the attachment means are mutually fixed with second transmission device, and described
Rotated in two transmission devices and be provided with the second rotating mechanism, the rotating shaft of first rotating mechanism and second rotating mechanism is not
It is parallel.
As a kind of preferred scheme of shoulder transmission device, first transmission device is the first steering wheel, and described second passes
Dynamic device is the second steering wheel.
As a kind of preferred scheme of shoulder transmission device, both first steering wheel and second steering wheel, one sets
Ring-type card convex is equipped with, another is provided with the ring-type neck being adapted with the ring-type card convex, the ring-type card convex slides clamping
In the ring-type neck.
As a kind of preferred scheme of shoulder transmission device, rotation is provided between first steering wheel and second steering wheel
Rotation mechanism, one end of the rotating mechanism is fixedly connected on second steering wheel close to one end of the first steering wheel, and the other end is rotated
It is arranged in the first steering wheel upper annular neck.
As a kind of preferred scheme of shoulder transmission device, the inside of the rotating mechanism offers connection first rudder
Machine and the first through hole of the second steering wheel inner chamber, the inside of first steering wheel offer the second through hole vertically,
The first through hole is conducted with second through hole.
As a kind of preferred scheme of shoulder transmission device, first steering wheel is internally provided with first circuit board, institute
State and the first stem is fixedly installed on first circuit board, the first steering wheel line, described first are connected with first stem
Steering wheel line leads to the outside of the shoulder transmission device through the first through hole and the second through hole.
It is used as a kind of preferred scheme of shoulder transmission device, side of second steering wheel away from second tumbler
Third through-hole is offered, the inside of the third through-hole and second steering wheel is conducted, the inside of second steering wheel is set
Have and the second stem is fixedly connected with second circuit board, the second circuit board, second is connected with second stem
Steering wheel line, the second steering wheel line leads to the outside of the shoulder transmission device through the third through-hole.
As a kind of preferred scheme of shoulder transmission device, the attachment means include passing through with first rotating mechanism
The output panel that spline is fixedly connected, the one end of the output panel away from first rotating mechanism is fixed by connecting rod with input disc
Connection, the input disc is fixedly installed on second steering wheel.
A kind of robot, including shoulder transmission device as described above.
Beneficial effects of the present invention are：
The shoulder transmission device that the present invention is provided, the first transmission device and the second transmission of connection are mutually rotated by setting
Device, the first rotating mechanism is provided with the first transmission device inner rotation, and the first tumbler is fixed by attachment means to be connected
The second transmission device is connect, so when the first rotating mechanism rotates, the rotation of one degree of freedom second can be passed to
Transmission device, and the shell of the first transmission device is remained stationary as, meanwhile, rotated in the second transmission device and be provided with the second rotation
Mechanism, and the rotary shaft of the second rotating mechanism and the first rotating mechanism is not parallel, so as to realize the of shoulder transmission device
The rotation of two frees degree, this integrated shoulder transmission device can realize the rotation of two frees degree of shoulder joints, and
Whole shoulder joints overall structure can also be made simple, dynamic response is good, be easy to safeguard.The application provide robot due to
Shoulder joints use above-mentioned integrated shoulder transmission device, and the shoulder joints of robot can be caused to realize two frees degree
Rotate, and make it that the installation of robot complete machine is simple, dynamic response is good and is easy to safeguard.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, institute in being described below to the embodiment of the present invention
The accompanying drawing needed to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention
Example, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to present invention implementation
The content and these accompanying drawings of example obtain other accompanying drawings.
Fig. 1 is the structural representation for the shoulder transmission device that embodiment one is provided；
Fig. 2 is the right view for the shoulder transmission device that embodiment one is provided；
Fig. 3 is the sectional view in G-G directions in Fig. 2；
Fig. 4 is the sectional view in H-H directions in Fig. 2.
Marked in figure as follows：
The steering wheels of 11- first；The steering wheels of 12- second；13- attachment means；14- rotating mechanisms；15- the first steering wheel lines；16- second
Steering wheel line；
The rotating mechanisms of 111- first；112- first circuit boards；
The stems of 1121- first；
The rotating mechanisms of 121- second；The through holes of 122- second；123- third through-holes；124- second circuit boards；
The stems of 1241- second；
131- splines；132- output panels；133- connecting rods；134- input discs；
141- first through hole.
Embodiment
In order that those skilled in the art more fully understand technical scheme, below in conjunction with the accompanying drawings and by specific
Embodiment further illustrates technical scheme.In this application, unless limited otherwise, term " front and rear " refers to figure
The signified direction of AB arrows in 2 and Fig. 4, term " left and right " is the direction of CD arrows meaning in Fig. 3 and Fig. 4, and term " up and down " is
Direction signified arrow EF in Fig. 2 and Fig. 3, remaining direction is used as reference data using above-mentioned direction.
Embodiment one：
As shown in Figures 1 to 4, embodiment one provides a kind of shoulder transmission device, including the first transmission device, and first passes
One end of dynamic device, which is rotatably connected to rotate in the second transmission device, the first transmission device, is provided with the first rotating mechanism 111, the
One one end of rotating mechanism 111 away from the second transmission device is fixedly connected with attachment means 13, and attachment means 13 and second are driven
Device is mutually fixed, and is rotated in the second transmission device and is provided with the second rotating mechanism 121, and the first rotating mechanism 111 and second is rotated
The rotary shaft of mechanism 121 is not parallel, the rotation for realizing two frees degree of shoulder joints jointly.When the first rotating mechanism 111
When rotation, the rotary motion of one degree of freedom by attachment means 13 can be passed to the second transmission device, and first
The shell of transmission device with the first rotating mechanism 111 due to being rotatably connected, it is possible to remains stationary as；Meanwhile, second
Rotated in transmission device and be provided with the second rotating mechanism 121, and the rotation of the second rotating mechanism 121 and the first rotating mechanism 111
Axle is not parallel, so as to the rotation for second free degree for realizing shoulder transmission device, this integrated shoulder transmission device
The rotation of two frees degree of shoulder joints can be realized, and whole shoulder joints overall structure can also be made simple, dynamic is rung
Answering property is good, is easy to safeguard.Specifically, the first transmission device is the first steering wheel 11, and the second transmission device is the second steering wheel 12, is selected
Steering wheel is because steering wheel internal structure is compact, it is easy to installed, control is simple, and big torsion, cost is low, and the angle rotated can be with
It is maintained among driving, stability is good.
Attachment means 13 include the output panel 132 being fixedly connected with the first rotating mechanism 111 by spline 131, output panel
132 one end away from the first rotating mechanism 111 are fixedly connected by connecting rod 133 with input disc 134, and input disc 134 is fixedly installed
On the second steering wheel 12.When first rotating mechanism 111 is rotated, spline 131 is driven to be rotated, spline 131 drives solid again
The output panel 132 being scheduled on thereon is rotated, because connecting rod 133 is fixedly connected with output panel 132 and input disc 134 respectively, so energy
Input disc 134 is enough driven, and because input disc 134 is fixedly connected on the second steering wheel 12, passes through the first rotating mechanism 111
Rotation, can finally drive the motion of the second steering wheel 12.In addition, the first steering wheel 11 is provided with ring-type card convex, the second steering wheel 12
The ring-type neck being adapted with ring-type card convex is provided with, ring-type card convex is slided and is connected in ring-type neck, this structure setting
Benefit can ensure mutually to rotate between the first steering wheel 11 and the second steering wheel 12, be that the second steering wheel 12 is realized in two frees degree
Rotation provides guarantee.It can be ensured that the rotation of the first rotating mechanism 111 drives the second steering wheel 12 relative to the first steering wheel 11
Rotate.
Further, it is also possible to set ring-type card convex on the second steering wheel 12, ring-type neck is provided with the first steering wheel 11.For
Reach more preferable rotating effect and prevent the friction between ring-type card convex and ring-type neck to be damaged, in ring-type card convex and ring-type card
Annular bearings are provided between groove.In addition, in order to realize the mutual rotation between the first steering wheel 11 and the second steering wheel 12, the first rudder
It is provided with rotating mechanism 14 between the steering wheel 12 of machine 11 and second, it is close that one end of rotating mechanism 14 is fixedly connected on the second steering wheel 12
One end of first steering wheel 11, the other end is rotatably arranged in the upper annular neck of the first steering wheel 11, so when, upon rotating between it is long, rotation
Turn contact site abrasion more serious, it is only necessary to change rotating mechanism 14, without by whole first steering wheel 11 or the
Two steering wheels 12 are changed, can be preferably cost-effective.
The inside of rotating mechanism 14 offers the first through hole 141 of the first steering wheel 11 of connection and the inner chamber of the second steering wheel 12, the
The inside of two steering wheels 12 offers the second through hole 122 vertically, and first through hole 141 is conducted with the second through hole 122.The
Being internally provided with first circuit board 112, first circuit board 112 for one steering wheel 11 is fixedly installed the first stem 1121, the
The first steering wheel line 15 is connected with one stem 1121, the first steering wheel line 15 is drawn through the through hole 122 of first through hole 141 and second
To the outside of shoulder transmission device.By the first steering wheel line 15 for will being drawn from the first steering wheel 11 from first through hole 141 and
Two through holes 122 are passed to the outside of shoulder transmission device, it is ensured that when the second steering wheel 12 rotates relative to the first steering wheel 11,
First steering wheel line 15 can be in the position of the rotary shaft of the second steering wheel 12, it is to avoid due to second steering wheel 12 rotation and to first
Steering wheel line 15 causes the harm pullled, and improves the service life of the first steering wheel line 15, reduce should not maintenance time and people
Power cost.
Side of second steering wheel 12 away from the second rotating mechanism 121 offers third through-hole 123, third through-hole 123 and
The inside of two steering wheels 12 is conducted, and being internally provided with second circuit board 124, second circuit board 124 for the second steering wheel 12 is fixed
It is connected with the second stem 1241, the second stem 1241 and is connected with the second steering wheel line 16, the second steering wheel line 16 passes through the 3rd
Through hole 123 leads to the outside of shoulder transmission device.So set and be advantageous in that, can prevent that arm part transmission device is relative
Pullling for the second steering wheel line 16 is rotated in shoulder transmission device, the service life of the second steering wheel line 16 is improved, reduces
Unnecessary maintenance time and human cost.
Embodiment two：
Embodiment two provides the shoulder transmission device in a kind of robot, including such as embodiment one, what the application was provided
Robot uses above-mentioned integrated shoulder transmission device due to shoulder joints, and the shoulder joints of robot can be caused to realize two
The rotation of the individual free degree, and make it that the installation of robot complete machine is simple, dynamic response is good and is easy to safeguard.
Note, the general principle and principal character and advantages of the present invention of the present invention has been shown and described above.The industry
Technical staff it should be appreciated that the present invention is not limited to the embodiments described above, described in above-mentioned embodiment and specification
Merely illustrate the principles of the invention, without departing from the spirit and scope of the present invention, the present invention also have various change and
Improve, these changes and improvements all fall within the protetion scope of the claimed invention, and claimed scope of the invention is by appended
Claims and its equivalent thereof.
Claims (10)
1. a kind of shoulder transmission device, it is characterised in that including being provided commonly for realizing that two frees degree of shoulder joints rotate the
One transmission device and the second transmission device.
2. shoulder transmission device according to claim 1, it is characterised in that one end of first transmission device, which is rotated, to be connected
It is connected to rotate in the second transmission device, first transmission device and is provided with the first rotating mechanism (111), first rotating machine
The one end of structure (111) away from second transmission device is fixedly connected with attachment means (13), the attachment means (13) and institute
State the second transmission device mutually to fix, rotated in second transmission device and be provided with the second rotating mechanism (121), described first turn
Motivation structure (111) and the rotary shaft of second rotating mechanism (121) are not parallel.
3. shoulder transmission device according to claim 2, it is characterised in that first transmission device is the first steering wheel
(11), second transmission device is the second steering wheel (12).
4. shoulder transmission device according to claim 3, it is characterised in that first steering wheel (11) and second rudder
Both machines (12), one is provided with ring-type card convex, and another is provided with the ring-type neck being adapted with the ring-type card convex, described
Ring-type card convex is slided and is connected in the ring-type neck.
5. shoulder transmission device according to claim 3, it is characterised in that first steering wheel (11) and second rudder
Rotating mechanism (14) is provided between machine (12), one end of the rotating mechanism (14) is fixedly connected on second steering wheel (12)
Close to one end of the first steering wheel (11), the other end is rotatably arranged in the first steering wheel (11) upper annular neck.
6. shoulder transmission device according to claim 5, it is characterised in that the inside of the rotating mechanism (14) is offered
The first through hole (141) of first steering wheel (11) and second steering wheel (12) inner chamber is connected, second steering wheel (12)
Inside offers the second through hole (122) vertically, and the first through hole (141) is mutually led with second through hole (122)
It is logical.
7. shoulder transmission device according to claim 6, it is characterised in that the first steering wheel (11) are internally provided with
The first stem (1121), first lead are fixedly installed on first circuit board (112), the first circuit board (112)
The first steering wheel line (15) is connected with post (1121), the first steering wheel line (15) passes through the first through hole (141) and second
Through hole (122) leads to the outside of the shoulder transmission device.
8. the shoulder transmission device according to claim any one of 3-7, it is characterised in that second steering wheel (12) is remote
The side of second rotating mechanism (121) offers third through-hole (123), the third through-hole (123) and second rudder
The inside of machine (12) is conducted, and second steering wheel (12) is internally provided with second circuit board (124), the second circuit board
(124) it is fixedly connected with the second stem (1241), second stem (1241) and is connected with the second steering wheel line (16),
The second steering wheel line (16) leads to the outside of the shoulder transmission device through the third through-hole (123).
9. the shoulder transmission device according to claim any one of 3-7, it is characterised in that the attachment means (13) include
The output panel (132) being fixedly connected with first rotating mechanism (111) by spline (131), the output panel (132) is remote
One end of first rotating mechanism (111) is fixedly connected by connecting rod (133) with input disc (134), the input disc (134)
It is fixedly installed on second steering wheel (12).
10. a kind of robot, it is characterised in that including the shoulder transmission device as described in claim any one of 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710307507.5A CN107053140B (en) | 2017-05-04 | 2017-05-04 | Shoulder transmission device and robot using same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710307507.5A CN107053140B (en) | 2017-05-04 | 2017-05-04 | Shoulder transmission device and robot using same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107053140A true CN107053140A (en) | 2017-08-18 |
| CN107053140B CN107053140B (en) | 2023-07-14 |
Family
ID=59595980
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710307507.5A Active CN107053140B (en) | 2017-05-04 | 2017-05-04 | Shoulder transmission device and robot using same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107053140B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101745913A (en) * | 2009-12-21 | 2010-06-23 | 哈尔滨工业大学 | Nimble arm of six-DOF robot |
| CN205521476U (en) * | 2016-02-04 | 2016-08-31 | 深圳市维兴顺科技有限公司 | Robot joint linkage unit |
| CN106041995A (en) * | 2016-08-05 | 2016-10-26 | 北京工业大学 | Human-simulated mechanical hand |
| WO2017049915A1 (en) * | 2015-09-22 | 2017-03-30 | 厦门匠客信息科技有限公司 | Robot and control method therefor |
| CN206066422U (en) * | 2016-08-26 | 2017-04-05 | 北京工业大学 | Six-degree-of-freedom humanoid mechanical arm and robot based on serial-parallel mirror |
| CN106584503A (en) * | 2016-12-30 | 2017-04-26 | 深圳市优必选科技有限公司 | Head and shoulder rotation multiplex structure of robot |
| CN207344576U (en) * | 2017-05-04 | 2018-05-11 | 上海未来伙伴机器人有限公司 | A kind of shoulder transmission device and its robot of application |
-
2017
- 2017-05-04 CN CN201710307507.5A patent/CN107053140B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101745913A (en) * | 2009-12-21 | 2010-06-23 | 哈尔滨工业大学 | Nimble arm of six-DOF robot |
| WO2017049915A1 (en) * | 2015-09-22 | 2017-03-30 | 厦门匠客信息科技有限公司 | Robot and control method therefor |
| CN205521476U (en) * | 2016-02-04 | 2016-08-31 | 深圳市维兴顺科技有限公司 | Robot joint linkage unit |
| CN106041995A (en) * | 2016-08-05 | 2016-10-26 | 北京工业大学 | Human-simulated mechanical hand |
| CN206066422U (en) * | 2016-08-26 | 2017-04-05 | 北京工业大学 | Six-degree-of-freedom humanoid mechanical arm and robot based on serial-parallel mirror |
| CN106584503A (en) * | 2016-12-30 | 2017-04-26 | 深圳市优必选科技有限公司 | Head and shoulder rotation multiplex structure of robot |
| CN207344576U (en) * | 2017-05-04 | 2018-05-11 | 上海未来伙伴机器人有限公司 | A kind of shoulder transmission device and its robot of application |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107053140B (en) | 2023-07-14 |
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