CN107081745A - Joint of robot modular structure, robot and its method of work using the joint module structure - Google Patents
Joint of robot modular structure, robot and its method of work using the joint module structure Download PDFInfo
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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
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- 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
- B25J17/0241—One-dimensional joints
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Abstract
本发明涉及一种机器人关节模块结构、使用该关节模块结构的机器人及其工作方法，其特征在于：包括柱形外壳、固定设在柱形外壳第一端的输入端盖和设在柱形外壳第二端的输出端盖，所述输出端盖与柱形外壳第二端之间设有支撑轴承，以实现输出端盖可相对柱形外壳第二端转动，所述柱形外壳体内设有电机和由电机驱动转动的减速器，所述减速器的输出端与输出端盖固定连接。本发明结构体积更小，结构更为简单，质量更轻，联接更为方便。
The invention relates to a robot joint module structure, a robot using the joint module structure and its working method, characterized in that it comprises a cylindrical shell, an input end cover fixed at the first end of the cylindrical shell, and an input end cover fixed at the first end of the cylindrical shell The output end cover at the second end, a support bearing is provided between the output end cover and the second end of the cylindrical shell, so that the output end cover can rotate relative to the second end of the cylindrical shell, and a motor is arranged in the cylindrical shell and a reducer driven by a motor, the output end of the reducer is fixedly connected with the output end cover. The invention has smaller structural volume, simpler structure, lighter weight and more convenient connection.
Description
技术领域：Technical field:
本发明涉及一种机器人关节模块结构、使用该关节模块结构的机器人及其工作方法。The invention relates to a robot joint module structure, a robot using the joint module structure and a working method thereof.
背景技术：Background technique:
以往的机器人设计中，大部分是通用的设计，具有固定的结构与自由度。这类机器人一般只能用于固定的工作条件和工作目标，对于新的工作条件和工作目标则很难实现。Most of the previous robot designs were general-purpose designs with fixed structures and degrees of freedom. This type of robot can generally only be used for fixed working conditions and working goals, and it is difficult to realize new working conditions and working goals.
发明内容：Invention content:
本发明的目的在于克服上述现有技术的不足，提供一种机器人关节模块结构、使用该关节模块结构的机器人及其工作方法，本发明结构体积更小，结构更为简单，质量更轻，联接更为方便。The object of the present invention is to overcome the deficiencies of the prior art above, and provide a robot joint module structure, a robot using the joint module structure and its working method. more convenient.
本发明机器人关节模块结构，其特征在于：包括柱形外壳、固定设在柱形外壳第一端的输入端盖和设在柱形外壳第二端的输出端盖，所述输出端盖与柱形外壳第二端之间设有支撑轴承，以实现输出端盖可相对柱形外壳第二端转动，所述柱形外壳体内设有电机和由电机驱动转动的减速器，所述减速器的输出端与输出端盖固定连接。The robot joint module structure of the present invention is characterized in that it includes a cylindrical shell, an input end cover fixed at the first end of the cylindrical shell, and an output end cover fixed at the second end of the cylindrical shell, and the output end cover is connected to the cylindrical shell. Supporting bearings are provided between the second ends of the casing to realize that the output end cover can rotate relative to the second end of the cylindrical casing. A motor and a reducer driven by the motor are arranged inside the cylindrical casing. The output of the reducer The end is fixedly connected with the output end cover.
进一步的，上述输入端盖中部具有第一凸台，所述第一凸台周圈上设有沉孔，所述输入端盖周部通过螺栓与柱形外壳连接，所述第一凸台中心设有通孔。Further, the middle part of the input end cover has a first boss, the circumference of the first boss is provided with a counterbore, the periphery of the input end cover is connected with the cylindrical shell through bolts, and the center of the first boss Through holes are provided.
进一步的，上述输出端盖套置并用螺丝固定在支撑轴承的内圈上，支撑轴承的外圈固定在柱形外壳第一端端面上，所述输出端盖中心部设有穿孔和键槽，所述减速器的输出端设有分别与穿孔、键槽配合的轴和键。Further, the above-mentioned output end cover is sleeved and fixed on the inner ring of the support bearing with screws, and the outer ring of the support bearing is fixed on the first end surface of the cylindrical shell, and the center of the output end cover is provided with a perforation and a keyway, so that The output end of the reducer is provided with a shaft and a key respectively matched with the through hole and the keyway.
本发明使用关节模块结构的机器人，其特征在于：所述机器人包括两个或两个以上依次连接的关节模块，所述关节模块包括柱形外壳、固定设在柱形外壳第一端的输入端盖和设在柱形外壳第二端的输出端盖，所述输出端盖与柱形外壳第二端之间设有支撑轴承，以实现输出端盖可相对柱形外壳第二端转动，所述柱形外壳体内设有电机和由电机驱动转动的减速器，所述减速器的输出端与输出端盖固定连接；两关节模块结构之间连接条形连接片或L型连接片，所述条形连接片或L型连接片的端部上均设有与输入端盖或输出端盖螺纹连接的孔道。The robot using the joint module structure of the present invention is characterized in that: the robot includes two or more joint modules connected in sequence, the joint module includes a cylindrical shell, and an input end fixed at the first end of the cylindrical shell The cover and the output end cover arranged at the second end of the cylindrical shell, a supporting bearing is arranged between the output end cover and the second end of the cylindrical shell, so as to realize that the output end cover can rotate relative to the second end of the cylindrical shell, and the A motor and a reducer driven by the motor are installed inside the cylindrical shell, and the output end of the reducer is fixedly connected to the output end cover; a strip-shaped connecting piece or an L-shaped connecting piece is connected between the two joint module structures, and the strip The end of the L-shaped connecting piece or the L-shaped connecting piece is provided with a channel threadedly connected with the input end cover or the output end cover.
进一步的，上述机器人具有四个依次连接的关节模块，分别是第一关节模块、第二关节模块、第三关节模块和第四关节模块，所述第一关节模块的输出端盖与第二关节模块的输入端盖、所述第三关节模块的输出端盖与第四关节模块的输入端盖之间通过L型连接片连接，所述第二关节模块的输出端盖与第三关节模块的输入端盖之间通过条形连接片连接。Further, the robot has four sequentially connected joint modules, namely the first joint module, the second joint module, the third joint module and the fourth joint module, and the output end cover of the first joint module is connected to the second joint module. The input end cover of the module, the output end cover of the third joint module, and the input end cover of the fourth joint module are connected through an L-shaped connecting piece, and the output end cover of the second joint module is connected to the third joint module. The input end covers are connected by strip connecting pieces.
进一步的，上述机器人具有六个依次连接的关节模块，分别是第一关节模块、第二关节模块、第三关节模块、第四关节模块、第五关节模块和第六关节模块，所述第一关节模块的输出端盖与第二关节模块的输入端盖、所述第三关节模块的输出端盖与第四关节模块的输入端盖、所述第四关节模块的输出端盖与第五关节模块的输入端盖、所述第五关节模块的输出端盖与第六关节模块的输入端盖之间通过L型连接片连接，所述第二关节模块的输出端盖与第三关节模块的输入端盖之间通过条形连接片连接。Further, the above-mentioned robot has six sequentially connected joint modules, namely the first joint module, the second joint module, the third joint module, the fourth joint module, the fifth joint module and the sixth joint module, the first The output end cover of the joint module and the input end cover of the second joint module, the output end cover of the third joint module and the input end cover of the fourth joint module, the output end cover of the fourth joint module and the fifth joint The input end cover of the module, the output end cover of the fifth joint module, and the input end cover of the sixth joint module are connected through an L-shaped connecting piece, and the output end cover of the second joint module is connected to the third joint module. The input end covers are connected by strip connecting pieces.
本发明关节模块机器人的工作方法，其特征在于：所述机器人包括两个或两个以上依次连接的关节模块，所述关节模块包括柱形外壳、固定设在柱形外壳第一端的输入端盖和设在柱形外壳第二端的输出端盖，所述输出端盖与柱形外壳第二端之间设有支撑轴承，以实现输出端盖可相对柱形外壳第二端转动，所述柱形外壳体内设有电机和由电机驱动转动的减速器，所述减速器的输出端与输出端盖固定连接；两关节模块结构之间连接条形连接片或L型连接片，所述条形连接片或L型连接片的端部上均设有与输入端盖或输出端盖螺纹连接的孔道，所述机器人具有四个依次连接的关节模块，分别是第一关节模块、第二关节模块、第三关节模块和第四关节模块，所述第一关节模块的输出端盖与第二关节模块的输入端盖、所述第三关节模块的输出端盖与第四关节模块的输入端盖之间通过L型连接片连接，所述第二关节模块的输出端盖与第三关节模块的输入端盖之间通过条形连接片连接；工作时，第一关节模块、第二关节模块、第三关节模块和第四关节模块中电机分别受控制器控制，使它们的输出端盖分别转动不同角度，从而实现空间4个自由度控制。The working method of the joint module robot of the present invention is characterized in that: the robot includes two or more joint modules connected in sequence, the joint module includes a cylindrical shell, and an input end fixed at the first end of the cylindrical shell The cover and the output end cover arranged at the second end of the cylindrical shell, a supporting bearing is arranged between the output end cover and the second end of the cylindrical shell, so as to realize that the output end cover can rotate relative to the second end of the cylindrical shell, and the A motor and a reducer driven by the motor are installed inside the cylindrical shell, and the output end of the reducer is fixedly connected to the output end cover; a strip-shaped connecting piece or an L-shaped connecting piece is connected between the two joint module structures, and the strip The end of the L-shaped connecting piece or the L-shaped connecting piece is provided with a channel threadedly connected with the input end cover or the output end cover. The robot has four sequentially connected joint modules, which are respectively the first joint module and the second joint module. module, the third joint module and the fourth joint module, the output end cover of the first joint module and the input end cover of the second joint module, the output end cover of the third joint module and the input end of the fourth joint module The covers are connected through an L-shaped connecting piece, and the output end cover of the second joint module is connected with the input end cover of the third joint module through a bar-shaped connecting piece; when working, the first joint module and the second joint module 1, the motors in the third joint module and the fourth joint module are respectively controlled by the controller, so that their output end covers are rotated at different angles, thereby realizing the control of four degrees of freedom in space.
本发明关节模块机器人的工作方法，其特征在于：所述机器人包括两个或两个以上依次连接的关节模块，所述关节模块包括柱形外壳、固定设在柱形外壳第一端的输入端盖和设在柱形外壳第二端的输出端盖，所述输出端盖与柱形外壳第二端之间设有支撑轴承，以实现输出端盖可相对柱形外壳第二端转动，所述柱形外壳体内设有电机和由电机驱动转动的减速器，所述减速器的输出端与输出端盖固定连接；两关节模块结构之间连接条形连接片或L型连接片，所述条形连接片或L型连接片的端部上均设有与输入端盖或输出端盖螺纹连接的孔道，所述机器人具有六个依次连接的关节模块，分别是第一关节模块、第二关节模块、第三关节模块、第四关节模块、第五关节模块和第六关节模块，所述第一关节模块的输出端盖与第二关节模块的输入端盖、所述第三关节模块的输出端盖与第四关节模块的输入端盖、所述第四关节模块的输出端盖与第五关节模块的输入端盖、所述第五关节模块的输出端盖与第六关节模块的输入端盖之间通过L型连接片连接，所述第二关节模块的输出端盖与第三关节模块的输入端盖之间通过条形连接片连接；工作时，第一关节模块、第二关节模块、第三关节模块、第四关节模块、第五关节模块和第六关节模块中电机分别受控制器控制，使它们的输出端盖分别转动不同角度，从而实现空间6个自由度控制。The working method of the joint module robot of the present invention is characterized in that: the robot includes two or more joint modules connected in sequence, the joint module includes a cylindrical shell, and an input end fixed at the first end of the cylindrical shell The cover and the output end cover arranged at the second end of the cylindrical shell, a supporting bearing is arranged between the output end cover and the second end of the cylindrical shell, so as to realize that the output end cover can rotate relative to the second end of the cylindrical shell, and the A motor and a reducer driven by the motor are installed inside the cylindrical shell, and the output end of the reducer is fixedly connected to the output end cover; a strip-shaped connecting piece or an L-shaped connecting piece is connected between the two joint module structures, and the strip The end of the L-shaped connecting piece or the L-shaped connecting piece is provided with a channel threadedly connected with the input end cover or the output end cover. The robot has six sequentially connected joint modules, which are respectively the first joint module, the second joint module module, the third joint module, the fourth joint module, the fifth joint module and the sixth joint module, the output end cover of the first joint module and the input end cover of the second joint module, the output end cover of the third joint module The end cover and the input end cover of the fourth joint module, the output end cover of the fourth joint module and the input end cover of the fifth joint module, the output end cover of the fifth joint module and the input end of the sixth joint module The covers are connected through an L-shaped connecting piece, and the output end cover of the second joint module is connected with the input end cover of the third joint module through a bar-shaped connecting piece; when working, the first joint module and the second joint module The motors in the third joint module, the fourth joint module, the fifth joint module and the sixth joint module are respectively controlled by the controller, so that their output end covers are rotated at different angles, thereby realizing the control of six degrees of freedom in space.
本发明机器人关节模块结构、使用该关节模块结构的机器人体积更小，结构更为简单，质量更轻，联接更为方便。The robot joint module structure of the present invention and the robot using the joint module structure are smaller in volume, simpler in structure, lighter in weight and more convenient in connection.
附图说明：Description of drawings:
图1 是关节模块的外形图；Figure 1 is the outline drawing of the joint module;
图2 是关节模块的内部结构示意图； Figure 2 is a schematic diagram of the internal structure of the joint module;
图3 是条形连接片的构造示意图；Fig. 3 is a schematic diagram of the structure of a strip connector;
图4 是L型连接片的构造示意图；Fig. 4 is a schematic diagram of the structure of the L-shaped connecting piece;
图5 是条形连接片连接关节模块的构造示意图；Fig. 5 is a schematic diagram of the structure of the joint module connected by the strip connecting piece;
图6是L型连接片连接关节模块的构造示意图；Fig. 6 is a schematic diagram of the structure of the L-shaped connecting piece connecting the joint module;
图7 是四自由度模块化机器人的构造示意图；Figure 7 is a schematic diagram of the structure of a four-degree-of-freedom modular robot;
图8 是六自由度模块化机器人的构造示意图。Figure 8 is a schematic diagram of the structure of a six-degree-of-freedom modular robot.
具体实施方式：detailed description:
下面结合附图和具体实施方式对本发明做进一步详细的说明。The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.
本发明机器人关节模块结构包括柱形外壳1、固定设在柱形外壳1第一端的输入端盖2和设在柱形外壳第二端的输出端盖3，所述输出端盖3与柱形外壳1第二端之间设有支撑轴承4，以实现输出端盖可相对柱形外壳第二端转动，所述柱形外壳体内设有电机5和由电机5驱动转动的减速器6，所述减速器6的输出端与输出端盖3固定连接。电机由与其连接的控制器控制，以便根据需要进行控制输出端盖3的转动。The robot joint module structure of the present invention comprises a cylindrical shell 1, an input end cover 2 fixedly arranged at the first end of the cylindrical shell 1, and an output end cover 3 arranged at the second end of the cylindrical shell, and the output end cover 3 is connected with the cylindrical shell. A support bearing 4 is provided between the second ends of the casing 1, so that the output end cover can rotate relative to the second end of the cylindrical casing. A motor 5 and a reducer 6 driven by the motor 5 are arranged inside the cylindrical casing. The output end of the reducer 6 is fixedly connected with the output end cover 3 . The motor is controlled by a controller connected thereto so as to control the rotation of the output end cover 3 as required.
进一步的，上述输入端盖2中部具有第一凸台7，所述第一凸台7周圈上设有沉孔8，通过所述输入端盖周部通过螺栓与柱形外壳连接，所述第一凸台中心设有通孔9，该通孔9穿入电源电线、控制电线，以控制电机的动作。Further, the middle part of the input end cover 2 has a first boss 7, and a counterbore 8 is provided on the circumference of the first boss 7, and the peripheral part of the input end cover is connected with the cylindrical shell by bolts. A through hole 9 is provided in the center of the first boss, and the through hole 9 passes through power wires and control wires to control the action of the motor.
进一步的，为了设计合理，上述输出端盖3套置并用螺丝固定在支撑轴承4的内圈401上，支撑轴承的外圈402固定在柱形外壳第一端端面上，所述输出端盖中心部设有穿孔10和键槽，所述减速器的输出端设有分别与穿孔、键槽配合的轴11和键，通过减速器输出端的轴11和键可以与输出端盖3穿孔、键槽进行配合，从而实现输出端盖3受减速器控制。Further, in order to design rationally, the above-mentioned output end cover 3 is sleeved and fixed on the inner ring 401 of the support bearing 4 with screws, and the outer ring 402 of the support bearing is fixed on the first end surface of the cylindrical shell, and the center of the output end cover There is a perforation 10 and a keyway at the top, and the output end of the reducer is provided with a shaft 11 and a key that are respectively matched with the perforation and the keyway, and the shaft 11 and the key at the output end of the reducer can be matched with the output end cover 3 perforation and the keyway. In this way, the output end cover 3 is controlled by the reducer.
本发明使用关节模块结构的机器人，所述机器人包括两个或两个以上依次连接的关节模块A，所述关节模块A包括柱形外壳1、固定设在柱形外壳1第一端的输入端盖2和设在柱形外壳第二端的输出端盖3，所述输出端盖3与柱形外壳1第二端之间设有支撑轴承4，以实现输出端盖可相对柱形外壳第二端转动，所述柱形外壳体内设有电机5和由电机5驱动转动的减速器6，所述减速器6的输出端与输出端盖3固定连接；两关节模块结构A之间连接条形连接片12或L型连接片13，所述条形连接片或L型连接片的端部上均设有与输入端盖或输出端盖螺纹连接的孔道14。The present invention uses a robot with a joint module structure. The robot includes two or more joint modules A connected in sequence. The joint module A includes a cylindrical shell 1 and an input end fixed at the first end of the cylindrical shell 1. The cover 2 and the output end cover 3 arranged at the second end of the cylindrical shell, a support bearing 4 is arranged between the output end cover 3 and the second end of the cylindrical shell 1, so that the output end cover can be second to the cylindrical shell. end rotation, the cylindrical shell is provided with a motor 5 and a reducer 6 driven by the motor 5, and the output end of the reducer 6 is fixedly connected with the output end cover 3; The connecting piece 12 or the L-shaped connecting piece 13, the ends of the strip-shaped connecting piece or the L-shaped connecting piece are all provided with holes 14 threadedly connected with the input end cover or the output end cover.
进一步的，为了实现四个自由度的活动，上述机器人具有四个依次连接的关节模块，分别是第一关节模块A1、第二关节模块A2、第三关节模块A3和第四关节模块A4，所述第一关节模块的输出端盖与第二关节模块的输入端盖、所述第三关节模块的输出端盖与第四关节模块的输入端盖之间通过L型连接片13连接，所述第二关节模块的输出端盖与第三关节模块的输入端盖之间通过条形连接片12连接。Further, in order to realize the activities of four degrees of freedom, the above-mentioned robot has four sequentially connected joint modules, namely the first joint module A1, the second joint module A2, the third joint module A3 and the fourth joint module A4, so The output end cover of the first joint module is connected to the input end cover of the second joint module, the output end cover of the third joint module is connected to the input end cover of the fourth joint module through an L-shaped connecting piece 13, and the The output end cover of the second joint module is connected with the input end cover of the third joint module through a bar-shaped connecting piece 12 .
进一步的，为了实现六个自由度的活动，上述机器人具有六个依次连接的关节模块，分别是第一关节模块A1、第二关节模块A2、第三关节模块A3、第四关节模块A4、第五关节模块A5和第六关节模块A6，所述第一关节模块的输出端盖与第二关节模块的输入端盖、所述第三关节模块的输出端盖与第四关节模块的输入端盖、所述第四关节模块的输出端盖与第五关节模块的输入端盖、所述第五关节模块的输出端盖与第六关节模块的输入端盖之间通过L型连接片13连接，所述第二关节模块的输出端盖与第三关节模块的输入端盖之间通过条形连接片12连接。Further, in order to realize activities with six degrees of freedom, the above-mentioned robot has six joint modules connected in sequence, namely the first joint module A1, the second joint module A2, the third joint module A3, the fourth joint module A4, the The five-joint module A5 and the sixth joint module A6, the output end cover of the first joint module and the input end cover of the second joint module, the output end cover of the third joint module and the input end cover of the fourth joint module . The output end cover of the fourth joint module is connected to the input end cover of the fifth joint module, and the output end cover of the fifth joint module is connected to the input end cover of the sixth joint module through an L-shaped connecting piece 13, The output end cover of the second joint module is connected with the input end cover of the third joint module through a bar-shaped connecting piece 12 .
关节模块的电机采用EC盘式电机作为驱动装置，采用行星齿轮箱作为减速器减速的传动方式，由减速器输出轴带动模块输出端盖转动。The motor of the joint module adopts the EC disc motor as the driving device, and the planetary gearbox is used as the transmission mode of the reducer to reduce the speed. The output shaft of the reducer drives the output end cover of the module to rotate.
此类关节模块有两种，一种是与固定基座相连接的。该模块直径为100mm，长度为200mm，质量为2.5kg，输出力矩为30Nm。另一种是不与基座相连可在空间中运动的。该模块外形与前者相同，直径100mm，长度200mm，但是此模块质量较轻，仅1.5kg，输出力矩为15Nm。There are two types of such joint modules, one is connected with a fixed base. The module has a diameter of 100mm, a length of 200mm, a mass of 2.5kg, and an output torque of 30Nm. The other is not connected to the base and can move in space. The shape of this module is the same as that of the former, with a diameter of 100mm and a length of 200mm, but this module is lighter in weight, only 1.5kg, and the output torque is 15Nm.
每个关节模块之间通过连接模块相连，每个连接模块起到承上启下的作用，本模块化机器人系统设计了两种类型的连接模块，一种是轴线平行的连接模块，另外一种是轴线相互垂直的连接模块。使用轴线平行的连接模块，关节模块的方向不会变，使用轴线垂直的连接模块，关节模块的方向发生变化。如图3，是轴线平行的连接模块。如图4，是轴线垂直的连接模块。Each joint module is connected through a connection module, and each connection module acts as a link between the previous and the next. This modular robot system has designed two types of connection modules, one is a connection module with parallel axes, and the other is a connection module with axes parallel to each other. Vertical connection modules. The direction of the joint module will not change if the axis is parallel to the connection module, and the direction of the joint module will change if the axis is perpendicular to the connection module. As shown in Figure 3, it is a connection module with parallel axes. As shown in Figure 4, it is a connection module with a vertical axis.
本发明关节模块机器人的工作方法，所述机器人包括两个或两个以上依次连接的关节模块，所述关节模块包括柱形外壳、固定设在柱形外壳第一端的输入端盖和设在柱形外壳第二端的输出端盖，所述输出端盖与柱形外壳第二端之间设有支撑轴承，以实现输出端盖可相对柱形外壳第二端转动，所述柱形外壳体内设有电机和由电机驱动转动的减速器，所述减速器的输出端与输出端盖固定连接；两关节模块结构之间连接条形连接片或L型连接片，所述条形连接片或L型连接片的端部上均设有与输入端盖或输出端盖螺纹连接的孔道，所述机器人具有四个依次连接的关节模块，分别是第一关节模块、第二关节模块、第三关节模块和第四关节模块，所述第一关节模块的输出端盖与第二关节模块的输入端盖、所述第三关节模块的输出端盖与第四关节模块的输入端盖之间通过L型连接片连接，所述第二关节模块的输出端盖与第三关节模块的输入端盖之间通过条形连接片连接；工作时，第一关节模块、第二关节模块、第三关节模块和第四关节模块中电机分别受控制器控制，使它们的输出端盖分别转动不同角度，从而实现空间4个自由度控制。In the working method of the joint module robot of the present invention, the robot includes two or more joint modules connected in sequence, and the joint module includes a cylindrical shell, an input end cover fixed at the first end of the cylindrical shell, and an input end cover fixed at the first end of the cylindrical shell. The output end cover at the second end of the cylindrical shell, a support bearing is provided between the output end cover and the second end of the cylindrical shell, so as to realize that the output end cover can rotate relative to the second end of the cylindrical shell, and the inside of the cylindrical shell There is a motor and a reducer driven by the motor, and the output end of the reducer is fixedly connected to the output end cover; a strip-shaped connecting piece or an L-shaped connecting piece is connected between the two joint module structures, and the strip-shaped connecting piece or The end of the L-shaped connecting piece is provided with a channel threadedly connected with the input end cover or the output end cover. The robot has four sequentially connected joint modules, namely the first joint module, the second joint module, the third joint module The joint module and the fourth joint module, the output end cover of the first joint module and the input end cover of the second joint module, the output end cover of the third joint module and the input end cover of the fourth joint module pass through The L-shaped connecting piece is connected, and the output end cover of the second joint module is connected with the input end cover of the third joint module through a bar-shaped connecting piece; when working, the first joint module, the second joint module, and the third joint The motors in the module and the fourth joint module are respectively controlled by the controller, so that their output end covers are rotated at different angles, thereby realizing the control of four degrees of freedom in space.
本发明关节模块机器人的工作方法，所述机器人包括两个或两个以上依次连接的关节模块，所述关节模块包括柱形外壳、固定设在柱形外壳第一端的输入端盖和设在柱形外壳第二端的输出端盖，所述输出端盖与柱形外壳第二端之间设有支撑轴承，以实现输出端盖可相对柱形外壳第二端转动，所述柱形外壳体内设有电机和由电机驱动转动的减速器，所述减速器的输出端与输出端盖固定连接；两关节模块结构之间连接条形连接片或L型连接片，所述条形连接片或L型连接片的端部上均设有与输入端盖或输出端盖螺纹连接的孔道，所述机器人具有六个依次连接的关节模块，分别是第一关节模块、第二关节模块、第三关节模块、第四关节模块、第五关节模块和第六关节模块，所述第一关节模块的输出端盖与第二关节模块的输入端盖、所述第三关节模块的输出端盖与第四关节模块的输入端盖、所述第四关节模块的输出端盖与第五关节模块的输入端盖、所述第五关节模块的输出端盖与第六关节模块的输入端盖之间通过L型连接片连接，所述第二关节模块的输出端盖与第三关节模块的输入端盖之间通过条形连接片连接；工作时，第一关节模块、第二关节模块、第三关节模块、第四关节模块、第五关节模块和第六关节模块中电机分别受控制器控制，使它们的输出端盖分别转动不同角度，从而实现空间6个自由度控制。In the working method of the joint module robot of the present invention, the robot includes two or more joint modules connected in sequence, and the joint module includes a cylindrical shell, an input end cover fixed at the first end of the cylindrical shell, and an input end cover fixed at the first end of the cylindrical shell. The output end cover at the second end of the cylindrical shell, a support bearing is provided between the output end cover and the second end of the cylindrical shell, so as to realize that the output end cover can rotate relative to the second end of the cylindrical shell, and the inside of the cylindrical shell There is a motor and a reducer driven by the motor, and the output end of the reducer is fixedly connected to the output end cover; a strip-shaped connecting piece or an L-shaped connecting piece is connected between the two joint module structures, and the strip-shaped connecting piece or The end of the L-shaped connecting piece is provided with a channel threadedly connected with the input end cover or the output end cover. The robot has six sequentially connected joint modules, namely the first joint module, the second joint module, the third joint module The joint module, the fourth joint module, the fifth joint module and the sixth joint module, the output end cover of the first joint module and the input end cover of the second joint module, the output end cover of the third joint module and the second joint module The input end cover of the four-joint module, the output end cover of the fourth joint module and the input end cover of the fifth joint module, the output end cover of the fifth joint module and the input end cover of the sixth joint module pass through The L-shaped connecting piece is connected, and the output end cover of the second joint module is connected with the input end cover of the third joint module through a bar-shaped connecting piece; when working, the first joint module, the second joint module, and the third joint The motors in the module, the fourth joint module, the fifth joint module and the sixth joint module are respectively controlled by the controller, so that their output end covers are rotated at different angles, thereby realizing the control of six degrees of freedom in space.
本发明机器人关节模块结构、使用该关节模块结构的机器人体积更小，结构更为简单，质量更轻，联接更为方便。The robot joint module structure of the present invention and the robot using the joint module structure are smaller in volume, simpler in structure, lighter in weight and more convenient in connection.
以上所述仅为本发明的较佳实施例，凡依本发明申请专利范围所做的均等变化与修饰，皆应属本发明的涵盖范围。The above descriptions are only preferred embodiments of the present invention, and all equivalent changes and modifications made according to the scope of the patent application of the present invention shall fall within the scope of the present invention.
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