CN107160428B - Crotch joint of robot and robot - Google Patents
Crotch joint of robot and robot Download PDFInfo
- Publication number
- CN107160428B CN107160428B CN201710433953.0A CN201710433953A CN107160428B CN 107160428 B CN107160428 B CN 107160428B CN 201710433953 A CN201710433953 A CN 201710433953A CN 107160428 B CN107160428 B CN 107160428B
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- CN
- China
- Prior art keywords
- framework
- driven
- wire
- robot
- embedded
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- 238000009434 installation Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Abstract
The technical scheme of the invention discloses a crotch joint of a robot and the robot, which comprise a wire framework and an auxiliary framework which are detachably assembled, wherein the wire framework is provided with a wire passing position for installing steering wires, a wire clamping position for clamping terminals and a wire groove for steering wires to run, the auxiliary framework comprises a driving framework and a driven framework, and the driving framework and the driven framework are similar in structure and are detachably installed. According to the technical scheme, the wiring framework is provided with the wiring position, the wire clamping position and the wiring groove, so that the problem of wire pressing during assembling of the crotch joint is avoided, and the problem that friction is possibly caused to steering engine wires during movement of the crotch joint is also avoided. The crotch joint is divided into the driving framework, the driven framework and the wiring framework, so that the assembly and the disassembly are convenient. The crotch joint is made of plastic, has low cost and strong plasticity, is convenient for the design of the wire passing position, the wire clamping position and the wire groove, and has more accurate size.
Description
Technical Field
The invention relates to the technical field of robot parts, in particular to a crotch joint of a robot and the robot.
Background
Almost no consideration is given to the wiring mode in the joint in the existing crotch joint, so that the experimental effect is influenced by the complexity of the circuit in actual operation. Meanwhile, the design material of the crotch joint in the existing robot connecting mechanism is usually a sheet metal part, and the sheet metal part has low plasticity of the crotch joint due to the characteristic of high rigidity, and is difficult to hold in terms of dimension. In addition, when the existing crotch joint is designed by using sheet metal parts, a set of plastic shell is additionally needed to meet the appearance effect, so that the increase of resource cost and waste are caused, and meanwhile, the difficulty of an assembly process is improved.
Disclosure of Invention
The invention solves the technical problem that the existing crotch joint almost does not consider the wiring mode in the joint, so that the experimental effect is influenced by the complexity of the circuit in actual operation.
In order to solve the technical problem, the technical scheme of the invention provides a crotch joint of a robot, which comprises a wire framework and an auxiliary framework which are detachably assembled, wherein the wire framework is provided with a wire passing position for installing steering wires, a wire clamping position for clamping terminals and a wire groove for routing the steering wires.
Optionally, the auxiliary framework comprises a driving framework and a driven framework, and the driving framework and the driven framework are similar in structure and are detachably installed.
Optionally, a first driven disc mounting groove is formed in the wiring framework, a first embedded rudder disc is arranged at the joint of the driving framework and the driven framework, a second embedded rudder disc is arranged at the joint of the driving framework and the wiring framework, and a second driven disc mounting groove is formed at the joint of the driven framework and the wiring framework; the engine body of the steering engine is arranged in the first driven disc mounting groove and the second driven disc mounting groove, and the output shaft of the steering engine is arranged in the first embedded rudder disc and the second embedded rudder disc.
Optionally, the first embedded rudder disc and the second embedded rudder disc are located on the active skeleton.
Optionally, the first driven plate mounting groove the second driven plate mounting groove is last to be provided with a plurality of fixed orifices that are used for fixed steering wheel.
Optionally, inserts for fixing the output shaft are detachably embedded on the first embedded rudder disc and the second embedded rudder disc respectively.
Optionally, the inserts and the first embedded steering wheel and the second embedded steering wheel are contacted through a tooth structure, and when the output shaft of the steering engine runs, the crotch joint is driven to move through the inserts.
Optionally, the steering engine further comprises a driven disc and a shaft sleeve, wherein the driven disc is installed in the first driven disc installation groove and the second driven disc installation groove, the shaft sleeve is installed in the driven disc, and the engine body of the steering engine is installed in the driven disc installation groove and is connected with the shaft sleeve.
Optionally, the steering engine mounting surface structure further comprises a decorative plate detachably covered on the opposite surface of the steering engine mounting surface of the wiring framework, the decorative plate is provided with a convex point structure, and the wiring framework is provided with a concave point structure matched with the convex point structure at the position where the wiring framework contacts with the decorative plate.
Optionally, the driving framework and the driven framework are detachably assembled through screws, and the wiring framework, the driving framework and the driven framework are detachably assembled through screws.
In order to solve the technical problems, the technical scheme of the invention also provides a robot comprising the crotch joint of the robot.
The technical scheme of the invention has the beneficial effects that:
through set up line position, card line position and wiring groove on the wiring skeleton, avoided the problem of line ball when assembling the crotch joint, also avoided the crotch joint to move the time can cause the problem of friction to steering wheel line simultaneously.
The crotch joint is divided into the driving framework, the driven framework and the wiring framework, so that the assembly and the disassembly are convenient.
The crotch joint is made of plastic, has low cost and strong plasticity, is convenient for the design of the wire passing position, the wire clamping position and the wire groove, and has more accurate size.
Drawings
Fig. 1 is a perspective view of a crotch joint of a robot in an embodiment of the present invention;
fig. 2 is an exploded view of a crotch joint of a robot in an embodiment of the present invention;
FIG. 3 is a schematic perspective view of a wiring frame according to an embodiment of the present invention;
fig. 4 is an assembly schematic diagram of a rudder unit and a crotch joint of a robot in an embodiment of the invention.
In the accompanying drawings: 1 is a wiring framework, 2 is a driving framework, 3 is a driven framework, 4 is a first driven disc mounting groove, 5 is a first embedded rudder disc, 6 is a second embedded rudder disc, 7 is a second driven disc mounting groove, 8 is a fixed hole, 9 is an insert, 10 is a decorative disc, 11 is a bump structure, 41 is a driven disc, 42 is a shaft sleeve, 100 is a first steering engine, 200 is a second steering engine, 300 is a steering engine line, 400 is a screw hole, A is a line passing position, B is a line clamping position, and C is a wiring groove.
The specific embodiment is as follows:
the invention is further described below with reference to the drawings and specific examples, which are not intended to be limiting.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
Referring to fig. 1, 2 and 3, a crotch joint of a robot according to an embodiment is shown, which includes a detachably assembled wire frame 1 and an auxiliary frame, wherein a wire passing position a for installing a steering engine wire, a wire clamping position B for clamping a terminal, and a wire groove C for routing the steering engine wire are arranged on the wire frame 1.
Further, the auxiliary framework comprises a driving framework 2 and a driven framework 3, and the driving framework 2 and the driven framework 3 are similar in structure and are detachably installed.
Further, a first driven disc mounting groove 4 is formed in the wiring framework 1, a first embedded rudder disc 5 is formed in the joint of the driving framework 2 and the driven framework 3, a second embedded rudder disc 6 is formed in the joint of the driving framework 2 and the wiring framework 1, and a second driven disc mounting groove 7 is formed in the joint of the driven framework 3 and the wiring framework 1; the engine body of the steering engine is arranged in the first driven disc mounting groove 4 and the second driven disc mounting groove 7, and the output shaft of the steering engine is arranged in the first embedded rudder disc 5 and the second embedded rudder disc 6. The first driven disc mounting groove 4 and the second driven disc mounting groove 7 are used for mounting a steering engine, and the first embedded steering disc 5 and the second embedded steering disc 6 are used for mounting an output shaft of the steering engine. In this embodiment, the first embedded rudder disk 5 and the second embedded rudder disk 6 are located on the active skeleton 2.
Further, a plurality of fixing holes 8 for fixing steering engines are formed in the first driven disc mounting groove 4 and the second driven disc mounting groove 7. The first embedded rudder disk 5 and the second embedded rudder disk 6 are respectively detachably embedded with an insert 9 for fixing the output shaft. The insert 9 is contacted with the first embedded rudder disk 5 and the second embedded rudder disk 6 through a tooth structure, and the crotch joint is driven to move by the insert 9 when an output shaft of the steering engine runs. The insert 9 serves as a receiving element for receiving the steering shaft and the embedded steering wheel 5, 6, and when the steering engine is running, the steering shaft rotates and drives the embedded steering wheel 5, 6 through the insert 9 so that the whole crotch joint rotates.
Further, the crotch joint of the robot of the present embodiment further includes a driven plate 41 and a sleeve 42, the driven plate 41 is mounted in the first driven plate mounting groove 4 and the second driven plate mounting groove 7, the sleeve 42 is mounted in the driven plate 41, and the body of the steering engine is mounted in the driven plate mounting grooves 4, 7 and connected with the sleeve 42.
Further, the crotch joint of the robot of this embodiment further includes a decorative plate 10, detachably covered on the opposite surface of the steering engine mounting surface of the wiring frame 1, the decorative plate 10 has a bump structure 11, the wiring frame 1 has a concave structure (not shown) matching with the bump structure 11 at a position contacting the decorative plate 10, so as to realize positioning and assembling between the decorative plate 10 and the wiring frame 1 through the concave-convex points, the decorative plate 10 can play a decorative role at the same time, and the decorative plate 10 covers and hides the steering engine line 300 exposed outside the crotch joint.
Further, the driving skeleton 2 and the driven skeleton 3 are detachably assembled by screws (not shown) (as shown in fig. 2, the driving skeleton 2 and the driven skeleton 3 are assembled by screw holes 400), and the wiring skeleton 1 is detachably assembled by screws.
Further, the whole material of crotch joint is the plastic, adopts the plastic as the cost of material low, and plasticity is strong, makes things convenient for the design of line position, card line position and wiring groove, and the size is more accurate.
The user can further recognize the features and functions of the present invention based on the following description.
Referring to fig. 2 and 4 for specific assembly relation between the steering engine and the crotch joint, the first steering engine 100 and the second steering engine 200 are respectively installed at the first driven disc installation groove 4 and the second driven disc installation groove 7 of the wiring skeleton 1 in the crotch joint, the steering engine wire 300 of the first steering engine 100 located at the first driven disc installation groove 4 passes through the wire position a to the outside of the crotch joint, then passes back through the wire clamping position B, then is routed in the wire slot C, and finally is connected to the second steering engine 200 located at the second driven disc installation groove 7, thereby finally completing the routing of the steering engine wire.
In summary, in the technical scheme of the invention, through arranging the wire passing position, the wire clamping position and the wire groove on the wire framework, the problem of wire pressing is avoided when the crotch joint is assembled, and meanwhile, the problem that friction is possibly caused to the steering engine wire when the crotch joint moves is also avoided. The crotch joint is divided into the driving framework, the driven framework and the wiring framework, so that the assembly and the disassembly are convenient. The crotch joint is made of plastic, has low cost and strong plasticity, is convenient for the design of the wire passing position, the wire clamping position and the wire groove, and has more accurate size.
The foregoing is merely illustrative of the preferred embodiments of the present invention and is not intended to limit the embodiments and scope of the present invention, and it should be appreciated by those skilled in the art that equivalent substitutions and obvious variations may be made using the description and illustrations of the present invention, and are intended to be included in the scope of the present invention.
Claims (6)
1. The crotch joint of the robot is characterized by comprising a wire framework and an auxiliary framework which are detachably assembled, wherein the wire framework is provided with a wire passing position for installing steering wires, a wire clamping position for clamping terminals and a wire groove for routing the steering wires; the auxiliary framework comprises a driving framework and a driven framework, and the driving framework and the driven framework are similar in structure and are detachably installed; the first driven disc mounting groove is formed in the wiring framework, a first embedded rudder disc is arranged at the joint of the driving framework and the driven framework, a second embedded rudder disc is arranged at the joint of the driving framework and the wiring framework, and a second driven disc mounting groove is formed at the joint of the driven framework and the wiring framework; the engine body of the steering engine is arranged in the first driven disc mounting groove and the second driven disc mounting groove, and the output shaft of the steering engine is arranged in the first embedded rudder disc and the second embedded rudder disc; the first embedded rudder disc and the second embedded rudder disc are positioned on the active framework; still include driven plate and axle sleeve, the driven plate install in first driven plate mounting groove with in the second driven plate mounting groove, the axle sleeve install in the driven plate, the organism of steering wheel install in the driven plate mounting groove and with the hub connection.
2. The crotch joint of the robot of claim 1 wherein the first and second driven plate mounting grooves are provided with a plurality of fixing holes for fixing steering gears; the first embedded steering wheel and the second embedded steering wheel are respectively and detachably embedded with an insert for fixing the output shaft.
3. The crotch joint of the robot according to claim 2, wherein the insert is in contact with the first embedded rudder disk and the second embedded rudder disk through a tooth structure, and the crotch joint is driven to move by the insert when an output shaft of the steering engine runs.
4. The crotch joint of the robot of claim 3, further comprising a decorative plate detachably covered on an opposite surface of the steering engine mounting surface of the wire frame, the decorative plate having a convex point structure thereon, the wire frame having a concave point structure matching the convex point structure at a position contacting the decorative plate.
5. The crotch joint of the robot of claim 1 wherein the driving frame is detachably assembled with the driven frame by screws, and the routing frame is detachably assembled with the driving frame and the driven frame by screws.
6. A robot comprising a crotch joint of a robot according to any one of claims 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710433953.0A CN107160428B (en) | 2017-06-09 | 2017-06-09 | Crotch joint of robot and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710433953.0A CN107160428B (en) | 2017-06-09 | 2017-06-09 | Crotch joint of robot and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107160428A CN107160428A (en) | 2017-09-15 |
| CN107160428B true CN107160428B (en) | 2023-12-12 |
Family
ID=59825141
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710433953.0A Active CN107160428B (en) | 2017-06-09 | 2017-06-09 | Crotch joint of robot and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107160428B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107953360A (en) * | 2017-12-04 | 2018-04-24 | 深圳市优必选科技有限公司 | A kind of joint connector, joint structure and robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101490217B1 (en) * | 2013-11-13 | 2015-02-05 | 한국생산기술연구원 | Joint structure for articulated robot |
| CN106737822A (en) * | 2016-12-28 | 2017-05-31 | 中国科学院长春光学精密机械与物理研究所 | A kind of high pulling torque compact mechanical shoulder joint |
| CN106737848A (en) * | 2016-12-29 | 2017-05-31 | 深圳市优必选科技有限公司 | Leg structure and anthropomorphic robot |
| CN106737583A (en) * | 2016-12-28 | 2017-05-31 | 上海未来伙伴机器人有限公司 | The steering wheel Wiring structure and humanoid robot of humanoid robot |
| CN207415402U (en) * | 2017-06-09 | 2018-05-29 | 上海未来伙伴机器人有限公司 | The crotch joint of robot and robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102004059235B3 (en) * | 2004-12-08 | 2006-05-18 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Joint unit e.g. for robot, has engine arranged within framework and has stored driving pulleys with differential bevel gear provided having bevel gear pair coaxially within framework |
-
2017
- 2017-06-09 CN CN201710433953.0A patent/CN107160428B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101490217B1 (en) * | 2013-11-13 | 2015-02-05 | 한국생산기술연구원 | Joint structure for articulated robot |
| CN106737822A (en) * | 2016-12-28 | 2017-05-31 | 中国科学院长春光学精密机械与物理研究所 | A kind of high pulling torque compact mechanical shoulder joint |
| CN106737583A (en) * | 2016-12-28 | 2017-05-31 | 上海未来伙伴机器人有限公司 | The steering wheel Wiring structure and humanoid robot of humanoid robot |
| CN106737848A (en) * | 2016-12-29 | 2017-05-31 | 深圳市优必选科技有限公司 | Leg structure and anthropomorphic robot |
| CN207415402U (en) * | 2017-06-09 | 2018-05-29 | 上海未来伙伴机器人有限公司 | The crotch joint of robot and robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107160428A (en) | 2017-09-15 |
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