CN107263524A - A kind of joint module and robot for robot - Google Patents
A kind of joint module and robot for robot Download PDFInfo
- Publication number
- CN107263524A CN107263524A CN201710650746.0A CN201710650746A CN107263524A CN 107263524 A CN107263524 A CN 107263524A CN 201710650746 A CN201710650746 A CN 201710650746A CN 107263524 A CN107263524 A CN 107263524A
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- China
- Prior art keywords
- access division
- robot
- joint module
- curved portions
- fixedly connected
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- 239000007787 solid Substances 0.000 claims 1
- 238000005299 abrasion Methods 0.000 abstract description 6
- 230000015572 biosynthetic process Effects 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 3
- 230000006872 improvement Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 229920000715 Mucilage Polymers 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 208000020442 loss of weight Diseases 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000006467 substitution reaction 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
- B25J17/00—Joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of joint module and robot for robot, belong to robotic technology field.Joint module provided by the present invention for robot includes ball head, connecting portion, Access Division and cushion pad, connecting portion two ends are fixedly connected with ball head and Access Division respectively, clamping groove is set on Access Division, ball head on some joint module can be with another joint module clamping groove clamping, so that two joint modules be fixedly connected.The joint module fidelity is high, vivid, and is fixedly connected with least two joint modules by clamping and reduces the difficulty that robot four limbs are built, and improves the efficiency built.In addition, by setting cushion pad in clamping groove, the mutual abrasion during clamping and in robot kinematics between ball head and Access Division can be efficiently reduced, the service life of joint module is improved.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of joint module and the application joint for robot
The robot of module.
Background technology
Robot is to automatically control being commonly called as machine (Robot), robot include all simulation human behaviors or thought with
The machinery of other biological is simulated, robot is typically by executing agency, drive device, detection means, control system and complicated machinery
Deng composition.With the growing and improvement of people's living standards of science and technology, modularization robot arises at the historic moment, modularization
Robot be specially developed by production firm using improve user design and creativity as target robot finished product, suit or
Loose mail, by assembling, building and run robot, so as to excite user's learning interest, cultivates user's integration capability.
Existing modularization robot needs to connect multiple joints to form robot four limbs when building, due to existing
Have that joint designs are complicated, design not enough emulation, and being connected by axis of rotation, exist and build that difficulty is big, efficiency is low and has built
Into robot image it is not lively the problem of, therefore teen-age enthusiasm can not be given full play to, teenager can not be alone
Task is built in completion, it is necessary to could be completed under the guidance and help of adult.In addition, after the completion of existing robot is built
There is the serious phenomenon of joint wear in long-time walking process, had a strong impact on the service life and motion stabilization of robot
Property.
The content of the invention
It is an object of the invention to provide a kind of joint module for robot, the joint module is vivid, emulation
Degree is high, and the process for building robot using the joint module not only builds that difficulty is low, build efficiency high, is being taken in the joint module
Do not allow to be also easy to produce abrasion during building.
It is another object of the present invention to provide a kind of robot, the robot is vivid, fidelity is high, build difficulty
Degree is low, build efficiency high, kinetic stability is high and service life is long.
For up to this purpose, the present invention uses following technical scheme：
A kind of joint module for robot, including：
Ball head；
Connecting portion, described connecting portion one end is fixedly connected with the ball head；
Access Division, the Access Division is fixedly connected with the one end of the connecting portion away from the ball head, the Access Division
One end away from the connecting portion is provided with clamping groove, and when two joint module connections, the clamping groove is used for
The ball head of another joint module of clamping；
Cushion pad, the cushion pad is placed in the clamping groove.
Preferably, the Access Division is included on symmetrically arranged first Access Division of the connecting portion and the second clamping
Portion, forms the clamping groove between first Access Division and second Access Division.
Preferably, first Access Division includes be fixedly connected sequentially the first curved portions, the first lug boss and the second arc
Shape portion, the one end of first curved portions away from first lug boss is fixedly connected with the connecting portion, and described first is raised
Portion forms the clamping recessed towards the direction projection of second Access Division between second curved portions and second Access Division
Groove.
Preferably, second Access Division includes the 3rd curved portions, the second lug boss and the 4th being fixedly connected sequentially
Curved portions, the described one end of 3rd curved portions away from second lug boss is fixedly connected with the connecting portion, and described second is convex
The portion of rising forms the clamping towards the direction projection of first lug boss between second curved portions and the 4th curved portions
Groove.
Preferably, the cushion pad includes the first buffer part and the second buffer part being fixedly connected, first buffering
Portion is placed on the arcwall face of second curved portions, and second buffer part is placed on the arcwall face of the 4th curved portions.
Preferably, the clamping groove is U-lag.
Preferably, first curved portions and the 3rd curved portions formation oval-shaped groove.
Preferably, being provided with through hole on first lug boss, screwed hole is provided with second lug boss, it is described
The centerline collineation of the center line of through hole and the screwed hole.
Preferably, the first groove is provided with end face of first Access Division away from second Access Division, it is described
First groove is connected with the through hole；It is recessed that second Access Division is provided with second on the end face away from first Access Division
Groove, second groove is connected with the screwed hole.
A kind of robot, including the joint module for robot described above.
Beneficial effects of the present invention：
Joint module provided by the present invention for robot includes ball head, connecting portion, Access Division and cushion pad, even
Socket part two ends are fixedly connected with ball head and Access Division respectively, are set on Access Division on clamping groove, some joint module
Ball head can be with another joint module clamping groove clamping, so that two joint modules are fixedly connected to form into robot
Four limbs, the joint module fidelity is high, vivid, and is fixedly connected to reduce by multiple joint modules by clamping and builds
Difficulty, improves and builds efficiency.By being provided with cushion pad in clamping groove, can effectively mitigate during clamping and
Mutual abrasion in robot kinematics between ball head and Access Division.Robot provided by the present invention is used for comprising above-mentioned
The joint module of robot, the robot is vivid, fidelity is high, it is low to build difficulty, build efficiency high, kinetic stability high
And service life is long.
Brief description of the drawings
Fig. 1 is the explosive view of the joint module provided by the present invention for robot；
Fig. 2 is the structural representation of the joint module provided by the present invention for robot；
Fig. 3 is Fig. 2 front view；
Fig. 4 is Fig. 2 top view；
Fig. 5 is Fig. 4 A-A sectional views；
Fig. 6 is the structural representation of cushion pad provided by the present invention.
In figure：1st, ball head；101st, lightening hole；2nd, connecting portion；
3rd, Access Division；301st, the first Access Division；3011st, the first curved portions；3012nd, the first lug boss；3013rd, the second arc
Portion；3014th, the first groove；3015th, through hole；302nd, the second Access Division；3021st, the 3rd curved portions；3022nd, the second lug boss；
3023rd, the 4th curved portions；3024th, the second groove；3025th, screwed hole；
4th, cushion pad；401st, the first buffer part；402nd, the second buffer part.
Embodiment
Further illustrate technical scheme below in conjunction with the accompanying drawings and by embodiment.
As shown in Figures 1 to 6, the joint module for robot includes ball head 1, connecting portion 2, Access Division 3 and buffering
Pad 4, one end of connecting portion 2 is fixedly connected with ball head 1, and the other end of connecting portion 2 is fixedly connected with Access Division 3, and Access Division 3 is away from even
One end of socket part 2 is provided with clamping groove, and when two joint module connections, clamping groove is used for another joint of clamping
The ball head 1 of module, cushion pad 4 is placed in clamping groove.
By the way that the joint module for robot is set into one end for ball head 1, the other end is the form of Access Division 3,
When two joint modules are fixedly connected, the ball head 1 of a joint module can block with the Access Division 3 of another joint module
Connect two joint modules being fixedly connected, the joint module being fixedly connected constitutes the four limbs of robot.Compared to existing
Joint of robot uses the connected mode that axle is connected in technology, and mould can be largely improved using the connected mode of clamping
Efficiency is built by Kuai Hua robots, and reduce modularization robot builds difficulty.When being fixedly connected with two joint modules, first
In the clamping groove that cushion pad 4 is placed in a joint module, then the ball head 1 of another joint module is caught in previous
Joint module is placed with the clamping groove of cushion pad 4, by setting cushion pad between the ball head 1 and clamping groove of clamping
4 can buffer impact of the ball head 1 to Access Division 3 in clamping, so as to reduce Access Division 3 and ball head 1 because impact is caused
Abrasion, and in robot motion, cushion pad 4 can also reduce between the ball head 1 being connected together and clamping groove because
The abrasion produced for frictional force.
Specifically, being provided with multiple lightening holes 101 on ball head 1.Access Division 3 includes the first Access Division 301 and the second card
Socket part 302, the first Access Division 301 and the second Access Division 302 are symmetrical arranged on connecting portion 2, one end of the first Access Division 301 and
The one end of two Access Division 302 is fixedly connected, and is formed between the other end of the other end of the first Access Division 301 and the second Access Division 302
Clamping groove.
In the present embodiment, the first Access Division 301 includes be fixedly connected sequentially the first curved portions 3011, the first lug boss
3012 and second curved portions 3013, the first lug boss 3012 is towards the direction projection of the second Access Division 302, and the first curved portions 3011 are remote
One end from the first lug boss 3012 is fixedly connected with connecting portion 2.Second Access Division 302 includes the 3rd arc being fixedly connected sequentially
Shape portion 3021, the second lug boss 3022 and the 4th curved portions 3023, the second lug boss 3022 is towards the direction of the first lug boss 3012
Projection, the one end of the 3rd curved portions 3021 away from the second lug boss 3022 and the first curved portions 3011 and connecting portion 2 are simultaneously fixed
Connection.Second curved portions 3013 and the 4th curved portions 3023 formation clamping groove, the first curved portions 3011 and the 3rd curved portions
3021 form oval-shaped groove.Certainly, in other embodiments, the shape of the first Access Division 301 and the second Access Division 302 also may be used
With difference, as long as the purpose on quick card connection ball head 1 can be played.
Access Division 3 is set to off in the symmetrical Access Division 302 of first Access Division 301 and second of connecting portion 2, is conducive to drop
Low-calorie connects difficulty and dismounting difficulty.When ball head 1 is put into clamping groove, the first Access Division 301 and the second Access Division 302 it
Between distance become big, ball head 1 smoothly can enter in clamping groove, after ball head 1 enters in clamping groove, the first clamping
The distance between Access Division 302 of portion 301 and second diminishes, and is conducive to improving the intensity of clamping.First curved portions 3011 and the 3rd
The oval-shaped groove of the formation of curved portions 3021 can then reduce the difficulty of the first Access Division 301 and the folding of the second Access Division 302.
Specifically, clamping groove is U-lag in the present embodiment, the two side of U-lag can be provided effectively to ball head 1
Ground is supported, and so as to ensure the stability of clamping, and U-lag does not interfere with phase between two joint modules being connected together
The fluency mutually rotated.
The cushion pad 4 being placed in clamping groove includes the first buffer part 401 and the second buffer part 402 being fixedly connected,
When installing cushion pad 4, on the arcwall face that the first buffer part 401 is placed in the second curved portions 3013, the second buffer part 402 is placed in the
On the arcwall face of four curved portions 3023, the specific fixed form of cushion pad 4 can use mucilage binding.First buffer part in the present embodiment
401 is identical with the shape of the second buffer part 402, by taking the first buffer part 401 as an example, and the first buffer part 401 includes what is be fixedly connected
Arc sections and stripes.Certainly in other embodiments, the shape of the first buffer part 401 and the second buffer part 402 can not also
Together, as long as enough bufferings can be provided for ball head 1.
After the completion of clamping, in order to further improve clamping intensity, prevent in robot motion, the first Access Division 301
And second distance between Access Division 302 become cause ball head 1 to depart from out of clamping groove greatly suddenly, on the first lug boss 3012
Through hole 3015 is provided with, screwed hole 3025, the center line and screwed hole of through hole 3015 are provided with the second lug boss 3022
3025 centerline collineation.After ball head 1 is caught in clamping groove, screw bolt passes through hole 3015 and screwed hole are utilized
3025 are relatively fixed the first Access Division 301 and the second Access Division 302, so as to further increase clamping intensity, it is to avoid
In robot kinematics, ball head 1 departs from out of clamping groove, and then improves the intensity of joint module clamping, improves
The stability of robot motion.And through hole 3015 is arranged on the first lug boss 3012, screwed hole 3025 is arranged on second
On lug boss 3022, be conducive to after the clamping of 1 Access Division of ball head 3, the shaft of bolt hidden, so as to avoid the spiral shell of bolt
Rubbed between post and cushion pad 4, reduce the service life of cushion pad 4.
Further, in order to avoid the bolt of the first Access Division 301 of connection and the second Access Division 302 is exposed in joint module
External action aesthetic property, and prevent exposed bolt contacted with other objects influence robot motion, first
Access Division 301 is provided with the first groove 3014, the first groove 3014 and through hole on the end face away from second Access Division 302
3015 connections, the second groove 3025, the second groove are provided with end face of second Access Division 302 away from the first Access Division 301
3024 connect with screwed hole 3025.After using bolt, the first Access Division 301 is fixedly connected with the second Access Division 302, bolt head
It is respectively placed in clamp nut inside the first groove 3014 and the second groove 3024.Outside first, set on the first Access Division 301
The first groove 3014 is put, sets the second groove 3024 also to play a part of loss of weight in the second Access Division 302.
The present embodiment additionally provides a kind of robot, and the robot includes the above-mentioned joint module for robot, passes through
The clamping of Access Division 3 of the ball head 1 of one joint module and another joint module can either be realized into two joint modules
It is fixedly connected, this kind of connected mode can not only improve when building robot and build efficiency, additionally it is possible to which difficulty is built in reduction.This
Outside, by setting cushion pad 4 effectively to mitigate during clamping and ball in robot kinematics in clamping groove
Mutual abrasion between head and Access Division, so as to improve the stability and service life of robot motion.
Obviously, the above embodiment of the present invention is just for the sake of clear explanation example of the present invention, and is not pair
The restriction of embodiments of the present invention.For those of ordinary skill in the field, may be used also on the basis of the above description
To make other changes in different forms.There is no necessity and possibility to exhaust all the enbodiments.It is all this
Any modifications, equivalent substitutions and improvements made within the spirit and principle of invention etc., should be included in the claims in the present invention
Protection domain within.
Claims (10)
1. a kind of joint module for robot, it is characterised in that including：
Ball head (1)；
Connecting portion (2), described connecting portion (2) one end is fixedly connected with the ball head (1)；
Access Division (3), the Access Division (3) is fixedly connected with the one end of the connecting portion (2) away from the ball head (1), institute
State the one end of Access Division (3) away from the connecting portion (2) and be provided with clamping groove, when two joint module connections, institute
Stating clamping groove is used for the ball head (1) of another joint module of clamping；
Cushion pad (4), the cushion pad (4) is placed in the clamping groove.
2. the joint module according to claim 1 for robot, it is characterised in that the Access Division (3) includes closing
In symmetrically arranged first Access Division (301) of the connecting portion (2) and the second Access Division (302), first Access Division (301)
The clamping groove is formed between second Access Division (302).
3. the joint module according to claim 2 for robot, it is characterised in that first Access Division (301)
Including the first curved portions (3011) that are fixedly connected sequentially, the first lug boss (3012) and the second curved portions (3013), described first
The one end of curved portions (3011) away from first lug boss (3012) is fixedly connected with the connecting portion (2), and described first is convex
Portion (3012) are played towards the direction projection of second Access Division (302), second curved portions (3013) and second clamping
The clamping groove is formed between portion (302).
4. the joint module according to claim 3 for robot, it is characterised in that second Access Division (302)
Including the 3rd curved portions (3021), the second lug boss (3022) and the 4th curved portions (3023) being fixedly connected sequentially, described
The one end of three curved portions (3021) away from second lug boss (3022) is fixedly connected with the connecting portion (2), and described second
Lug boss (3022) is towards the direction projection of first lug boss (3012), second curved portions (3013) and the 4th arc
The clamping groove is formed between shape portion (3023).
5. the joint module according to claim 4 for robot, it is characterised in that the cushion pad (4) includes solid
Surely the first buffer part (401) and the second buffer part (402) connected, first buffer part (401) is placed in second arc
On the arcwall face in portion (3013), second buffer part (402) is placed on the arcwall face of the 4th curved portions (3023).
6. the joint module according to claim 4 for robot, it is characterised in that the clamping groove is U-lag.
7. the joint module according to claim 4 for robot, it is characterised in that first curved portions (3011)
Oval-shaped groove is formed with the 3rd curved portions (3021).
8. the joint module according to claim 4 for robot, it is characterised in that first lug boss (3012)
On be provided with through hole (3015), second lug boss (3022) and be provided with screwed hole (3025), the through hole (3015)
The centerline collineation of center line and the screwed hole (3025).
9. the joint module according to claim 8 for robot, it is characterised in that first Access Division (301)
Be provided with the first groove (3014) on end face away from second Access Division (302), first groove (3014) with it is described
Through hole (3015) is connected；It is recessed that second Access Division (302) is provided with second on the end face away from first Access Division (301)
Groove (3024), second groove (3024) connects with the screwed hole (3025).
10. a kind of robot, it is characterised in that including the joint mould for robot any one of claim 1-9
Block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710650746.0A CN107263524A (en) | 2017-08-02 | 2017-08-02 | A kind of joint module and robot for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710650746.0A CN107263524A (en) | 2017-08-02 | 2017-08-02 | A kind of joint module and robot for robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107263524A true CN107263524A (en) | 2017-10-20 |
Family
ID=60076208
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710650746.0A Pending CN107263524A (en) | 2017-08-02 | 2017-08-02 | A kind of joint module and robot for robot |
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| Country | Link |
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| CN (1) | CN107263524A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111098331A (en) * | 2020-01-04 | 2020-05-05 | 中国矿业大学徐海学院 | Industrial robot capable of detecting joint wear degree in real time |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201391536Y (en) * | 2006-11-08 | 2010-01-27 | Abb公司 | Parallel organization robot comprising joints |
| WO2010150999A2 (en) * | 2009-06-25 | 2010-12-29 | 주식회사 디오메디칼 | Spinal fixation apparatus with reinforced binding force |
| CN105150207A (en) * | 2015-10-07 | 2015-12-16 | 陈超 | Tentacle robot |
| CN106625753A (en) * | 2017-03-14 | 2017-05-10 | 上海未来伙伴机器人有限公司 | Ball joint and robot |
| CN207224011U (en) * | 2017-08-02 | 2018-04-13 | 上海未来伙伴机器人有限公司 | A kind of joint module and robot for robot |
-
2017
- 2017-08-02 CN CN201710650746.0A patent/CN107263524A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201391536Y (en) * | 2006-11-08 | 2010-01-27 | Abb公司 | Parallel organization robot comprising joints |
| WO2010150999A2 (en) * | 2009-06-25 | 2010-12-29 | 주식회사 디오메디칼 | Spinal fixation apparatus with reinforced binding force |
| CN105150207A (en) * | 2015-10-07 | 2015-12-16 | 陈超 | Tentacle robot |
| CN106625753A (en) * | 2017-03-14 | 2017-05-10 | 上海未来伙伴机器人有限公司 | Ball joint and robot |
| CN207224011U (en) * | 2017-08-02 | 2018-04-13 | 上海未来伙伴机器人有限公司 | A kind of joint module and robot for robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111098331A (en) * | 2020-01-04 | 2020-05-05 | 中国矿业大学徐海学院 | Industrial robot capable of detecting joint wear degree in real time |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20171020 |
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