CN108789381A - A kind of disappearing for robot steering engine trembles fixed structure - Google Patents
A kind of disappearing for robot steering engine trembles fixed structure Download PDFInfo
- Publication number
- CN108789381A CN108789381A CN201810953296.7A CN201810953296A CN108789381A CN 108789381 A CN108789381 A CN 108789381A CN 201810953296 A CN201810953296 A CN 201810953296A CN 108789381 A CN108789381 A CN 108789381A
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- CN
- China
- Prior art keywords
- steering engine
- connection sheet
- trembles
- disappearing
- connecting portion
- 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
-
- 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
- B25J9/0012—Constructional details, e.g. manipulator supports, bases making use of synthetic construction materials, e.g. plastics, composites
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Body Structure For Vehicles (AREA)
Abstract
A kind of disappearing for robot steering engine trembles fixed structure, including single head steering engine, double end steering engine, thoracic cavity fixed frame, supporting rack, disappear and trembles gasket, the rotary head of the single head steering engine by connecting screw through it is described disappear tremble gasket after it is affixed with the second connecting portion of support frame as described above, it is described to disappear that tremble gasket include the first connection sheet being connect with the rotary head of the single head steering engine, the second connection sheet being connect with the second connecting portion of supporting rack and the felt piece being set between first connection sheet and the second connection sheet, the first rotation slot and the second rotation slot being rotatablely connected respectively with first connection sheet and second connection sheet are provided on the thoracic cavity fixed frame.The present invention disappears to tremble gasket and to the rotation of single head steering engine disappear by setting trembles processing, reduces the shake generated when single head steering engine rotates.
Description
Technical field
The present invention relates to fixed structure technical fields, and in particular to a kind of disappearing for robot steering engine trembles fixed structure.
Background technology
Educational robot is gradually popularized as instantly more popular instruments used for education, with the promotion of its universal amount, religion
The appearance demand for educating robot is also gradually increased, assembling of traditional educational robot due to needing convenient robot, master
The structural member wanted is only that metalwork is constituted, and this structure is easy to damage user, and novel educational robot can be in metal
Plastic parts is set to be protected to the pointed structures of metalwork, while the appearance of hoisting machine people on the outside of part, but plastic parts
Addition so that the weight of educational robot is further promoted, for the steering engine of the common 15KG in present market, bear
Weight, and the steering engine of specification the 25KG more than steering engine of 15KG is standard specification, is found in actual test, the steering engine of 25KG is direct
After applying on the educational robot of existing plastic metal mixed structure, although the support force in joint is promoted, whole
The main reason for stability declines, and is found by testing, and stability declines concentrates in the connection structure of shoulder joint, shoulder joint
Rotational plane is perpendicular to horizontal plane, and steering engine is only directly connect by existing structure with support element at shoulder joint, the rudder of shoulder joint
Machine uses uniaxial steering engine, while wheelbase is also longer with respect to other steering engines, in this way when the shoulder of robot rotates just
It will produce the unstable shake to rock back and forth so that the monolithic stability degree of robot declines.
A kind of for another example robot steering engine fool proof connection disclosed in the Chinese invention device of Publication No. CN206140544U
Structure and robot.Robot steering engine fool proof connection structure includes steering engine and U-shaped connector, and the opposite both sides of steering engine are fixed respectively
There are steering wheel and driven disc, the first bulge-structure is installed on steering wheel；One end of U-shaped connector is fixedly connected with steering wheel, and in phase
The first through hole coordinated with the first bulge-structure is equipped at the position answered；The other end of U-shaped connector is fixedly connected with driven disc；
First bulge-structure is corresponding non-rotational symmetry figure with the section of first through hole.But the invention is directed to twin shaft rudder
Machine, and jitter problem can not be solved.
Invention content
The object of the present invention is to provide a kind of disappearing for robot steering engine to tremble fixed structure, and the present invention is disappeared by setting trembles gasket
The rotation of single head steering engine disappear and has trembled processing, has reduced the shake generated when the rotation of single head steering engine.
The present invention above-mentioned technical purpose technical scheme is that：A kind of disappearing for robot steering engine trembles
Fixed structure, including single head steering engine, double end steering engine, thoracic cavity fixed frame, supporting rack, disappear and tremble gasket, the single head steering engine turns
Dynamic head by connecting screw through it is described disappear tremble gasket after it is affixed with the second connecting portion of support frame as described above, gasket is trembled in described disappearing
Include the first connection sheet being connect with the rotary head of the single head steering engine, second connect with the second connecting portion of supporting rack connection
Piece and the felt piece being set between first connection sheet and the second connection sheet, be provided on the thoracic cavity fixed frame with
The first rotation slot and the second rotation slot that first connection sheet and second connection sheet are rotatablely connected respectively.
As a preference of the present invention, card slot is provided on the rotary head of the single head steering engine, in first connection sheet
It is provided with the buckle coordinated with the card slot.
As a preference of the present invention, the edge of second connection sheet is provided with parcel, the described first connection
Piece is socketed on the inside of the parcel.
As a preference of the present invention, first connection sheet include the socket platform being socketed with the parcel and with institute
The connected unit of the rotary head connection of single head steering engine is stated, the edge of the connected unit is rotatablely connected with first rotation slot.
As a preference of the present invention, be provided with protruding ring on the outside of the parcel, the protruding ring and described the
Two rotation slots are rotatablely connected.
As a preference of the present invention, the thoracic cavity fixed frame includes steering engine lock chamber and rotation chamber, described first
Rotation slot is set on the cavity wall of the rotation chamber and is set to close to steering engine lock chamber side, second rotation slot
Far from steering engine lock chamber side on the cavity wall of the rotation chamber.
As a preference of the present invention, the supporting rack is c-type connector, parallel to each other two on the supporting rack
Side plate constitutes first connecting portion, and the side plate vertical with the first connecting portion constitutes second connecting portion, institute on the supporting rack
The rotary head for the double end steering engine stated is fixedly connected with end of the first connecting portion far from the second connecting portion side, institute
The rotary head for the single head steering engine stated by the connecting screw through it is described disappear tremble gasket after it is affixed with the second connecting portion.
As a preference of the present invention, first connection sheet and second connection sheet are acrylic plastic sheet, and
The thickness of first connection sheet is more than second connection sheet.
As a preference of the present invention, the thickness of first connection sheet is 2mm ~ 2.5mm, the thickness of the felt piece
Thickness for 1mm ~ 1.5mm, second connection sheet is 1.5mm ~ 2mm.
In conclusion the present invention has the advantages that：
The present invention has the advantages that can effectively eliminate the shake generated when the rotation of single head steering engine.
Description of the drawings
Structural schematic diagram when Fig. 1 is the connection status of the embodiment of the present invention；
Structural schematic diagram when Fig. 2 is the discrete state of the embodiment of the present invention；
Fig. 3 is the support frame structure diagram of the embodiment of the present invention；
Fig. 4 is the thoracic cavity fixed rack structure schematic diagram of the embodiment of the present invention；
Fig. 5 is that disappearing for the embodiment of the present invention trembles gasket construction schematic diagram；
In figure：1- single head steering engines；2- double end steering engines；The thoracic cavities 3- fixed frame；4- supporting racks；5-, which disappears, trembles gasket；6- connecting screws；4-
1- first connecting portions；4-2- second connecting portions；The first connection sheets of 5-1-；The second connection sheets of 5-2-；5-3- felt pieces；3-1- first
Rotation slot；The second rotation slots of 3-2-；7- card slots；8- is buckled；5-2-1- parcels；5-1-1- is socketed platform；5-1-2- connected units；3-
3- steering engine lock chambers；3-4- rotates chamber；5-2-2- protruding rings.
Specific implementation mode
Below in conjunction with attached drawing, invention is further described in detail.
As shown in Figures 1 to 5, the embodiment of the present invention includes as shoulder rotatable parts single head steering engine 1, as upper arm turn
The double end steering engine 2 of dynamic component, the thoracic cavity fixed frame 3 for fixing single head steering engine 1, for connecting single head steering engine 1 and double end steering engine 2
It is trembled to the supporting rack 4 of upper arm rotational structure, for eliminating disappearing for the shake between single head steering engine 1 and supporting rack 4 with forming shoulder
The main part of gasket 5, single head steering engine 1 is screwed on thoracic cavity fixed frame 3, rotary head and the supporting rack 4 of double end steering engine 2
First connecting portion 4-1 be fixed by screws, disappear and tremble gasket 5 is set to the rotary head of single head steering engine 1 and supporting rack 4 the
Between two interconnecting piece 4-2, the rotary head of single head steering engine 1 is by connecting screw 6 of the length not less than 1cm after disappearing and trembling gasket 5
Affixed with the second connecting portion 4-2 of supporting rack 4, disappearing, to tremble gasket 5 include the first connection sheet being connect with the rotary head of single head steering engine 1
5-1, the second connection sheet 5-2 being connect with the second connecting portion 4-2 of supporting rack 4 and it is set to the first connection sheet 5-1 and second
Felt piece 5-3 between connection sheet 5-2 is provided with and the first connection sheet 5-1 and the second connection sheet 5-2 on thoracic cavity fixed frame 3
The the first rotation slot 3-1 and the second rotation slot 3-2 being rotatablely connected respectively, to needing to pass through screw connection involved in the present embodiment
Component, screw usage quantity is no less than three.Card slot 7, the first connection sheet 5-1 are provided on the rotary head of single head steering engine 1
On be provided with the buckle 8 coordinated with card slot 7.
As shown in Figures 1 to 5, the edge of the second connection sheet 5-2 of the embodiment of the present invention is provided with parcel 5-2-1,
First connection sheet 5-1 is socketed on the inside of parcel 5-2-1.First connection sheet 5-1 includes the socket platform with parcel 5-2-1 sockets
The 5-1-1 and connected unit 5-1-2 being connect with the rotary head of single head steering engine 1, buckle 8 is set to connected unit 5-1-2 back sides, with list
The card slot 7 of the rotary head of head steering engine 1 is clamped, and the edge of connected unit 5-1-2 and the first rotation slot 3-1 are rotatablely connected, connected unit 5-
The radial cross-sectional area of 1-2 is more than the radial cross-sectional area of socket platform 5-1-1, the radial direction of connected unit 5-1-2 and socket platform 5-1-1
Section is circle, and the radial section of the second connection sheet 5-2 is also circle, the diameter of the first rotation slot 3-1 and the second rotation slot 3-2
Also it is circle to section, the edge of connected unit 5-1-2 is embedded in the first rotation slot 3-1, and can turn in the first rotation slot 3-1
Dynamic, in this way when single head steering engine 1 rotates, connected unit 5-1-2 can follow single head steering engine 1 to rotate together.Parcel 5-
It is provided with protruding ring 5-2-2, protruding ring 5-2-2 and the second rotation slot 3-2 on the outside of 2-1 to be rotatablely connected, the second rotation slot 3-2 is
One side surface of thoracic cavity fixed frame 3 be recessed inwardly formation annular groove so that it is convenient to the second connection sheet 5-2 and the first connection sheet 5-
The work of steering engine installation is completed in 1 connection, wherein having to be larger than protrusion in the size of the second rotation slot 3-2 and the first rotation slot 3-1
The edge of ring 5-2-2 and connected unit 5-1-2 ensure stuck to disappear after connecting screw 6 screws tight in this way and tremble the rotation of gasket 5,
Usually relax the tolerance of size between 0.5mm ~ 0.7mm.
As shown in figure 4, the thoracic cavity fixed frame 3 of the embodiment of the present invention includes steering engine lock chamber 3-3 and rotation chamber 3-4, the
One rotation slot 3-1 is set on the cavity wall of rotation chamber 3-4 and is set to close to the sides steering engine lock chamber 3-3, the second rotation slot 3-2
It rotates on the cavity wall of chamber 3-4 far from the sides steering engine lock chamber 3-3.
As shown in figure 3, the supporting rack 4 of the embodiment of the present invention is c-type connector, two sides parallel to each other on supporting rack 4
Plate constitutes first connecting portion 4-1, and the side plate vertical with first connecting portion 4-1 constitutes second connecting portion 4-2, double end on supporting rack 4
The rotary head of steering engine 2 is fixed by screws with ends of the first connecting portion 4-1 far from the sides second connecting portion 4-2, single head
The rotary head of steering engine 1 by length not less than 1cm connecting screw 6 through disappear tremble gasket 5 after it is affixed with second connecting portion 4-2,
Wherein disappear and offer the through-hole of alignment on the first connection sheet 5-1 for trembling gasket 5, the second connection sheet 5-2 and felt piece 5-3, uses
In across connecting screw 6, the first connection sheet 5-1 and felt piece 5-3 is glued by adhesive, the second connection sheet 5-2 and felt piece
5-3 is only connected by connecting screw 6, to facilitate the replacement of the action component of robot.
The first connection sheet 5-1 and the second connection sheet 5-2 is acrylic plastic sheet in the embodiment of the present invention, and first connects
The thickness of piece 5-1 is more than the second connection sheet 5-2.The thickness of first connection sheet 5-1 is 2mm ~ 2.5mm, and the thickness of felt piece 5-3 is
The thickness of 1mm ~ 1.5mm, the second connection sheet 5-2 are 1.5mm ~ 2mm.
First connection sheet 5-1 when mounted, is first connect by the embodiment of the present invention with single head steering engine 1, only with buckle 8 and card slot
7 connections, are then installed single head steering engine 1 in thoracic cavity fixed frame 3, then will be connect supporting rack 4 with second using connecting screw 6
Piece 5-2, felt piece 5-3 and the first connection sheet 5-1 link together, and finally connect double end steering engine 2 with supporting rack 4, when need
When will be with changing robot arm, supporting rack 4 and double end steering engine 2 be entirely removed after connecting screw 6 is unclamped.
This specific embodiment is only explanation of the invention, is not limitation of the present invention, people in the art
Member can as needed make the present embodiment the modification of not creative contribution after reading this specification, but as long as at this
It is all protected by Patent Law in the right of invention.
Claims (9)
1. a kind of disappearing for robot steering engine trembles fixed structure, it is characterised in that：Including single head steering engine（1）, double end steering engine（2）, chest
Chamber fixed frame（3）, supporting rack（4）, disappear and tremble gasket（5）, the single head steering engine（1）Rotary head pass through connecting screw（6）It passes through
It wears described disappear and trembles gasket（5）Afterwards with support frame as described above（4）Second connecting portion（4-2）Affixed, gasket is trembled in described disappearing（5）Including
With the single head steering engine（1）Rotary head connection the first connection sheet（5-1）With supporting rack（4）Second connecting portion（4-2）Even
The second connection sheet connect（5-2）And it is set to first connection sheet（5-1）With the second connection sheet（5-2）Between felt piece
（5-3）, the thoracic cavity fixed frame（3）On be provided with and first connection sheet（5-1）And second connection sheet（5-2）
The first rotation slot being rotatablely connected respectively（3-1）And second rotation slot（3-2）.
2. disappearing for a kind of steering engine according to claim 1 trembles fixed structure, it is characterised in that：The single head steering engine（1）'s
Card slot is provided on rotary head（7）, first connection sheet（5-1）On be provided with and the card slot（7）The buckle of cooperation
（8）.
3. disappearing for a kind of steering engine according to claim 1 trembles fixed structure, it is characterised in that：Second connection sheet
（5-2）Edge be provided with parcel（5-2-1）, first connection sheet（5-1）It is socketed in the parcel（5-2-1）
Inside.
4. disappearing for a kind of steering engine according to claim 3 trembles fixed structure, it is characterised in that：First connection sheet
（5-1）Including with the parcel（5-2-1）The socket platform of socket（5-1-1）And with the single head steering engine（1）Rotary head
The connected unit of connection（5-1-2）, the connected unit（5-1-2）Edge and first rotation slot（3-1）Rotation connection.
5. disappearing for a kind of steering engine according to claim 3 trembles fixed structure, it is characterised in that：The parcel（5-2-
1）Outside be provided with protruding ring（5-2-2）, the protruding ring（5-2-2）With second rotation slot（3-2）Rotation connection.
6. disappearing for a kind of steering engine according to claim 1 trembles fixed structure, it is characterised in that：The thoracic cavity fixed frame
（3）Including steering engine lock chamber（3-3）And rotation chamber（3-4）, first rotation slot（3-1）It is set to the rotation chamber
（3-4）Cavity wall on close to the steering engine lock chamber（3-3）Side, second rotation slot（3-2）It is set to described turn
Dynamic chamber（3-4）Cavity wall on far from the steering engine lock chamber（3-3）Side.
7. disappearing for a kind of steering engine according to claim 1 trembles fixed structure, it is characterised in that：The supporting rack（4）For C
Type connector, the supporting rack（4）Upper two side plates parallel to each other constitute first connecting portion（4-1）, the supporting rack
（4）The upper and first connecting portion（4-1）Vertical side plate constitutes second connecting portion（4-2）, the double end steering engine（2）Turn
Dynamic head and the first connecting portion（4-1）Far from the second connecting portion（4-2）The end of side is fixedly connected, the list
Head steering engine（1）Rotary head pass through the connecting screw（6）Gasket is trembled through described disappear（5）Afterwards with the second connecting portion（4-
2）It is affixed.
8. disappearing for a kind of steering engine according to claim 1 trembles fixed structure, it is characterised in that：First connection sheet
（5-1）With second connection sheet（5-2）It is acrylic plastic sheet, and first connection sheet（5-1）Thickness be more than
Second connection sheet（5-2）.
9. disappearing for a kind of steering engine according to claim 1 trembles fixed structure, it is characterised in that：First connection sheet
（5-1）Thickness be 2mm ~ 2.5mm, the felt piece（5-3）Thickness be 1mm ~ 1.5mm, second connection sheet（5-
2）Thickness be 1.5mm ~ 2mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810953296.7A CN108789381A (en) | 2018-08-21 | 2018-08-21 | A kind of disappearing for robot steering engine trembles fixed structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810953296.7A CN108789381A (en) | 2018-08-21 | 2018-08-21 | A kind of disappearing for robot steering engine trembles fixed structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108789381A true CN108789381A (en) | 2018-11-13 |
Family
ID=64080649
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810953296.7A Withdrawn CN108789381A (en) | 2018-08-21 | 2018-08-21 | A kind of disappearing for robot steering engine trembles fixed structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108789381A (en) |
-
2018
- 2018-08-21 CN CN201810953296.7A patent/CN108789381A/en not_active Withdrawn
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 313000 Wuxing District, Huzhou, Zhejiang 1188 Huzhou District East New Town headquarters free port H building 12 building 1201 room. Applicant after: Zhejiang Aichuang Intelligent Technology Co., Ltd. Address before: 313000 Room 1201, 12th Floor, H Building, Freeport, Eastern Headquarters of Huzhou, 1188 District Fulu Road, Wuxing District, Huzhou City, Zhejiang Province Applicant before: Zhejiang AI Chuang Intelligent Technology Co., Ltd. |
|
| CB02 | Change of applicant information | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181113 |
|
| WW01 | Invention patent application withdrawn after publication |