CN113815013A - Joint module based on worm gear - Google Patents
Joint module based on worm gear Download PDFInfo
- Publication number
- CN113815013A CN113815013A CN202110988290.5A CN202110988290A CN113815013A CN 113815013 A CN113815013 A CN 113815013A CN 202110988290 A CN202110988290 A CN 202110988290A CN 113815013 A CN113815013 A CN 113815013A
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- CN
- China
- Prior art keywords
- worm
- pull rod
- joint module
- worm wheel
- bearing
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- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Abstract
The utility model provides a joint module based on worm gear, adopts little modulus worm gear, and the worm is as an organic whole structure with motor output shaft, arranges the worm in the worm wheel top to increase the guide block on the pull rod, constitute the slider pair with the guide way of joint module shell, make the pull rod can move on vertical direction, fix the pull rod position with the bolt simultaneously, the worm passes through the bearing and is connected with the pull rod, makes the worm can remove in vertical direction through the pull rod. The pull rod is moved by adopting control means such as a travel switch and the like, so that the use mode of a user can be simplified.
Description
Technical Field
The invention relates to a joint module based on a worm gear and a worm, and belongs to the field of mechanical transmission mechanisms.
Background
The joint module is an important driving transmission part in the field of robots, and joints of most humanoid robots, tandem robots, exoskeleton robots and the like need the joint module to provide driving torque so as to realize active motion control. The existing joint module is mainly composed of a motor and a speed reducer which are connected in series, wherein the speed reducer is mostly a harmonic speed reducer or a planetary speed reducer. The speed reduction ratio of the harmonic reducer is high and can generally reach about 100; the structure is compact, the maximum outer diameter is 100mm, and the thickness is about 40 mm; but the mass of the joint is large, the single body can reach about 1kg, and the high reduction ratio is easy to cause the dead locking, so that the joint module loses the motion capability. The single-stage reduction ratio of the planetary reducer can reach about 6-11, the maximum outer diameter is 60mm, the thickness is 10mm, the mass is small, and the single body can reach about 0.2 kg; however, an excessively small reduction ratio increases the output torque of the motor, increases the temperature rise, and increases the outer diameter of the motor, and the multi-stage speed reducer increases the overall mass and thickness.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: overcome prior art's not enough, a joint module based on worm gear is provided, adopt little modulus worm gear, worm and motor output shaft structure as an organic whole, arrange the worm in the worm wheel top, and increase the guide block on the pull rod, constitute the slider pair with the guide way of joint module shell, make the pull rod can move on vertical direction, fix the pull rod position with the bolt simultaneously, the worm passes through the bearing and is connected with the pull rod, make the worm can remove in vertical direction through the pull rod. The pull rod is moved by adopting control means such as a travel switch and the like, so that the use mode of a user can be simplified.
And the weight reduction holes of the worm wheel are designed, so that the overall mass is further reduced. The reduction ratio of the joint module based on the worm gear is between the transmission mechanism between the harmonic reducer and the planetary reducer, so that the overall quality of the joint module is reduced on the premise of meeting safety and reliability, and the condition that the joint module cannot move after being blocked can be avoided.
The purpose of the invention is realized by the following technical scheme:
a joint module based on a worm gear comprises a shell, a motor, a bearing, a pull rod, a worm wheel and a worm wheel shaft;
the worm wheel is connected with a worm wheel shaft through a key; the worm is driven by the motor, is fixedly connected with a rotor of the motor and is connected with the pull rod through a bearing; the pull rod and the shell form a sliding pair for enabling the pull rod to move in the vertical direction so as to drive the worm to be meshed with or separated from the worm wheel; the shell is connected with the worm wheel shaft through a bearing.
In one embodiment of the invention, the worm wheel and the worm both adopt involute tooth profiles, the worm wheel modulus is 1, the number of the worm heads is 1, and the reduction ratio is 50.
In one embodiment of the invention, the pull rod is provided with a dovetail structure, and the shell is provided with a groove at the dovetail structure of the pull rod to form a sliding pair.
In an embodiment of the present invention, the dovetail structure further includes a fixing member for connecting the dovetail structure to the housing.
In an embodiment of the invention, the worm and the output shaft of the motor rotor are of an integrated structure.
In one embodiment of the invention, the worm wheel is provided with lightening holes.
In one embodiment of the invention, the pull rod comprises a holding part, a connecting part and an annular part; the holding part and the annular part are both connected with the connecting part; wherein the grip portion is located outside the housing and the annular portion is located inside the housing; the worm is connected with the annular part through a bearing.
In one embodiment of the invention, the length, the width and the thickness of the joint module are respectively not more than 150mm, 110mm and 56mm, and the mass of the joint module is not more than 0.4 kg.
In an embodiment of the present invention, the device further comprises a travel switch for controlling the movement or the moving distance of the pull rod in the vertical direction.
Compared with the prior art, the invention has the following beneficial effects:
(1) the exoskeleton robot joint adopts the worm gear and worm transmission pair to be connected with the motor, so that the axial length of the joint is effectively reduced, and the overall size of the exoskeleton is reduced.
(2) The pull rod is connected with the worm, the position of the worm is adjusted through the guide block and the bolt, the pull rod is equivalent to a switch in effect, a user can actively select whether to start the power assisting in the use process, and meanwhile, the situation that the user cannot continue moving when a motor fails or the transmission is blocked can be avoided.
(3) Because the rotation angle of the knee joint is limited, the rotation angle of the worm wheel can be reduced after subsequent calculation, and the size and the mass of the joint module can be further reduced.
Drawings
Fig. 1 is a front sectional view of the joint module.
Fig. 2 is a side sectional view of the joint module.
Fig. 3 is a schematic view of a worm gear.
Fig. 4 is a schematic view of a worm.
Fig. 5 is a schematic view of the tie rod.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
A joint module based on a worm gear comprises a shell, a motor, a bearing, a pull rod, a worm wheel and a worm wheel shaft. As shown in fig. 1 and 2, the worm wheel is connected with a worm wheel shaft through a key and is meshed with the worm; the worm is driven by a motor, is fixedly connected with a motor rotor and is connected with the pull rod through a bearing; the pull rod and the shell form a sliding pair, so that the pull rod can move in the vertical direction; the housing is connected to the turbine shaft by a bearing.
FIG. 3 is a schematic view of a worm wheel part, FIG. 4 is a schematic view of a worm, and FIG. 5 is a schematic view of a pull rod, wherein the worm wheel and the worm adopt involute tooth profiles, the worm wheel modulus is 1, the number of worm heads is 1, and the reduction ratio is 50; the dovetail structure on the pull rod and the corresponding dovetail groove formed in the corresponding position on the shell form a sliding pair, the sliding pair is fixed with the shell through a bolt, when the sliding pair is used, the pull rod is pulled downwards, the worm wheel and the worm are meshed to transmit driving torque, when a clamping failure or emergency braking is met, the pull rod is pulled upwards, the worm wheel and the worm are separated, and the part connected with the worm wheel can continue to move passively through external force.
Example (b):
a joint module based on a worm gear comprises a shell, a motor, a bearing, a pull rod, a worm wheel and a worm wheel shaft; the worm wheel is connected with a worm wheel shaft through a key; the worm is driven by the motor, is fixedly connected with a rotor of the motor and is connected with the pull rod through a bearing; the pull rod and the shell form a sliding pair for enabling the pull rod to move in the vertical direction so as to drive the worm to be meshed with or separated from the worm wheel; the shell is connected with the worm wheel shaft through a bearing.
The worm wheel and the worm are both in involute tooth profiles, the worm wheel modulus is 1, the number of worm heads is 1, and the reduction ratio is 50.
Be equipped with the forked tail structure on the pull rod, the shell is at the forked tail structure department of pull rod division recess, forms the sliding pair.
The joint module further comprises a fixing piece for connecting the dovetail structure with the shell.
The joint module also comprises a travel switch for controlling the movement or the movement distance of the pull rod in the vertical direction.
The worm and the output shaft of the motor rotor are of an integral structure.
The worm wheel is provided with lightening holes.
The pull rod comprises a holding part, a connecting part and an annular part; the holding part and the annular part are both connected with the connecting part; wherein the grip portion is located outside the housing and the annular portion is located inside the housing; the worm is connected with the annular part through a bearing.
The length, width and thickness of the joint module are respectively not more than 150mm, 110mm and 56mm, and the mass of the joint module is not more than 0.4 kg.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (9)
1. A joint module based on a worm gear is characterized by comprising a shell, a motor, a bearing, a pull rod, a worm wheel and a worm wheel shaft;
the worm wheel is connected with a worm wheel shaft through a key; the worm is driven by the motor, is fixedly connected with a rotor of the motor and is connected with the pull rod through a bearing; the pull rod and the shell form a sliding pair for enabling the pull rod to move in the vertical direction so as to drive the worm to be meshed with or separated from the worm wheel; the shell is connected with the worm wheel shaft through a bearing.
2. The joint module of claim 1, wherein the worm wheel and the worm both have involute profiles, the worm wheel has a module of 1, the number of the worm heads is 1, and the reduction ratio is 50.
3. The joint module of claim 1, wherein the pull rod is provided with a dovetail structure, and the housing is provided with a groove at the dovetail structure of the pull rod to form a sliding pair.
4. The joint module of claim 3, further comprising a fixture for coupling the dovetail structure to the housing.
5. The joint module of claim 1, wherein the worm is of unitary construction with the output shaft of the motor rotor.
6. The joint module of claim 1, wherein the worm gear has lightening holes.
7. The joint module of claim 1, wherein the tie bar comprises a gripping portion, a connecting portion, a ring portion; the holding part and the annular part are both connected with the connecting part; wherein the grip portion is located outside the housing and the annular portion is located inside the housing; the worm is connected with the annular part through a bearing.
8. The joint module of claim 1, wherein the length, width and thickness of the joint module are respectively no more than 150mm, 110mm and 56mm, and the mass of the joint module is no more than 0.4 kg.
9. The joint module of any one of claims 1 to 8, further comprising a travel switch for controlling the movement or distance of the pull rod in the vertical direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110988290.5A CN113815013A (en) | 2021-08-26 | 2021-08-26 | Joint module based on worm gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110988290.5A CN113815013A (en) | 2021-08-26 | 2021-08-26 | Joint module based on worm gear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113815013A true CN113815013A (en) | 2021-12-21 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110988290.5A Pending CN113815013A (en) | 2021-08-26 | 2021-08-26 | Joint module based on worm gear |
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| Country | Link |
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| CN (1) | CN113815013A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1051525A (en) * | 1990-12-22 | 1991-05-22 | 谭军 | Worm gearing tool |
| EP0512792A1 (en) * | 1991-05-06 | 1992-11-11 | SMITH & NEPHEW RICHARDS, INC. | Dynamic skeletal joint support |
| CN2886046Y (en) * | 2006-01-25 | 2007-04-04 | 王小林 | Tubular motor clutch |
| CN206206504U (en) * | 2016-11-30 | 2017-05-31 | 河北工业大学 | A kind of worm type of reduction gearing for releasing self-locking |
| CN109315365A (en) * | 2018-11-28 | 2019-02-12 | 张玉奎 | The positioning device of angle adjustable and corresponding stand for fishing rod |
| CN209164558U (en) * | 2018-09-13 | 2019-07-26 | 河北优姆希农业科技有限公司 | A kind of driving speed reducer worm and gear releasing mechanism |
| KR20210067584A (en) * | 2019-11-29 | 2021-06-08 | 주식회사다스 | Worm gear device with reverse sound reduction |
-
2021
- 2021-08-26 CN CN202110988290.5A patent/CN113815013A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1051525A (en) * | 1990-12-22 | 1991-05-22 | 谭军 | Worm gearing tool |
| EP0512792A1 (en) * | 1991-05-06 | 1992-11-11 | SMITH & NEPHEW RICHARDS, INC. | Dynamic skeletal joint support |
| CN2886046Y (en) * | 2006-01-25 | 2007-04-04 | 王小林 | Tubular motor clutch |
| CN206206504U (en) * | 2016-11-30 | 2017-05-31 | 河北工业大学 | A kind of worm type of reduction gearing for releasing self-locking |
| CN209164558U (en) * | 2018-09-13 | 2019-07-26 | 河北优姆希农业科技有限公司 | A kind of driving speed reducer worm and gear releasing mechanism |
| CN109315365A (en) * | 2018-11-28 | 2019-02-12 | 张玉奎 | The positioning device of angle adjustable and corresponding stand for fishing rod |
| KR20210067584A (en) * | 2019-11-29 | 2021-06-08 | 주식회사다스 | Worm gear device with reverse sound reduction |
Non-Patent Citations (2)
| Title |
|---|
| 侍威等: "基于螺旋非圆齿轮变速装置设计研究", 《机械工程学报》 * |
| 郑继贵等: "外骨骼机器人技术专利分析研究", 《军民两用技术与产品》 * |
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