CN203125532U - Robot joint connecting unit based on servo steering engine - Google Patents
Robot joint connecting unit based on servo steering engine Download PDFInfo
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- CN203125532U CN203125532U CN 201320069697 CN201320069697U CN203125532U CN 203125532 U CN203125532 U CN 203125532U CN 201320069697 CN201320069697 CN 201320069697 CN 201320069697 U CN201320069697 U CN 201320069697U CN 203125532 U CN203125532 U CN 203125532U
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- steering wheel
- support
- servo
- bearing
- steering engine
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Abstract
The utility model provides a robot joint connecting unit base on a servo steering engine and relates to the technical field of robots. In order to solve the problem that rapid assembly connection which is flexible in motion and various in style can not be achieved in an existing robot joint part, the robot joint connecting unit base on the servo steering engine is provided. The robot joint connecting unit based on the servo steering engine comprises a steering engine support, a U-shaped support, a bearing and a steering disc, wherein the servo steering engine is installed on the steering engine support, the servo steering engine and the steering engine support are arranged inside the U-shaped support, the side wall of one end of the U-shaped support is in rotatable connection with the steering engine support through the bearing, the steering disc is installed on an inner end surface of the side wall of the other end of the U-shaped support, and the steering disc is connected with an output shaft of the servo steering engine. The robot joint connecting unit based on the servo steering engine is flexible in motion and capable of achieving various assembling modes and forming robots with various styles. The robot joint connecting unit based on the servo steering engine is used for connection and combination of the robot joint parts.
Description
Technical field
The utility model relates to the joint of robot linkage unit based on servo steering wheel, relates to the Robotics field.
Background technology
Along with development of science and technology, robot comes into people's life gradually, uses more and more general.For the quick assembling that realizes joint of robot, the modularization of joint of robot, joint of robot Element Design work seems very important day by day.And existing robots joint part does not carry out the design of a rationalization to joint of robot, and existing robots joint part can't realize that flexible movements, the various quick assembling of pattern connect.
The utility model content
The utility model is in order to solve the problem that existing robots joint part can't realize that the various quick assembling of flexible movements, pattern connects, and then a kind of joint of robot linkage unit based on servo steering wheel is provided.
The utility model is to solve the problems of the technologies described above the technical scheme of taking to be:
A kind of joint of robot linkage unit based on servo steering wheel, described joint of robot linkage unit comprises steering wheel support, U-shaped support, bearing and steering wheel; Servo steering wheel is installed on the steering wheel support, and servo steering wheel props up together with steering wheel and is placed in the U-shaped support; One distolateral wall of U-shaped support is rotationally connected by bearing and steering wheel support, on the inner face of the other end sidewall of U-shaped support steering wheel is installed, and steering wheel is connected with servo steering wheel output shaft.
The beneficial effects of the utility model are:
The utility model is fixed to steering wheel on the steering wheel support, and U-shaped support links to each other with steering wheel, is connected firmly in order to make U-shaped support and steering wheel support, and U-shaped support one side is fixed on the steering wheel output shaft, and another then is fixed on the bearing.Bearing is mounted in a side of steering wheel support, makes it and steering wheel output shaft conllinear, has so just solved two fulcrum problems of U-shaped support, thereby has solved the flexible problem of joint of robot when rotating.Owing to adopt such scheme, make joint of robot assemble fast and satisfy people to its needed function.The utility model flexible movements can realize different assembling forms, have formed the various robot of pattern.The utility model is used for the connection, combination of joint of robot part etc., namely is used for the mounter person joint, forms the not joint of robot of isomorphism type.
Description of drawings
Fig. 1 is the stereogram of a kind of concrete structure of the present utility model, Fig. 2 is the front view of structure shown in Figure 1, Fig. 3 is the rearview of structure shown in Figure 1, Fig. 4 is the left view of structure shown in Figure 1, Fig. 5 is the right view of structure shown in Figure 1, Fig. 6 is the vertical view of structure shown in Figure 1, and Fig. 7 is the upward view of structure shown in Figure 1; Fig. 8 is the stereogram of a kind of concrete structure of the present utility model, Fig. 9 is the front view of structure shown in Figure 8, Figure 10 is the rearview of structure shown in Figure 8, Figure 11 is the left view of structure shown in Figure 8, Figure 12 is the right view of structure shown in Figure 8, Figure 13 is the vertical view of structure shown in Figure 8, and Figure 14 is the upward view of structure shown in Figure 8; Figure 15 is the assembling stereogram that a plurality of joint of robot linkage units described in the utility model are fitted together, and Figure 16 is the assembling stereogram that another width of cloth fits together a plurality of joint of robot linkage units described in the utility model.Among the figure: 1-steering wheel support; 2-U type support; 3-bearing (as shown in the figure, bearing, bolt, nut and spring washer constitute coupling assembling).
The specific embodiment
The specific embodiment one: shown in Fig. 1～14, the described joint of robot linkage unit based on servo steering wheel of present embodiment comprises steering wheel support 1, U-shaped support 2, bearing 3 and steering wheel 4; Servo steering wheel 5 is installed on the steering wheel support 1, and servo steering wheel 5 places in the U-shaped support 2 together with steering wheel support 1; One distolateral wall of U-shaped support 2 is rotationally connected by bearing 3 and steering wheel support 1, on the inner face of the other end sidewall of U-shaped support 2 steering wheel 4 is installed, and steering wheel 4 is connected with servo steering wheel 5 output shafts.
As Fig. 1 and shown in Figure 8, steering wheel is fixed on the steering wheel support, and U-shaped support one side is fixed on the output shaft of steering wheel, and opposite side is installed on the bearing, has so just finished the assembling connection based on the joint of robot linkage unit of servo steering wheel.
As required, on steering wheel support 1 and U-shaped support 2, can be provided with a plurality of connecting holes that vary in size, lightening hole.
The specific embodiment two: shown in Fig. 1～14, the axis of the described bearing 3 of present embodiment and the axis conllinear of steering wheel output shaft.Other composition and annexation are identical with the specific embodiment one.
The specific embodiment three: shown in Fig. 1～14, the inner ring of the described bearing 3 of present embodiment is installed on the steering wheel support 1 through spring washer by bolt, and the outer ring of bearing 3 is connected with U-shaped support 2.Other composition and annexation are identical with the specific embodiment one.
The specific embodiment four: shown in Fig. 1～14, the described bearing 3 of present embodiment is cup scholar bearing.Other composition and annexation are identical with the specific embodiment one.
The specific embodiment five: shown in Fig. 1～7, the shape of the described steering wheel support 1 of present embodiment is the flute profile consistent with the channel-section steel shape, have on one sidewall of steering wheel support 1 for servo steering wheel 5 setting-ins through hole 1-1 thereon, and the output shaft that makes servo steering wheel 5 places outside the described steering wheel support 1, and another sidewall of steering wheel support 1 is connected with a distolateral wall of U-shaped support 2 by bearing 3.Other composition and annexation and the specific embodiment one, two, three or four identical.
The specific embodiment six: shown in Fig. 8～14, the described steering wheel support 1 of present embodiment is by steering wheel support diapire 1-2, steering wheel rack side wall 1-3 and two support bar 1-4, one side of steering wheel rack side wall 1-3 and steering wheel support diapire 1-2 is vertically connected on together (shape that forms angle steel), two support bar 1-4 are positioned at the two ends of the another side of steering wheel support diapire 1-2, and two support bar 1-4 and vertical connection of steering wheel support diapire 1-2, servo steering wheel 5 is connected with two support bar 1-4, and make servo steering wheel 5 output shaft place outside the described steering wheel support 1, steering wheel rack side wall 1-3 is connected with a distolateral wall of U-shaped support 2 by bearing 3.Other composition and annexation and the specific embodiment one, two, three or four identical.
Above-mentioned embodiment should not be considered as restriction of the present utility model, but any improvement of doing based on design of the present utility model, all should be within protection domain of the present utility model.
Claims (6)
1. joint of robot linkage unit based on servo steering wheel, it is characterized in that: described joint of robot linkage unit comprises steering wheel support (1), U-shaped support (2), bearing (3) and steering wheel (4); Servo steering wheel (5) is installed on the steering wheel support (1), and servo steering wheel (5) places in the U-shaped support (2) together with steering wheel support (1); One distolateral wall of U-shaped support (2) is rotationally connected by bearing (3) and steering wheel support (1), and steering wheel (4) is installed on the inner face of the other end sidewall of U-shaped support (2), and steering wheel (4) is connected with servo steering wheel (5) output shaft.
2. a kind of joint of robot linkage unit based on servo steering wheel according to claim 1 is characterized in that: the axis of bearing (3) and the axis conllinear of steering wheel output shaft.
3. a kind of joint of robot linkage unit based on servo steering wheel according to claim 1, it is characterized in that: the inner ring of bearing (3) is installed on the steering wheel support (1) through spring washer by bolt, and the outer ring of bearing (3) is connected with U-shaped support (2).
4. a kind of joint of robot linkage unit based on servo steering wheel according to claim 1 is characterized in that: described bearing (3) is a cup scholar bearing.
5. according to claim 1,2,3 or 4 described a kind of joint of robot linkage units based on servo steering wheel, it is characterized in that: the shape of described steering wheel support (1) is the flute profile consistent with the channel-section steel shape, have on one sidewall of steering wheel support (1) for servo steering wheel (5) setting-in through hole (1-1) thereon, and the output shaft that makes servo steering wheel (5) places outside the described steering wheel support (1), and another sidewall of steering wheel support (1) is connected with a distolateral wall of U-shaped support (2) by bearing (3).
6. according to claim 1,2,3 or 4 described a kind of joint of robot linkage units based on servo steering wheel, it is characterized in that: described steering wheel support (1) is by steering wheel support diapire (1-2), steering wheel rack side wall (1-3) and two support bars (1-4), one side of steering wheel rack side wall (1-3) and steering wheel support diapire (1-2) is vertically connected on together, two support bars (1-4) are positioned at the two ends of the another side of steering wheel support diapire (1-2), and two support bars (1-4) and vertical connection of steering wheel support diapire (1-2), servo steering wheel (5) is connected with two support bars (1-4), and make servo steering wheel (5) output shaft place outside the described steering wheel support (1), steering wheel rack side wall (1-3) is connected with a distolateral wall of U-shaped support (2) by bearing (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320069697 CN203125532U (en) | 2013-02-06 | 2013-02-06 | Robot joint connecting unit based on servo steering engine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320069697 CN203125532U (en) | 2013-02-06 | 2013-02-06 | Robot joint connecting unit based on servo steering engine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203125532U true CN203125532U (en) | 2013-08-14 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320069697 Expired - Lifetime CN203125532U (en) | 2013-02-06 | 2013-02-06 | Robot joint connecting unit based on servo steering engine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203125532U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103697145A (en) * | 2013-12-24 | 2014-04-02 | 中国科学院自动化研究所 | Steering engine protection device |
| CN105598998A (en) * | 2016-03-26 | 2016-05-25 | 广州途道信息科技有限公司 | Steering gear |
| CN105867520A (en) * | 2016-06-06 | 2016-08-17 | 东南大学 | Aluminum sectional material connection steering engine device and method thereof |
| CN106235965A (en) * | 2016-08-11 | 2016-12-21 | 上海大学 | A kind of wax-polishing machine |
| CN106628118A (en) * | 2016-11-08 | 2017-05-10 | 芜湖万户航空航天科技有限公司 | Steering engine bracket mechanism |
| 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 |
| CN106826921A (en) * | 2017-02-21 | 2017-06-13 | 上海建桥学院 | Multiple degrees of freedom steering wheel is combined the unit and its assembly method and application |
| CN108831278A (en) * | 2018-08-28 | 2018-11-16 | 广东海翔教育科技有限公司 | A kind of education and science's mechanical arm for teaching apparatus for demonstrating |
| CN109895112A (en) * | 2019-03-01 | 2019-06-18 | 达闼科技（北京）有限公司 | A kind of robot head skeleton and robot |
-
2013
- 2013-02-06 CN CN 201320069697 patent/CN203125532U/en not_active Expired - Lifetime
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103697145B (en) * | 2013-12-24 | 2016-03-30 | 中国科学院自动化研究所 | A kind of steering wheel protective gear |
| CN103697145A (en) * | 2013-12-24 | 2014-04-02 | 中国科学院自动化研究所 | Steering engine protection device |
| CN105598998B (en) * | 2016-03-26 | 2018-07-13 | 广州途道信息科技有限公司 | A kind of steering engine |
| CN105598998A (en) * | 2016-03-26 | 2016-05-25 | 广州途道信息科技有限公司 | Steering gear |
| CN105867520A (en) * | 2016-06-06 | 2016-08-17 | 东南大学 | Aluminum sectional material connection steering engine device and method thereof |
| CN106235965A (en) * | 2016-08-11 | 2016-12-21 | 上海大学 | A kind of wax-polishing machine |
| CN106235965B (en) * | 2016-08-11 | 2019-02-22 | 上海大学 | A kind of wax-polishing machine |
| CN106628118A (en) * | 2016-11-08 | 2017-05-10 | 芜湖万户航空航天科技有限公司 | Steering engine bracket mechanism |
| 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 |
| CN106826921A (en) * | 2017-02-21 | 2017-06-13 | 上海建桥学院 | Multiple degrees of freedom steering wheel is combined the unit and its assembly method and application |
| CN108831278A (en) * | 2018-08-28 | 2018-11-16 | 广东海翔教育科技有限公司 | A kind of education and science's mechanical arm for teaching apparatus for demonstrating |
| CN109895112A (en) * | 2019-03-01 | 2019-06-18 | 达闼科技（北京）有限公司 | A kind of robot head skeleton and robot |
| CN109895112B (en) * | 2019-03-01 | 2021-10-01 | 达闼科技（北京）有限公司 | Robot head skeleton and robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 150036 10, B District, Far East Mansion, 18 Hengshan Road, Nangang District, Harbin, Heilongjiang. Patentee after: HARBIN ALSROBOT TECHNOLOGY CO.,LTD. Address before: 150001 room 2-101, 13 building, 1, Xuefu Road, Nangang District, Harbin, Heilongjiang. Patentee before: HARBIN AOSONG ROBOT TECHNOLOGY Co.,Ltd. |
|
| CP03 | Change of name, title or address | ||
| CP02 | Change in the address of a patent holder |
Address after: 150000 9 9 Hing Nan Street, Nangang District, Harbin, Heilongjiang. Patentee after: HARBIN ALSROBOT TECHNOLOGY CO.,LTD. Address before: 150036 10, B District, Far East Mansion, 18 Hengshan Road, Nangang District, Harbin, Heilongjiang. Patentee before: HARBIN ALSROBOT TECHNOLOGY CO.,LTD. |
|
| CP02 | Change in the address of a patent holder | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130814 |
|
| CX01 | Expiry of patent term |