CN205835409U - A kind of joint, modular right angle - Google Patents
A kind of joint, modular right angle Download PDFInfo
- Publication number
- CN205835409U CN205835409U CN201620732959.9U CN201620732959U CN205835409U CN 205835409 U CN205835409 U CN 205835409U CN 201620732959 U CN201620732959 U CN 201620732959U CN 205835409 U CN205835409 U CN 205835409U
- Authority
- CN
- China
- Prior art keywords
- joint
- motor
- right angle
- driver
- screw
- 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.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
This utility model relates to joint, a kind of modular right angle, including shell, joint module, link block, joint module includes motor, motor cylinder, harmonic speed reducer, driver, encoder, sensor, epicyclic gearbox, block, rotary joint, translation joint；Described driver includes rotary joint driver and translation joint driver, motor cylinder is arranged in shell, motor, epicyclic gearbox are contained in motor cylinder, encoder is integrated in motor, motor is connected by bolt or screw with connecting plate, motor is all attached in bonded mode with epicyclic gearbox with epicyclic gearbox, harmonic speed reducer, and described harmonic speed reducer is fixed by bolt or screw with connecting plate.Right angle of the present utility model closes the energy-conservation user of making can need to select according to reality application the work space of suitable joint, degree of freedom and mechanical arm, the problem not only solving cost waste, also has the advantage that integrated level is higher, volume is less, weight is lighter, easy to maintenance.
Description
Technical field
This utility model belongs to joint of mechanical arm field, particularly relates to joint, a kind of modular right angle.
Background technology
The primary structure of all kinds of modularized joints has parallel modularization joint, perpendicular style modularization joint, Phaleria macrocarpa gear
Formula modularized joint etc..The little modularity in joint of light-duty mechanical arm, and Mei Jia product vendor the most in the world has oneself
Unique articulation structure, general each joint the most only comprises one degree of freedom, and the mechanical arm of a six degree of freedom generally comprises
Six joints.Prior art shortcoming is that mechanical arm modular degree is low, is unfavorable for that user selects the most suitable machinery of cost performance
Arm.
Utility model content
The purpose of this utility model is for the deficiencies in the prior art, it is provided that a kind of comprise two degree of freedom, module
The joint, right angle changed so that user can need to select suitable joint, degree of freedom and machinery according to the application of oneself reality
The work space of arm.
This utility model the technical scheme is that joint, a kind of modular right angle for achieving the above object, including outside
Shell, joint module, link block, described joint module includes motor, motor cylinder, harmonic speed reducer, driver, encoder, biography
Sensor, epicyclic gearbox, block, rotary joint, translation joint, connecting plate；Described link block includes input flange, output method
Blue；Described driver includes rotary joint driver and translation joint driver, and motor cylinder is arranged in shell, motor, planet
Gear-box is contained in motor cylinder, and encoder is integrated in motor, and motor is connected by bolt or screw with connecting plate, motor and row
Star gear-box, harmonic speed reducer and epicyclic gearbox are all attached in bonded mode, described harmonic speed reducer and connecting plate
Being fixed by bolt or screw, the outfan of harmonic speed reducer is connected by screw or bolt with the output flange of link block,
Rotary joint driver, translation joint driver are connected by screw or bolt with rotary joint, translation joint respectively；Sensor
It is fixed on connecting plate；It is provided with block on described connecting plate；Described motor cylinder is provided with breach；
Further, described motor is brushless DC servomotor；
Further, described block includes block one and block two；
Further, the breach of described motor cylinder is used for passing through cable；
Further, described motor is connected by screw with connecting plate；
Further, described harmonic speed reducer is fixed by screw with connecting plate；
Further, the outfan of described harmonic speed reducer is connected by screw with the output flange of link block；
Further, described rotary joint driver, translation joint driver pass through with rotary joint, translation joint respectively
Screw connects.
The beneficial effects of the utility model are:
Joint, modular right angle provided by the utility model enables to user can be according to the application of oneself reality
Need to select the work space of suitable joint, degree of freedom and mechanical arm, such as: when user needs the mechanical arm of six degree of freedom
Time, the connector between three joints, such right angle and suitable joint can be selected, it is possible to be combined into what oneself was wanted
Mechanical arm；And when the mechanical arm that user only needs four degree of freedom just can solve problem, only two such joints need to be selected
With suitable connector.Modular joint of the present utility model not only solves the problem of cost waste, also has collection
One-tenth Du Genggao, the advantage that volume is less, weight is lighter, easy to maintenance.
Accompanying drawing explanation
Fig. 1 is the outside overall structure schematic diagram in joint, modular right angle of the present utility model；
Fig. 2 is the assembling structural representation of the top half in joint, modular right angle of the present utility model.
Detailed description of the invention
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is carried out
Clearly and completely describe.Based on the embodiment in this utility model, those of ordinary skill in the art are not making creative labor
The every other embodiment obtained under dynamic premise, broadly falls into the scope of this utility model protection.
Embodiment 1:
A kind of top half in joint, modular right angle, as in figure 2 it is shown, include shell 1, joint module, link block,
Described joint module include motor 2, motor cylinder 3, harmonic speed reducer 4, driver, encoder 6, sensor 7, epicyclic gearbox 8,
Block 9, translation joint 11, connecting plate 12；Described link block includes input flange 13, output flange 14；Described driver bag
Including rotary joint driver and translation joint driver 52, motor cylinder 3 is arranged in shell 1, and motor 2, epicyclic gearbox 8 are contained in
In motor cylinder 3, encoder 6 is integrated in motor 2, and motor 2 is connected by screw with connecting plate 12, motor 2 and epicyclic gearbox
8, harmonic speed reducer 4 is all attached in bonded mode with epicyclic gearbox 8, and described harmonic speed reducer 4 leads to connecting plate 12
Crossing screw to fix, the outfan of harmonic speed reducer 4 is connected by screw with the output flange 14 of link block, translates joint drive
Device 52 is connected by screw with translation joint 11；Sensor 7 is fixed on connecting plate 12；It is provided with block on described connecting plate 12
9；Described motor cylinder is provided with breach 31；Described motor is brushless DC servomotor；Described block includes block 1 and gear
Block 2 92；The breach 31 of described motor cylinder is for by playing input, the cable of output signal effect.
The latter half in joint, a kind of modular right angle, its structure is essentially identical with top half, and difference is
Translation joint 11 replaces with rotary joint, and translation joint driver 52 replaces with rotary joint driver, and output flange 14 is replaced
For input flange 13, rotary joint driver is connected by screw with rotary joint.
During use, the top half in joint, above-mentioned modular right angle and rising of the latter half are inputted, output signal is made
Cable connect, and top half and the latter half are fastened, electric power passes through input flange, output flange and inside
Cable, cabling is transmitted.User can need to select suitable joint, degree of freedom and machine according to the application of oneself reality
The work space of mechanical arm, such as: when user needs the mechanical arm of six degree of freedom, can select joint, three such right angles and
The suitably connector between joint, it is possible to be combined into the mechanical arm oneself wanted；And when user only needs four degree of freedom
When mechanical arm just can solve problem, only need to select two such joints and suitable connector.Only need to be by two phases
The input flange in adjacent joint, modular right angle is connected with output flange, and adjusts number as required,.
Above-described embodiment, simply to illustrate that technology of the present utility model design and feature, its objective is to be to allow this area
Interior those of ordinary skill will appreciate that content of the present utility model and implements according to this, can not limit of the present utility model with this
Protection domain.Every change according to the equivalence done by the essence of this utility model content or modification, all should contain in this reality
With in novel protection domain.
Claims (8)
1. joint, a modular right angle, it is characterised in that include shell, joint module, link block, described joint module
Including motor, motor cylinder, harmonic speed reducer, driver, encoder, sensor, epicyclic gearbox, block, rotary joint, translation
Joint, connecting plate；Described link block includes input flange, output flange；Described driver include rotary joint driver and
Translation joint driver, motor cylinder is arranged in shell, and motor, epicyclic gearbox are contained in motor cylinder, and encoder is integrated in electricity
In machine, motor is connected by bolt or screw with connecting plate, and motor is equal with epicyclic gearbox with epicyclic gearbox, harmonic speed reducer
Being attached in bonded mode, described harmonic speed reducer is fixed by bolt or screw with connecting plate, harmonic speed reducer defeated
Going out end to be connected by screw or bolt with the output flange of link block, rotary joint driver, translation joint driver are respectively
It is connected by screw or bolt with rotary joint, translation joint；Sensor is fixed on connecting plate；It is provided with on described connecting plate
Block；Described motor cylinder is provided with breach.
Joint, a kind of modular right angle the most as claimed in claim 1, it is characterised in that described motor is brushless type direct current servo
Motor.
Joint, a kind of modular right angle the most as claimed in claim 1, it is characterised in that described block includes block one and gear
Block two.
Joint, a kind of modular right angle the most as claimed in claim 1, it is characterised in that the breach of described motor cylinder is used for leading to
Cross cable.
Joint, a kind of modular right angle the most as claimed in claim 1, it is characterised in that described motor and connecting plate pass through spiral shell
Nail connects.
Joint, a kind of modular right angle the most as claimed in claim 1, it is characterised in that described harmonic speed reducer and connecting plate
Fixed by screw.
Joint, a kind of modular right angle the most as claimed in claim 1, it is characterised in that the outfan of described harmonic speed reducer
It is connected by screw with the output flange of link block.
Joint, a kind of modular right angle the most as claimed in claim 1, it is characterised in that described rotary joint driver, flat
Move joint driver to be connected by screw with rotary joint, translation joint respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620732959.9U CN205835409U (en) | 2016-07-12 | 2016-07-12 | A kind of joint, modular right angle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620732959.9U CN205835409U (en) | 2016-07-12 | 2016-07-12 | A kind of joint, modular right angle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205835409U true CN205835409U (en) | 2016-12-28 |
Family
ID=57619809
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620732959.9U Active CN205835409U (en) | 2016-07-12 | 2016-07-12 | A kind of joint, modular right angle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205835409U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107225597A (en) * | 2017-07-24 | 2017-10-03 | 中国电子科技集团公司第二十研究所 | A kind of two-freedom modularized joint component based on hollow motor integrating |
| CN109397327A (en) * | 2018-12-11 | 2019-03-01 | 哈尔滨工业大学（深圳） | A kind of two degree-of-freedom joint device based on multi-stage speed-reducing transmission |
| CN114368495A (en) * | 2022-03-22 | 2022-04-19 | 中国人民解放军战略支援部队航天工程大学 | Two-degree-of-freedom integrated joint for multi-body satellite torsion bending allosteric |
-
2016
- 2016-07-12 CN CN201620732959.9U patent/CN205835409U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107225597A (en) * | 2017-07-24 | 2017-10-03 | 中国电子科技集团公司第二十研究所 | A kind of two-freedom modularized joint component based on hollow motor integrating |
| CN107225597B (en) * | 2017-07-24 | 2020-05-15 | 中国电子科技集团公司第二十一研究所 | Two-degree-of-freedom modular joint assembly based on hollow integrated motor |
| CN109397327A (en) * | 2018-12-11 | 2019-03-01 | 哈尔滨工业大学（深圳） | A kind of two degree-of-freedom joint device based on multi-stage speed-reducing transmission |
| CN114368495A (en) * | 2022-03-22 | 2022-04-19 | 中国人民解放军战略支援部队航天工程大学 | Two-degree-of-freedom integrated joint for multi-body satellite torsion bending allosteric |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205835409U (en) | A kind of joint, modular right angle | |
| CN104036684B (en) | A kind of gear train overview display teaching aid | |
| CN101804636A (en) | Five degree-of-freedom reconfigurable modular service robot arm | |
| CN101086810A (en) | A teaching robot | |
| CN103273499B (en) | Compact machines people modularized joint and robot | |
| CN109158701A (en) | A kind of motorcycle articles attachment cutting equipment | |
| CN102397985A (en) | Automatic case producing unit for precision casting robot | |
| CN104134393B (en) | A kind of robot movement principle demonstration teaching aid | |
| CN105397836A (en) | Highly-integrated modular robot joint | |
| CN208969988U (en) | A kind of servo teaching mode that analog mechanical is rolled over | |
| CN204278011U (en) | A kind of snake-shaped robot driven by linkage | |
| CN206717844U (en) | Few branch chain six-freedom degree parallel vivid platform | |
| CN204017363U (en) | Twin shaft steering wheel structure | |
| CN206029880U (en) | Light -duty arm | |
| CN202021460U (en) | Intelligent tightening equipment for a double nut of solar energy terminal box | |
| CN213937588U (en) | Motor convenient to maintenance | |
| CN205238071U (en) | High album of moulding massing robot joint | |
| CN203752886U (en) | Series type hybrid power tractor | |
| CN204463524U (en) | A kind of motor speed measurement conversion actual training device | |
| CN204566771U (en) | A kind of two-in-parallel mechanical cam and electric cam cascaded structure | |
| CN201618972U (en) | Expansion working platform with two shafts | |
| CN209237862U (en) | 3 driven type large size bulk cargo agitating devices | |
| CN201063218Y (en) | Teaching robot | |
| CN205396269U (en) | Three power take off structure of moving | |
| CN201381266Y (en) | Crank connecting rod-type servo distributor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |