CN206527754U - A kind of modularization Two dimension of freedom robot joint - Google Patents
A kind of modularization Two dimension of freedom robot joint Download PDFInfo
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- CN206527754U CN206527754U CN201720212488.3U CN201720212488U CN206527754U CN 206527754 U CN206527754 U CN 206527754U CN 201720212488 U CN201720212488 U CN 201720212488U CN 206527754 U CN206527754 U CN 206527754U
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Abstract
The utility model is related to joint of robot field, more particularly to a kind of modularization Two dimension of freedom robot joint, and its difference is：It is cavity structure and the external shell of front opening, the rolling motor and pitching motor, the rolling train and pitching train, two groups of joint angles detection sensors for changing outbound course and increase output torque that are respectively used to control pitch freedom and roll freedom that it, which includes internal,；Provided with Dual-motors Driving device, rolling motor cabinet, rolling train seat, the pitching motor seat that motor is operated of being used for being arranged in order from the front to the back in external shell, pitching train casing is provided with the front opening of external shell, the rear end of the external shell is the connecting portion for connecting a upper joint module.The utility model compact conformation, power density ratio are big, cost is low.
Description
Technical field
The utility model is related to joint of robot field, more particularly to a kind of modularization Two dimension of freedom robot joint.
Background technology
At present, mechanical arm is the main functional part that industry or service robot carry out operation, generally by several joints
Composition, joint is the elementary cell for constituting mechanical arm, is played the role of in robot irreplaceable；It is all kinds of what is applied at present
In joint, main flow is single-DOF-joint, i.e. single motor driving one degree of freedom, by the string of multiple single-DOF-joints,
Objective function is realized in parallel connection, and this organizational form make it that mechanical arm configuration more loose, not compact, power density is smaller.
The content of the invention
The purpose of this utility model is to overcome the shortcoming of prior art to be closed there is provided a kind of modularization Two dimension of freedom robot
Section, compact conformation, power density ratio are big, cost is low.
To solve above technical problem, the technical solution of the utility model is：Modularization Two dimension of freedom robot joint, its
Difference is：It include it is internal for cavity structure and the external shell of front opening, be respectively used to control pitch freedom
Rolling motor and pitching motor with roll freedom, for changing outbound course and increasing the rolling train of output torque and bow
Face upward train, two groups of joint angles detection sensors；It is used for motor fortune provided with what is be arranged in order from the front to the back in external shell
It is provided with and bows at Dual-motors Driving device, rolling motor cabinet, rolling train seat, the pitching motor seat turned, the front opening of external shell
Train casing is faced upward, the rear end of the external shell is the connecting portion for connecting a upper joint module；The rolling motor cabinet and
Rolling train seat is fixedly connected to form the installation housing with inner chamber and rear and front end opening, and rolling motor and rolling train are pacified
Outer fringe position loaded on the installation housing, front opening and the internal pitching motor seat for cavity structure are located at the mounting shell
Internal portion and openend is extended on the outside of installation housing front opening, by the motor-driven rolling train of rolling and pitching electricity
Support openend is fixedly connected and can drive pitching motor seat rotation, and the pitching motor is installed on pitching motor seat inside, interior
The pitching train casing that portion is equiped with pitching train is fixedly connected with pitching motor seat and pitching motor, is driven by pitching motor
The pitching train can drive next joint module of series connection to be rotated；Two groups of joint angles detection sensors are by one
The sensor chip that individual magnetic bead and one measure angular displacement by detecting the changes of magnetic field of the magnetic bead is constituted, for detecting rolling
Turn the sensor of the free degree located at the position of the installation housing open rearward end, for detecting that the sensor of pitch freedom is located at
Pitching train and the link position of next joint module.
By above scheme, the roll freedom of the joint module and the axis of pitch freedom are mutually perpendicular to, the rolling
The axis of motor and pitching motor is parallel to each other.
By above scheme, the rolling train is by the first spur gear being sequentially connected, the first built-up gear, the second combination tooth
Wheel, the 3rd built-up gear and the second spur gear composition, the first spur gear are fixedly connected with the output shaft of rolling motor, the first combination
Gear and the 3rd coaxial juxtaposition of built-up gear, are arranged on the installation housing, the second built-up gear leads to by the first installation axle
Cross the second installation axle to be arranged on the installation housing, the second spur gear is connected with pitching motor seat；The pitching train by
First bevel gear, the 4th built-up gear, the 5th built-up gear, three bind lines star-wheels and the sun gear composition being sequentially connected, the
One bevel gear is fixedly connected with the output shaft of pitching motor, and the 4th built-up gear is installed to pitching train case by the 3rd installation axle
Revolute is formed on body, the 5th built-up gear is installed on pitching train casing by the 4th installation axle and forms revolute, the sun
Wheel is fixedly connected with pitching train casing, and three combined planetary wheels are sleeved in the rotating shaft of planetary wheel carrier, planetary wheel carrier Gai Yuhang
Star-wheel is fixedly connected and bind lines star-wheel is done into axial limiting.
By above scheme, first built-up gear, the second built-up gear, the 3rd built-up gear be by small one and large one two
Individual spur gear is fixed together the assembly to be formed；4th built-up gear is consolidated by a small Spur gear and a bevel gear wheel
Surely connect and compose, the 5th built-up gear is fixedly connected with composition with bind lines star-wheel by small one and large one two spur gears.
By above scheme, the pitching train side is provided with the joint connector with multiple protruding column structures, opposite side
For the structure on the recessed face of cylinder；The external shell is divided into the first external shell and the second external shell, described first along axis
The rear connecting portion of external shell carries multiple borehole structures being engaged with the joint connector protruding column structure, is used for
Joint connector during the upper joint module of series connection with a upper joint module is fixedly connected；Second external shell
Rear connecting portion be the protruding circular ring structure with opening, for connect a upper joint module when and a upper joint module described in
Recessed cylindrical surface structure progress cooperatively forms revolute pair and is attached.
By above scheme, the magnetic bead is divided into rolling magnetic bead and pitching magnetic bead, and the sensor chip is divided into rolling sensing
Device chip and pitch sensor chip, the roll sensor chip are fixedly connected with rolling motor cabinet, and rolling magnetic bead is arranged on
Pitching motor seat is upper and follows it to be rotated, and the pitch sensor chip is fixedly connected with pitching train casing, pitching magnetic
Pearl is arranged on the second external shell rear connecting portion of the next joint module connected with the joint module by pitching magnetic bead seat
Middle position simultaneously follows it to be rotated.
By above scheme, the sensor chip and magnetic bead are just right, and spacing is fixed numbers, magnetic bead end face and sensor core
Piece is parallel, and magnetic bead axis is perpendicular through sensor chip geometric center point.
By above scheme, the spacing of the sensor chip and magnetic bead is 1~2mm.
By above scheme, the rolling train and pitching train can using turbine and worm, bevel gear set, roller gear,
One or more of combinations in face gear.
By above scheme, be fixedly connected between the part of the joint module form can using flange hole with fastener, flat key,
The one or more of combination of spline, interior external tooth, welding, bonding, interference fit, riveting, buckle.
From such scheme, two motors of the present utility model respectively drive a freedom after different reducing gears
Degree, realizes joint rolling, the motion of two frees degree of pitching, then by modularized design, two-freedom is integrated in into one
In joint module, make that the modularization two-freedom degree joint structure to be formed is compact, power density is higher；Joint angles sensor is adopted
With magnetic sensor chip and magnetic bead, small volume, cost are low；Various structures can be conveniently constructed using the utility model
Series and parallel mechanical arm or robot, be reduced mechanical arm or robot development's time and fund input.
Brief description of the drawings
Fig. 1 is the structural representation of the utility model embodiment；
Fig. 2 is the utility model example structure schematic diagram of relative Fig. 1 opposite sides；
Fig. 3 is the part-structure schematic diagram of the utility model embodiment；
Fig. 4 is the figure of roll freedom constructional appearance shown in Fig. 3；
Fig. 5 is rolling motor shown in Fig. 4 and wheel train structure schematic diagram；
Fig. 6 is the vertical view schematic cross-sectional view of roll freedom structure shown in Fig. 4；
Fig. 7 is the figure of pitch freedom constructional appearance shown in Fig. 3；
Fig. 8 is pitching motor shown in Fig. 7 and wheel train structure schematic diagram；
Fig. 9 is the side cross sectional views of pitch freedom structure shown in Fig. 7；
Figure 10 is the vertical view schematic cross-sectional view of pitch freedom structure shown in Fig. 7；
Figure 11 is the embodiment schematic diagram of the composition series connection sixdegree-of-freedom simulation of two-freedom degree joint shown in Fig. 1；
Wherein：A-two-freedom degree joint, b-manipulator schematic diagram, 1-roll sensor chip, 2-rolling magnetic bead,
3-roll sensor seat, 4-rolling motor cabinet, 5-rolling train seat, 6-rolling motor, the 7-the first spur gear, 8-the first
Built-up gear, the 9-the second built-up gear, the 10-the three built-up gear, the 11-the second spur gear, 12-pitching motor seat, 13-
First installation axle, the 14-the second installation axle, 15-pitching train casing, 16-pitching motor, 17-first bevel gear, 18-the
Four built-up gears, the 19-the five built-up gear, 20-planetary gear, 21-sun gear, 22-capping, 23-planetary wheel carrier, 24-
Planetary wheel carrier lid, 25-joint connector, the 26-the three installation axle, the 27-the four installation axle, 28-pitch sensor chip,
29-pitching magnetic bead, 30-pitching magnetic bead seat, the 31-the first screw, the 32-the second screw, the 33-the three screw, the 34-the four spiral shell
Nail, the 35-the five screw, 36-base, 37-external shell（3701-the first external shell, the 3702-the second external shell,
The rear connecting portion of the rear connecting portion of 370101-the first external shell, the 370201-the second external shell）, 38-recessed circle
Cylindrical structure, 39-Dual-motors Driving device.
Embodiment
The utility model is described in further detail below by embodiment combination accompanying drawing.
In the utility model embodiment, two frees degree of the joint module are two rotational freedoms, such as Fig. 3, and this two
Individual rotational freedom is known respectively as pitch freedom and roll freedom, and their axis is orthogonal.
As shown in Figure 1 to 11, the utility model include it is internal for cavity structure and the external shell 37 of front opening, point
The rolling motor 6 and pitching motor 16 of pitch freedom and roll freedom Yong Yu not controlled, for changing outbound course and increasing
Plus rolling train and pitching train, the two groups of joint angles detection sensors of output torque, rolling motor 6 passes through level Four spur gear
Group is slowed down, and pitching motor 16 by one-level bevel gear set, one-level spur gear group and primary planet pinion group, slow down altogether by three-level,
It is used for Dual-motors Driving device 39, the rolling motor cabinet that motor is operated provided with what is be arranged in order from the front to the back in external shell 37
4th, pitching train casing 15, external shell are provided with rolling train seat 5, pitching motor seat 12, the front opening of external shell 37
37 rear end is the connecting portion for connecting a upper joint module, and external shell 37 is along axis dimidiation, outside respectively first
The external shell 3702 of portion's housing 3701 and second.
Two groups of joint angles detection sensors are identical, the magnetic by a magnetic bead and one by detecting the magnetic bead
Change is constituted to measure the sensor chip of angular displacement between two connected joints, and magnetic bead and sensor chip are separately mounted to two
On the part of individual relative rotation；The rolling motor cabinet 4 and rolling train seat 5 are fixedly connected to form with inner chamber and rear and front end
The installation housing of opening, for detecting that the sensor of roll freedom is located at the position of installation housing open rearward end, for detecting
The sensor of pitch freedom is located at pitching train and the connecting portion of next joint module；Sensor chip and magnetic bead are just right,
Away from for fixed numbers（1mm is used in the present embodiment）, magnetic bead end face is parallel with sensor chip, and magnetic bead axis is perpendicular through sensing
Device chip geometric center point, the magnetic bead is divided into rolling magnetic bead 2 and pitching magnetic bead 29, and the sensor chip is divided into rolling sensing
Device chip 1 and pitch sensor chip 28.
Such as Fig. 4, Fig. 5, Fig. 6, the rolling motor 6 is fixedly connected by the 3rd screw 33 with rolling motor cabinet 4, rolling electricity
Machine 6 and rolling train are installed on the outer rim of the installation housing being fixedly connected to form by rolling motor cabinet 4 and rolling train seat 5
Position, the rolling train is by the first spur gear 7, the first built-up gear 8, the second built-up gear 9, the 3rd built-up gear 10 and
Two spur gears 11 are constituted, and the first built-up gear 8, the second built-up gear 9, the 3rd built-up gear 10 are small one and large one two gears
Be fixed together the assembly to be formed, and the gear wheel formation first order of the first spur gear 7 and the first built-up gear 8 is slowed down, and first
The gear wheel formation second level of the little gear of built-up gear 8 and the second built-up gear 9 is slowed down, the little gear of the second built-up gear 9
Slow down with the gear wheel formation third level of the 3rd built-up gear 10, the little gear and the shape of the second spur gear 11 of the 3rd built-up gear 10
Slow down into the fourth stage；First spur gear 7 is fixedly connected with the output shaft of rolling motor 6, the first built-up gear 8 and the 3rd combination tooth
10 coaxial juxtapositions are taken turns, is arranged on by the second installation axle 14 and is fixedly connected by rolling motor cabinet 4 and is constituted with rolling train seat 5
On housing；The one end of second installation axle 14 is connected with rolling motor cabinet 4, and one end is connected with rolling train seat 5, the second built-up gear 9
It is arranged on by the first installation axle 13 and is fixedly connected by rolling motor cabinet 4 and constituted by the second screw 32 with rolling train seat 5
Housing on, the one end of the first installation axle 13 is connected with rolling motor cabinet 4, and one end is connected with rolling train seat 5.
Front end is provided with opening and the internal pitching motor seat 12 for cavity structure is located at the installation enclosure interior, pitching electricity
The openend of support 12 is extended on the outside of installation housing front opening, and pitching motor seat 12 is fixedly connected with the second spur gear 11,
The power of rolling motor 6 is delivered to the second spur gear 11 by rolling train, is fixedly connected so as to drive with the second spur gear 11
Pitching motor seat 12 produce rotation form roll freedom；Pitching motor seat 12 passes through roll sensor seat 3 and rolling train
Seat 5 carries out axial limiting, and rolling magnetic bead 2 is fixedly mounted in the end-face central hole of pitching motor seat 12, roll sensor chip 1
It is fixedly mounted on roll sensor seat 3, roll sensor seat 3 is fixedly mounted on rolling motor cabinet 4 by the first screw 31,
Pitching motor seat 12 drives rolling magnetic bead 2 to produce the rotation fortune relative to roll sensor chip 1 under the driving of rolling motor 6
Dynamic, roll sensor chip 1 detects angular displacement by the change of induced field.
Such as Fig. 7, Fig. 8, Fig. 9, Figure 10, pitching motor 16 is arranged on inside pitching motor seat 12, pitching motor 16 and rolling
The axis of motor 6 is parallel to each other；Pitching motor 16 is fixedly connected by the 4th screw 34 with pitching train casing 15, pitching train
Casing 15 is fixedly connected by the 5th screw 35 with pitching motor seat 12, and the pitching train casing 15 is provided with capping 22；Institute
Pitching train is stated by first bevel gear 17, the 4th built-up gear 18, the 5th built-up gear 19, three bind lines star-wheels 20 and the sun
Wheel 21 is constituted, and the 4th built-up gear 18 is fixedly connected and constituted by a small Spur gear and a bevel gear wheel, the 5th combination
The assembly that gear 19 and bind lines star-wheel 20 are formed to be fixed together by small one and large one two spur gears, first bevel gear
17 and the 4th built-up gear 18 bevel gear part cooperatively form the first order deceleration, the pinion portion of the 4th built-up gear 18 and
The gear wheel part of 5th built-up gear 19 cooperatively forms second level deceleration, and the little gear of the 5th built-up gear 19 is combined with three
Planetary gear 20 and sun gear 21 constitute the planetary gear train formation third level and slowed down；First bevel gear 17 and the output of pitching motor 16
Axle is fixedly connected, and the 4th built-up gear 18 is installed on pitching train casing 15 by the 3rd installation axle 26 and forms revolute, the
Five built-up gears 19 are installed on pitching train casing 15 by the 4th installation axle 27 forms revolute, sun gear 21 and pitching wheel
It is that casing 15 is fixedly connected, three bind lines star-wheels 20 are sleeved in the rotating shaft of planetary wheel carrier 23, planetary wheel carrier lid 24 and planet
Wheel carrier 23 is fixedly connected and bind lines star-wheel 20 is done into axial limiting.
The pitching wheel is fastened provided with the joint connector 25 for facilitating the utility model to carry out simple series and parallel, pitching
The power of motor 16, which is delivered to, can change the pitching train of outbound course, so as to drive the joint being fixedly connected with pitching train to connect
Fitting 25 produces pitch freedom on the basis of roll freedom；Pitch sensor chip 28 is fixedly mounted on pitching train case
On body 15 and vertical with pitch freedom rotary shaft, pitching magnetic bead 29 is arranged in pitching magnetic bead seat 30, and pitching magnetic bead seat 30 is simultaneously
It is non-to be arranged on this modularization Two dimension of freedom robot joint, and be mounted on the next joint being connected with this joint, pitching
Magnetic bead 29 is arranged on by pitching magnetic bead seat 30 and is connected with the second external shell rear end of next joint module of the block coupled in series
The middle position of portion 370201 simultaneously follows it to be rotated, and pitch sensor chip 28 is by detecting the change in the magnetic field of pitching magnetic bead 29
To measure the angular displacement that generation is relatively rotated between two connected joints.
Such as Figure 11, the one embodiment in the modularization Two dimension of freedom robot joint provided for the utility model is specially
Pass through the external shell of joint connector 25 and first that is connected with pitching train using three modularization Two dimension of freedom robot joint a
The rear end for the external shell of recessed cylindrical surface structure 38 and second that the rear connecting portion 370101 of body is fixedly connected, pitching wheel is fastened
The progress of connecting portion 370201 cooperatively forms revolute pair and is attached, so that three external shells 37 are in series, and one end is pacified
On base 36, the other end is provided with the sixdegree-of-freedom simulation of actuator b formation.
The rolling train and pitching train in modularization Two dimension of freedom robot joint described in the utility model can be used
One or more of combination such as worm and gear, bevel gear set, roller gear face gear；In the utility model embodiment, institute
The reducing gear stated uses the gear train being made up of bevel gear or spur gear.
Form is fixedly connected between the part in Two dimension of freedom robot joint described in the utility model can use flange hole
With one or more of combination such as fastener, flat key, spline, interior external tooth, welding, bonding, interference fit, riveting, buckle.
Two groups of motors and deceleration train are carried out integrated design by the utility model by one so that motor and train
Layout structure it is compacter, and then cause two-freedom module machine person joint there is integrated level height, compact conformation, sky
Between the advantages of utilization rate is high, power density ratio is big；By modularized design, two frees degree are integrated in a joint module
It is interior, carry out simple series and parallel using several this modularized joints on this basis, you can many conveniently to construct
The series and parallel mechanical arm or robot of structure are planted, mechanical arm or time and the fund input of robot development is reduced；By adopting
Volume is smaller for constituting joint angles sensor, more traditional encoder with magnetic sensor chip and magnetic bead, and cost is lower.
Above content is to combine specific embodiment further detailed description of the utility model, it is impossible to assert
Specific implementation of the present utility model is confined to these explanations.For the utility model person of an ordinary skill in the technical field
For, without departing from the concept of the premise utility, some simple deduction or replace can also be made, should all be considered as category
In protection domain of the present utility model.
Claims (10)
1. a kind of modularization Two dimension of freedom robot joint, it is characterised in that：It is cavity structure and front opening that it, which includes internal,
External shell, be respectively used to control the rolling motor and pitching motor of pitch freedom and roll freedom, it is defeated for changing
The rolling train and pitching train, two groups of joint angles detection sensors of outgoing direction and increase output torque；
It is used for Dual-motors Driving device, the rolling motor that motor is operated provided with what is be arranged in order from the front to the back in external shell
Pitching train casing is provided with seat, rolling train seat, pitching motor seat, the front opening of external shell, the external shell
Rear end is the connecting portion for connecting a upper joint module；
The rolling motor cabinet and rolling train seat are fixedly connected to form the installation housing with inner chamber and rear and front end opening, roll
Rotating motor and rolling train are mounted on the outer fringe position of the installation housing, front opening and the internal pitching for cavity structure
Motor cabinet is located at the installation enclosure interior and openend extends to installation housing front opening outside, motor-driven by rolling
The rolling train is fixedly connected with pitching motor seat openend and can drive pitching motor seat rotation, and the pitching motor is installed
Internal in pitching motor seat, the pitching train casing and pitching motor seat and pitching motor that inside is equiped with pitching train are fixed and connected
Connect, the pitching train driven by pitching motor can drive next joint module of series connection to be rotated；
Two groups of joint angles detection sensors by a magnetic bead and one by detect the changes of magnetic field of the magnetic bead come
The sensor chip for measuring angular displacement is constituted, for detecting the sensor of roll freedom located at the installation housing open rearward end
Position, for detecting the sensor of pitch freedom located at pitching train and the link position of next joint module.
2. modularization Two dimension of freedom robot joint according to claim 1, it is characterised in that：The rolling of the joint module
The axis of the free degree and pitch freedom is mutually perpendicular to, and the axis of the rolling motor and pitching motor is parallel to each other.
3. modularization Two dimension of freedom robot joint according to claim 1, it is characterised in that：The rolling train by according to
Secondary the first connected spur gear, the first built-up gear, the second built-up gear, the 3rd built-up gear and the second spur gear composition, the
One spur gear is fixedly connected with the output shaft of rolling motor, the first built-up gear and the 3rd coaxial juxtaposition of built-up gear, passes through
One installation axle is arranged on the installation housing, and the second built-up gear is arranged on the installation housing by the second installation axle,
Second spur gear is connected with pitching motor seat；The pitching train by the first bevel gear being sequentially connected, the 4th built-up gear,
5th built-up gear, three bind lines star-wheels and sun gear composition, first bevel gear are fixedly connected with the output shaft of pitching motor,
4th built-up gear is installed on pitching train casing by the 3rd installation axle forms revolute, and the 5th built-up gear passes through the 4th
Installation axle, which is installed on pitching train casing, forms revolute, and sun gear is fixedly connected with pitching train casing, three bind lines
Star-wheel is sleeved in the rotating shaft of planetary wheel carrier, and planetary wheel carrier lid is fixedly connected with planetary gear and bind lines star-wheel is done into axial limit
Position.
4. modularization Two dimension of freedom robot joint according to claim 3, it is characterised in that：The first combination tooth
The assembly that wheel, the second built-up gear, the 3rd built-up gear are formed to be fixed together by small one and large one two spur gears；Institute
State the 4th built-up gear to be fixedly connected and constituted by a small Spur gear and a bevel gear wheel, the 5th built-up gear and combined planetary
Wheel is fixedly connected with composition by small one and large one two spur gears.
5. modularization Two dimension of freedom robot joint according to claim 1, it is characterised in that：The pitching train side
Provided with the joint connector with multiple protruding column structures, opposite side is the structure on the recessed face of cylinder；The external shell is along axle
Line is divided into the first external shell and the second external shell, and the rear connecting portion of first external shell is closed with multiple with described
The borehole structure that is engaged of section connector protruding column structure, for connect a upper joint module when and a upper joint module institute
Joint connector is stated to be fixedly connected；The rear connecting portion of second external shell is the protruding circular ring structure with opening,
For connect a upper joint module when carry out cooperatively forming revolute pair with the recessed cylindrical surface structure of a upper joint module and
Row connection.
6. modularization Two dimension of freedom robot joint according to claim 5, it is characterised in that：The magnetic bead is divided into rolling
Magnetic bead and pitching magnetic bead, the sensor chip are divided into roll sensor chip and pitch sensor chip, the rolling sensing
Device chip is fixedly connected with rolling motor cabinet, and rolling magnetic bead is arranged on pitching motor seat above and follows it to be rotated, described to bow
Face upward sensor chip to be fixedly connected with pitching train casing, pitching magnetic bead is arranged on and the joint module string by pitching magnetic bead seat
Second external shell rear connecting portion middle position of next joint module of connection simultaneously follows it to be rotated.
7. modularization Two dimension of freedom robot joint according to claim 1, it is characterised in that：The sensor chip and
Magnetic bead is just right, and spacing is fixed numbers, and magnetic bead end face is parallel with sensor chip, and magnetic bead axis is several perpendicular through sensor chip
What central point.
8. modularization Two dimension of freedom robot joint according to claim 7, it is characterised in that：The sensor chip and
The spacing of magnetic bead is 1~2mm.
9. modularization Two dimension of freedom robot joint according to claim 1, it is characterised in that：The rolling train and bow
One or more of combinations in turbine and worm, bevel gear set, roller gear, face gear can be used by facing upward train.
10. modularization Two dimension of freedom robot joint according to claim 1, it is characterised in that：The zero of the joint module
Form is fixedly connected between part to match somebody with somebody fastener, flat key, spline, interior external tooth, welding, bonding, interference fit, riveting using flange hole
Connect, the combination that buckle is one or more of.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720212488.3U CN206527754U (en) | 2017-03-07 | 2017-03-07 | A kind of modularization Two dimension of freedom robot joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720212488.3U CN206527754U (en) | 2017-03-07 | 2017-03-07 | A kind of modularization Two dimension of freedom robot joint |
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| Publication Number | Publication Date |
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| CN206527754U true CN206527754U (en) | 2017-09-29 |
Family
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| CN201720212488.3U Active CN206527754U (en) | 2017-03-07 | 2017-03-07 | A kind of modularization Two dimension of freedom robot joint |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106863347A (en) * | 2017-03-07 | 2017-06-20 | 江苏安格尔机器人有限公司 | A kind of modularization Two dimension of freedom robot joint |
| CN109253232A (en) * | 2018-09-21 | 2019-01-22 | 上海飞珀机器人科技有限公司 | A kind of double freedom gear-box mould group |
| CN110815196A (en) * | 2019-10-18 | 2020-02-21 | 平安科技（深圳）有限公司 | Waist structure of robot |
-
2017
- 2017-03-07 CN CN201720212488.3U patent/CN206527754U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106863347A (en) * | 2017-03-07 | 2017-06-20 | 江苏安格尔机器人有限公司 | A kind of modularization Two dimension of freedom robot joint |
| CN106863347B (en) * | 2017-03-07 | 2023-08-18 | 壹利特机器人科技（常州）有限公司 | Modularized two-degree-of-freedom robot joint |
| CN109253232A (en) * | 2018-09-21 | 2019-01-22 | 上海飞珀机器人科技有限公司 | A kind of double freedom gear-box mould group |
| CN110815196A (en) * | 2019-10-18 | 2020-02-21 | 平安科技（深圳）有限公司 | Waist structure of robot |
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