CN206967483U - Joint of robot modular structure, the robot using the joint module structure - Google Patents
Joint of robot modular structure, the robot using the joint module structure Download PDFInfo
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- CN206967483U CN206967483U CN201720742448.XU CN201720742448U CN206967483U CN 206967483 U CN206967483 U CN 206967483U CN 201720742448 U CN201720742448 U CN 201720742448U CN 206967483 U CN206967483 U CN 206967483U
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- end cap
- joint module
- joint
- output end
- outer cover
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Abstract
It the utility model is related to a kind of joint of robot modular structure, the robot using the joint module structure, it is characterised in that：The input end cap of cylindrical outer cover first end is located at including cylindrical outer cover, fixation and is located at the output end cap at the end of cylindrical outer cover second, spring bearing is provided between the output end cap and the end of cylindrical outer cover second, to realize that output end cap can rotate relative to the end of cylindrical outer cover second, motor and the decelerator by motor-driven rotation are provided with the cylindrical outer cover body, the output end of the decelerator is fixedly connected with output end cap.The utility model structural volume is smaller, and structure is more simple, and quality is lighter, and connection is more convenient.
Description
Technical field：
It the utility model is related to a kind of joint of robot modular structure, the robot using the joint module structure.
Background technology：
It is largely general design in conventional Robot Design, there is fixed structure and the free degree.This kind of machine
People is typically only used for fixed condition of work and target, is then difficult to realize for new condition of work and target.
The content of the invention：
The purpose of this utility model is to overcome above-mentioned the deficiencies in the prior art, there is provided a kind of joint of robot module knot
Structure, the robot using the joint module structure, the utility model structural volume is smaller, and structure is more simple, and quality is lighter, connection
Connect more convenient.
The utility model joint of robot modular structure, it is characterised in that：Cylindrical outer cover is located at including cylindrical outer cover, fixation
The input end cap of first end and the output end cap for being located at the end of cylindrical outer cover second, the output end cap and the end of cylindrical outer cover second it
Between be provided with spring bearing, to realize that output end cap can rotate relative to the end of cylindrical outer cover second, provided with electric in the cylindrical outer cover body
Machine and the decelerator by motor-driven rotation, the output end of the decelerator are fixedly connected with output end cap.
Further, there is first boss in the middle part of above-mentioned input end cap, the first boss border is provided with counterbore, described
Input end cap week portion is connected by bolt with cylindrical outer cover, and the first boss center is provided with through hole.
Further, above-mentioned output end cap is nested with and is screwed on the inner ring of spring bearing, outside spring bearing
Circle is fixed on cylindrical outer cover first end end face, and the output end cap central part is provided with perforation and keyway, the decelerator it is defeated
Go out end and be provided with the axle and key coordinated respectively with perforation, keyway.
The utility model uses the robot of joint module structure, it is characterised in that：The robot includes two or two
The joint module being sequentially connected more than individual, the joint module includes cylindrical outer cover, fixation is located at the defeated of cylindrical outer cover first end
Enter end cap and be located at the output end cap at the end of cylindrical outer cover second, support is provided between the output end cap and the end of cylindrical outer cover second
Bearing, to realize that output end cap can rotate relative to the end of cylindrical outer cover second, motor is provided with the cylindrical outer cover body and by motor
The decelerator rotated is driven, the output end of the decelerator is fixedly connected with output end cap；Connected between two joint modular structure
Bar shaped connection sheet or L-type connection sheet, it is equipped with the end of the bar shaped connection sheet or L-type connection sheet and input end cap or output
The duct of end cap threaded connection.
Further, above-mentioned robot has four joint modules being sequentially connected, and is the first joint module, second respectively
Joint module, the 3rd joint module and the 4th joint module, output end cap and the second joint module of first joint module
Input end cap, connected between the output end cap of the 3rd joint module and the input end cap of the 4th joint module by L-type
Piece connects, and is connected between the output end cap of the second joint module and the input end cap of the 3rd joint module by bar shaped connection sheet
Connect.
Further, above-mentioned robot has six joint modules being sequentially connected, and is the first joint module, second respectively
Joint module, the 3rd joint module, the 4th joint module, the 5th joint module and the 6th joint module, first joint mould
The output end cap of block and input end cap, the output end cap and the 4th joint module of the 3rd joint module of second joint module
Input end cap, the 4th joint module output end cap and the 5th joint module input end cap, the 5th joint mould
Connected between the output end cap of block and the input end cap of the 6th joint module by L-type connection sheet, the second joint module
Connected between output end cap and the input end cap of the 3rd joint module by bar shaped connection sheet.
The method of work of the utility model joint module robot, the robot connect successively including two or more
The joint module connect, the joint module include cylindrical outer cover, the fixed input end cap for being located at cylindrical outer cover first end and are located at
The output end cap at the end of cylindrical outer cover second, spring bearing is provided between the output end cap and the end of cylindrical outer cover second, to realize
Output end cap can be rotated relative to the end of cylindrical outer cover second, and motor and subtracting by motor-driven rotation are provided with the cylindrical outer cover body
Fast device, the output end of the decelerator are fixedly connected with output end cap；Bar shaped connection sheet or L are connected between two joint modular structure
Type connection sheet, it is equipped with the end of the bar shaped connection sheet or L-type connection sheet and is threadedly coupled with input end cap or output end cap
Duct, the robot has four joint modules being sequentially connected, be respectively the first joint module, second joint module,
3rd joint module and the 4th joint module, the output end cap and the input of second joint module of first joint module
Connected between the input end cap of lid, the output end cap of the 3rd joint module and the 4th joint module by L-type connection sheet, institute
State and connected between the output end cap of second joint module and the input end cap of the 3rd joint module by bar shaped connection sheet；Work
When, motor distinguishes controlled device control in the first joint module, second joint module, the 3rd joint module and the 4th joint module
System, makes their output end cap rotate different angle respectively, so as to realize the free degree control of 4, space.
The method of work of the utility model joint module robot, the robot connect successively including two or more
The joint module connect, the joint module include cylindrical outer cover, the fixed input end cap for being located at cylindrical outer cover first end and are located at
The output end cap at the end of cylindrical outer cover second, spring bearing is provided between the output end cap and the end of cylindrical outer cover second, to realize
Output end cap can be rotated relative to the end of cylindrical outer cover second, and motor and subtracting by motor-driven rotation are provided with the cylindrical outer cover body
Fast device, the output end of the decelerator are fixedly connected with output end cap；Bar shaped connection sheet or L are connected between two joint modular structure
Type connection sheet, it is equipped with the end of the bar shaped connection sheet or L-type connection sheet and is threadedly coupled with input end cap or output end cap
Duct, the robot has six joint modules being sequentially connected, be respectively the first joint module, second joint module,
3rd joint module, the 4th joint module, the 5th joint module and the 6th joint module, the output end of first joint module
Lid and input end cap, the output end cap of the 3rd joint module and the input of the 4th joint module of second joint module
The output of the input end cap, the 5th joint module of lid, the output end cap of the 4th joint module and the 5th joint module
Connected between the input end cap of end cap and the 6th joint module by L-type connection sheet, the output end cap of the second joint module
It is connected between the input end cap of the 3rd joint module by bar shaped connection sheet；During work, the first joint module, second joint mould
Motor distinguishes controlled device control in block, the 3rd joint module, the 4th joint module, the 5th joint module and the 6th joint module
System, makes their output end cap rotate different angle respectively, so as to realize the free degree control of 6, space.
The utility model joint of robot modular structure, structure smaller using the robot volume of the joint module structure
More simple, quality is lighter, and connection is more convenient.
Brief description of the drawings：
Fig. 1 is the outline drawing of joint module；
Fig. 2 is the internal structure schematic diagram of joint module；
Fig. 3 is the organigram of bar shaped connection sheet；
Fig. 4 is the organigram of L-type connection sheet；
Fig. 5 is the organigram of bar shaped connection sheet connecting joint module；
Fig. 6 is the organigram of L-type connection sheet connecting joint module；
Fig. 7 is the organigram of four-degree-of-freedom modularization robot；
Fig. 8 is the organigram of six degree of freedom modularization robot.
Embodiment：
The utility model is described in more detail with reference to the accompanying drawings and detailed description.
The utility model joint of robot modular structure includes cylindrical outer cover 1, fixation is located at the defeated of the first end of cylindrical outer cover 1
Enter end cap 2 and be located at the output end cap 3 at the end of cylindrical outer cover second, be provided between the output end cap 3 and the end of cylindrical outer cover 1 second
Spring bearing 4, to realize that output end cap can rotate relative to the end of cylindrical outer cover second, the He of motor 5 is provided with the cylindrical outer cover body
The decelerator 6 of rotation is driven by motor 5, the output end of the decelerator 6 is fixedly connected with output end cap 3.Motor with it by connecting
The controller control connect, to be controlled the rotation of output end cap 3 as needed.
Further, the above-mentioned middle part of input end cap 2 has first boss 7, and the border of first boss 7 is provided with counterbore 8,
It is connected by the input end cap week portion by bolt with cylindrical outer cover, the first boss center is provided with through hole 9, the through hole 9
Power cable, control electric wire are penetrated, with the action of controlled motor.
Further, in order to reasonable in design, above-mentioned output end cap 3 is nested with and is screwed in the inner ring of spring bearing 4
On 401, the outer ring 402 of spring bearing is fixed on cylindrical outer cover first end end face, and the output end cap central part is provided with perforation
10 and keyway, the output end of the decelerator is provided with the axle 11 and key that coordinate respectively with perforation, keyway, passes through decelerator output end
Axle 11 and key can with output end cap 3 is perforated, keyway is coordinated, so as to realize output end cap 3 controlled by decelerator.
The utility model uses the robot of joint module structure, and the robot connects successively including two or more
The joint module A, the joint module A connect includes cylindrical outer cover 1, the fixed and of input end cap 2 for being located at the first end of cylindrical outer cover 1
The output end cap 3 at the end of cylindrical outer cover second is located at, spring bearing is provided between the output end cap 3 and the end of cylindrical outer cover 1 second
4, to realize that output end cap can rotate relative to the end of cylindrical outer cover second, motor 5 is provided with the cylindrical outer cover body and is driven by motor 5
The dynamic decelerator 6 of turn, the output end of the decelerator 6 are fixedly connected with output end cap 3；Connect between two joint modular structure A
Narrow bars shape connection sheet 12 or L-type connection sheet 13, it is equipped with the end of the bar shaped connection sheet or L-type connection sheet and input end cap
Or the duct 14 of output end cap threaded connection.
Further, in order to realize the activity of four frees degree, above-mentioned robot has four joint moulds being sequentially connected
Block, is the first joint module A1, second joint modules A 2, the 3rd joint module A3 and the 4th joint module A4 respectively, described
The output end cap of one joint module and input end cap, the output end cap and the 4th of the 3rd joint module of second joint module
Connected between the input end cap of joint module by L-type connection sheet 13, the output end cap of the second joint module and the 3rd closes
Connected between the input end cap of section module by bar shaped connection sheet 12.
Further, in order to realize the activity of six-freedom degree, above-mentioned robot has six joint moulds being sequentially connected
Block, it is the first joint module A1, second joint modules A 2, the 3rd joint module A3, the 4th joint module A4, the 5th joint respectively
The joint module A6 of modules A 5 and the 6th, the output end cap of first joint module and input end cap, the institute of second joint module
State the input end cap of output end cap and the 4th joint module of the 3rd joint module, the output end cap of the 4th joint module and
5th joint module is inputted between the input end cap of end cap, the output end cap of the 5th joint module and the 6th joint module
Connected by L-type connection sheet 13, led between the output end cap of the second joint module and the input end cap of the 3rd joint module
Bar shaped connection sheet 12 is crossed to connect.
The motor of joint module, as drive device, is slowed down using EC disc type electric machines using epicyclic gearbox as decelerator
The kind of drive, by reducer output shaft drive module output end cap rotate.
Such joint module has two kinds, a kind of to be connected with fixed pedestal.The module diameter is 100mm, and length is
200mm, quality 2.5kg, output torque 30Nm.Another kind is not connected with pedestal to move in space.The module
Profile is identical with the former, diameter 100mm, length 200mm, but this module quality is lighter, only 1.5kg, output torque 15Nm.
It is connected between each joint module by link block, each link block plays a part of forming a connecting link, this mould
Block robot system devises two kinds of link block, and a kind of is the link block of diameter parallel, and another is axle
The orthogonal link block of line.Using the link block of diameter parallel, the direction of joint module will not become, vertical using axis
Link block, the direction of joint module changes.It is the link block of diameter parallel such as Fig. 3.It is that axis is vertical such as Fig. 4
Link block.
The method of work of the utility model joint module robot, the robot connect successively including two or more
The joint module connect, the joint module include cylindrical outer cover, the fixed input end cap for being located at cylindrical outer cover first end and are located at
The output end cap at the end of cylindrical outer cover second, spring bearing is provided between the output end cap and the end of cylindrical outer cover second, to realize
Output end cap can be rotated relative to the end of cylindrical outer cover second, and motor and subtracting by motor-driven rotation are provided with the cylindrical outer cover body
Fast device, the output end of the decelerator are fixedly connected with output end cap；Bar shaped connection sheet or L are connected between two joint modular structure
Type connection sheet, it is equipped with the end of the bar shaped connection sheet or L-type connection sheet and is threadedly coupled with input end cap or output end cap
Duct, the robot has four joint modules being sequentially connected, be respectively the first joint module, second joint module,
3rd joint module and the 4th joint module, the output end cap and the input of second joint module of first joint module
Connected between the input end cap of lid, the output end cap of the 3rd joint module and the 4th joint module by L-type connection sheet, institute
State and connected between the output end cap of second joint module and the input end cap of the 3rd joint module by bar shaped connection sheet；Work
When, motor distinguishes controlled device control in the first joint module, second joint module, the 3rd joint module and the 4th joint module
System, makes their output end cap rotate different angle respectively, so as to realize the free degree control of 4, space.
The method of work of the utility model joint module robot, the robot connect successively including two or more
The joint module connect, the joint module include cylindrical outer cover, the fixed input end cap for being located at cylindrical outer cover first end and are located at
The output end cap at the end of cylindrical outer cover second, spring bearing is provided between the output end cap and the end of cylindrical outer cover second, to realize
Output end cap can be rotated relative to the end of cylindrical outer cover second, and motor and subtracting by motor-driven rotation are provided with the cylindrical outer cover body
Fast device, the output end of the decelerator are fixedly connected with output end cap；Bar shaped connection sheet or L are connected between two joint modular structure
Type connection sheet, it is equipped with the end of the bar shaped connection sheet or L-type connection sheet and is threadedly coupled with input end cap or output end cap
Duct, the robot has six joint modules being sequentially connected, be respectively the first joint module, second joint module,
3rd joint module, the 4th joint module, the 5th joint module and the 6th joint module, the output end of first joint module
Lid and input end cap, the output end cap of the 3rd joint module and the input of the 4th joint module of second joint module
The output of the input end cap, the 5th joint module of lid, the output end cap of the 4th joint module and the 5th joint module
Connected between the input end cap of end cap and the 6th joint module by L-type connection sheet, the output end cap of the second joint module
It is connected between the input end cap of the 3rd joint module by bar shaped connection sheet；During work, the first joint module, second joint mould
Motor distinguishes controlled device control in block, the 3rd joint module, the 4th joint module, the 5th joint module and the 6th joint module
System, makes their output end cap rotate different angle respectively, so as to realize the free degree control of 6, space.
The utility model joint of robot modular structure, structure smaller using the robot volume of the joint module structure
More simple, quality is lighter, and connection is more convenient.
The foregoing is only preferred embodiment of the present utility model, it is all done according to present utility model application the scope of the claims it is equal
Deng change and modification, it should all belong to covering scope of the present utility model.
Claims (6)
- A kind of 1. joint of robot modular structure, it is characterised in that：Cylindrical outer cover first end is located at including cylindrical outer cover, fixation Input end cap and the output end cap for being located at the end of cylindrical outer cover second, branch is provided between the output end cap and the end of cylindrical outer cover second Bearing is supportted, to realize that output end cap can rotate relative to the end of cylindrical outer cover second, motor is provided with the cylindrical outer cover body and by electricity The decelerator that machine driving rotates, the output end of the decelerator are fixedly connected with output end cap.
- 2. joint of robot modular structure according to claim 1, it is characterised in that：Have the in the middle part of the input end cap One boss, the first boss border are provided with counterbore, and the input end cap week portion is connected by bolt with cylindrical outer cover, described First boss center is provided with through hole.
- 3. joint of robot modular structure according to claim 1, it is characterised in that：The output end cap is nested with and uses spiral shell Silk is fixed on the inner ring of spring bearing, and the outer ring of spring bearing is fixed on cylindrical outer cover first end end face, the output end Lid central part is provided with perforation and keyway, and the output end of the decelerator is provided with the axle and key that coordinate respectively with perforation, keyway.
- 4. a kind of usage right requires the robot of the 1 joint of robot modular structure, it is characterised in that：The robot bag Two or more joint modules being sequentially connected are included, the joint module includes cylindrical outer cover, fixation is located at cylindrical outer cover The input end cap of first end and the output end cap for being located at the end of cylindrical outer cover second, the output end cap and the end of cylindrical outer cover second it Between be provided with spring bearing, to realize that output end cap can rotate relative to the end of cylindrical outer cover second, provided with electric in the cylindrical outer cover body Machine and the decelerator by motor-driven rotation, the output end of the decelerator are fixedly connected with output end cap；Two joint module knot Bar shaped connection sheet or L-type connection sheet are connected between structure, is equipped with and inputs on the end of the bar shaped connection sheet or L-type connection sheet End cap or the duct of output end cap threaded connection.
- 5. the robot of joint of robot modular structure is used according to claim 4, it is characterised in that：The robot tool There are four joint modules being sequentially connected, be the first joint module, second joint module, the 3rd joint module and the 4th pass respectively Save module, the input end cap of output end cap and the second joint module of first joint module, the 3rd joint module Connected between output end cap and the input end cap of the 4th joint module by L-type connection sheet, the output of the second joint module Connected between the input end cap of end cap and the 3rd joint module by bar shaped connection sheet.
- 6. the robot of joint of robot modular structure is used according to claim 4, it is characterised in that：The robot tool There are six joint modules being sequentially connected, be the first joint module, second joint module, the 3rd joint module, the 4th pass respectively Save module, the 5th joint module and the 6th joint module, output end cap and the second joint module of first joint module Input end cap, the output end cap of the 3rd joint module and input end cap, the 4th joint module of the 4th joint module The input end cap of output end cap and the 5th joint module, the 5th joint module export end cap and the 6th joint module Connected between input end cap by L-type connection sheet, the output end cap of the second joint module and the input of the 3rd joint module Connected between end cap by bar shaped connection sheet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720742448.XU CN206967483U (en) | 2017-06-24 | 2017-06-24 | Joint of robot modular structure, the robot using the joint module structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720742448.XU CN206967483U (en) | 2017-06-24 | 2017-06-24 | Joint of robot modular structure, the robot using the joint module structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206967483U true CN206967483U (en) | 2018-02-06 |
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ID=61408119
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720742448.XU Expired - Fee Related CN206967483U (en) | 2017-06-24 | 2017-06-24 | Joint of robot modular structure, the robot using the joint module structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206967483U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107081745A (en) * | 2017-06-24 | 2017-08-22 | 福州大学 | Joint of robot modular structure, robot and its method of work using the joint module structure |
-
2017
- 2017-06-24 CN CN201720742448.XU patent/CN206967483U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107081745A (en) * | 2017-06-24 | 2017-08-22 | 福州大学 | Joint of robot modular structure, robot and its method of work using the joint module structure |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180206 Termination date: 20200624 |