CN207014399U

CN207014399U - A kind of robot rotary articulation device

Info

Publication number: CN207014399U
Application number: CN201720592718.3U
Authority: CN
Inventors: 刘照强; 张友生
Original assignee: Guangdong Bo Workers 365 Robot Information Technology Co Ltd
Current assignee: Guangdong Bo Workers 365 Robot Information Technology Co Ltd
Priority date: 2017-05-25
Filing date: 2017-05-25
Publication date: 2018-02-16
Anticipated expiration: 2027-05-25

Abstract

It the utility model is related to robotic technology field, refer in particular to a kind of robot rotary articulation device, including upper rotating part, lower rotating part, the first controlled motor and the second controlled motor, the upper rotating part and the lower rotating part rotary type clamping, the upper rotating part includes the first rotating part and the second rotating part, first rotating part and the second rotating part pass through the first bolt connection, first controlled motor is installed on inside first rotating part and the second rotating part, and second controlled motor is installed on inside the lower rotating part；Lower rotating part of the present utility model is relative to upper rotating part, it can be rotated under the drive of the first controlled motor, second controlled motor can drive the part being connected with lower rotating part to rotate, and the utility model is simple in construction, reasonable in design, the utility model can be used for the leg of robot, arm portion etc., it can increase the free degree of robot, and can new emulated robot is not realized in fact some New functions.

Description

A kind of robot rotary articulation device

Technical field

Robotic technology field is the utility model is related to, refers in particular to a kind of robot rotary articulation device.

Background technology

Now with the development of science and technology, robot is used in all trades and professions, instead of can manually be engaged in some dangerous work It is dynamic, and the degree more and more higher of existing robot humanoid, then existing a part of robot according to human body structure Manufacture, so as to cause the free degree of robot to receive the motor pattern action that now, can only be imitated or according to human body.

The content of the invention

The utility model provides that a kind of free degree is high, rotatable robot rotary articulation dress for problem of the prior art Put.

In order to solve the above-mentioned technical problem, the utility model adopts the following technical scheme that：

A kind of robot rotary articulation device provided by the utility model, including upper rotating part, lower rotating part, the first control Motor and the second controlled motor, the upper rotating part and the lower rotating part rotary type clamping, the upper rotating part include the One rotating part and the second rotating part, first rotating part and the second rotating part pass through the first bolt connection, first control Motor is installed on inside first rotating part and the second rotating part, and second controlled motor is installed in the lower rotating part Portion.

Preferably, first controlled motor includes the first motor body, the first rotary shaft and stator, described first One end of rotary shaft is connected with first motor body, and the other end is connected with one end of the stator, the stator The other end is fixedly installed in the lower rotating part by the second bolt.

Preferably, second controlled motor includes the second motor body, the second rotary shaft, the first revolving fragment and second Revolving fragment, second rotary shaft connect with second motor body, one end of first revolving fragment, second rotation One end of piece is respectively arranged in the both ends of second rotary shaft.

Preferably, the lower rotating part includes rotating cylindrical, left lug and right lug, the left lug, the right side are convex Ear is respectively arranged in the both ends of the rotating cylindrical bottom, and the rotating cylindrical bottom, which is provided with, to be used for and the upper rotating part card The groove connect.

Preferably, first rotating part and second rotating part of the upper rotating part are respectively arranged with the first half Circular banking stop and the second semicircle banking stop.

Preferably, the inside of first rotating part and being internally provided with for second rotating part are used to limit first The spacing block set of controlled motor displacement.

The upper rotating part and the lower rotating part are disposed as cylinder.

The beneficial effects of the utility model：

A kind of robot rotary articulation device provided by the utility model, including upper rotating part, lower rotating part, the first control Motor and the second controlled motor, the upper rotating part and the lower rotating part rotary type clamping, the upper rotating part include the One rotating part and the second rotating part, first rotating part and the second rotating part pass through the first bolt connection, first control Motor is installed on inside first rotating part and the second rotating part, and second controlled motor is installed in the lower rotating part Portion；Lower rotating part of the present utility model can rotate, the second control relative to upper rotating part under the drive of the first controlled motor Motor processed can drive the part being connected with lower rotating part to rotate, and the utility model is simple in construction, reasonable in design, the utility model Leg, arm portion available for robot etc., can increase the free degree of robot, and new emulated robot can not realize in fact Some New functions.

Brief description of the drawings

Fig. 1 is overall structure diagram of the present utility model.

Fig. 2 is another visual angle overall structure diagram of the present utility model.

Fig. 3 is configuration schematic diagram of the present utility model.

Fig. 4 is another visual angle configuration schematic diagram of the present utility model.

Reference is respectively：

Upper rotating part -- 1, the first rotating part -- 11, the first semicircle banking stop -- 111, the second rotating part -- 12, second Semicircle banking stop -- 121, the first bolt -- 13, spacing block set -- 14, lower rotating part -- 2, rotating cylindrical -- 21, left lug -- 22, right lug -- 23, groove -- 24, the first controlled motor -- 3, the first motor body -- 31, the first rotary shaft -- 32, it is fixed Piece -- 33, the second bolt -- 34, the second controlled motor -- 4, the second motor body -- 41, the second rotary shaft -- 42, the first rotation Piece -- 43, the second revolving fragment -- 44.

Embodiment

For the ease of the understanding of those skilled in the art, the utility model is made with reference to embodiment and accompanying drawing further Explanation, the content that embodiment refers to not to restriction of the present utility model.The utility model is carried out below in conjunction with accompanying drawing Detailed description.

As Figure 1-4, a kind of robot rotary articulation device provided by the utility model, including upper rotating part 1, backspin Transfer part 2, the first controlled motor 3 and the second controlled motor 4, upper rotating part 1 and the lower rotating part 2 the rotary type clamping, The upper rotating part 1 includes the first rotating part 11 and the second rotating part 12, and the rotating part 12 of the first rotating part 11 and second is logical Cross the first bolt 13 to connect, first controlled motor 3 is installed on inside the rotating part 12 of the first rotating part 11 and second, institute The second controlled motor 4 is stated to be installed on inside the lower rotating part 2；Lower rotating part 2 of the present utility model relative to upper rotating part 1, It can be rotated under the drive of the first controlled motor 3, the second controlled motor 4 can drive the part being connected with lower rotating part 2 to turn It is dynamic, and the utility model is simple in construction, reasonable in design, the utility model can be used for the leg of robot, arm portion etc., can increase The free degree of robot, and can new emulated robot is not realized in fact some New functions.

As in Figure 2-4, first controlled motor 3 includes the first motor body 31, the first rotary shaft 32 and stator 33, one end of first rotary shaft 32 is connected with first motor body 31, one end of the other end and the stator 33 Connection, the other end of the stator 33 are fixedly installed in the lower rotating part 2, the first motor body 31 by the second bolt 34 The first rotary shaft 32 is driven to rotate, the first rotary shaft 32 drives lower rotating part 2 to rotate, and stator 33 can be played lower rotating part 2 The effect fixed with the first rotary shaft 32, makes that the power for the rotary shaft that lower rotating part 2 is subject to is more uniform, and rotates effe is good, and anti- Rotating part 2 is only descended to be separated with first rotating shaft.

As Figure 1-3, second controlled motor 4 includes the second motor body 41, the second rotary shaft 42, first rotates The revolving fragment 44 of piece 43 and second, second rotary shaft 42 and second motor body 41 connect, first revolving fragment 43 One end, one end of second revolving fragment 44 be respectively arranged in the both ends of second rotary shaft 42；Second controlled motor 4 can The part being connected with lower rotating part 2 is driven to rotate, the first revolving fragment 43 and the second revolving fragment 44 can play fixed effect.

As Figure 1-4, the lower rotating part 2 includes rotating cylindrical 21, left lug 22 and right lug 23, the left lug 22nd, the right lug 23 is respectively arranged in the both ends of the bottom of rotating cylindrical 21, and the bottom of rotating cylindrical 21 is provided with use In the groove 24 with the upper clamping of rotating part 1, left lug 22 and right lug 23 facilitate miscellaneous part to be connected with lower rotating part 2.

As shown in Figure 1,3, first rotating part 11 of the upper rotating part 1 and second rotating part 12 are set respectively There are the first semicircle 111 and second semicircle banking stop 121 of banking stop, the first semicircle semicircle limit of banking stop 111 and second Bit slice 121 is combined into a circular banking stop, and circular banking stop is used cooperatively with groove 24.

As Figure 1-3, the inside of first rotating part 11 and being internally provided with for the second rotating part 12 are used for The spacing block set 14 of the first controlled motor 3 displacement is limited, spacing block set 14 can effectively prevent first controlled motor 3 from using During be shifted over, ensure that the first controlled motor 3 rotating part 2 under drive is more stable during rotation.

As Figure 1-4, the upper rotating part 1 and the lower rotating part 2 are disposed as cylinder.

It is described above, only it is the utility model preferred embodiment, not the utility model is made any formal Limitation, although the utility model is disclosed as above with preferred embodiment, but is not limited to the utility model, any to be familiar with sheet Technical professional, do not departing from the range of technical solutions of the utility model, made when using the technology contents of the disclosure above A little change or the equivalent embodiment for being modified to equivalent variations, as long as being without departing from the content of the technical scheme of the utility model, foundation The utility model technology refers to any simple modification, equivalent change and modification made to above example, belongs to this practicality In the range of new technique scheme.

Claims

A kind of 1. robot rotary articulation device, it is characterised in that：Including upper rotating part（1）, lower rotating part（2）, first control Motor（3）With the second controlled motor（4）, the upper rotating part（1）With the lower rotating part（2）Rotary type clamping, it is described on Rotating part（1）Including the first rotating part（11）With the second rotating part（12）, first rotating part（11）With the second rotating part （12）Pass through the first bolt（13）Connection, first controlled motor（3）It is installed on first rotating part（11）With the second rotation Transfer part（12）Inside, second controlled motor（4）It is installed on the lower rotating part（2）It is internal.
A kind of 2. robot rotary articulation device according to claim 1, it is characterised in that：First controlled motor （3）Including the first motor body（31）, the first rotary shaft（32）And stator（33）, first rotary shaft（32）One end with First motor body（31）Connection, the other end and the stator（33）One end connection, the stator（33）It is another One end passes through the second bolt（34）It is fixedly installed in the lower rotating part（2）.
A kind of 3. robot rotary articulation device according to claim 1, it is characterised in that：Second controlled motor （4）Including the second motor body（41）, the second rotary shaft（42）, the first revolving fragment（43）With the second revolving fragment（44）, described Two rotary shafts（42）With second motor body（41）Connection, first revolving fragment（43）One end, it is described second rotation Piece（44）One end be respectively arranged in second rotary shaft（42）Both ends.
A kind of 4. robot rotary articulation device according to claim 1, it is characterised in that：The lower rotating part（2）Bag Include rotating cylindrical（21）, left lug（22）With right lug（23）, the left lug（22）, the right lug（23）It is respectively arranged in The rotating cylindrical（21）The both ends of bottom, the rotating cylindrical（21）Bottom, which is provided with, to be used for and the upper rotating part（1）Card The groove connect（24）.
A kind of 5. robot rotary articulation device according to claim 4, it is characterised in that：The upper rotating part（1）'s First rotating part（11）With second rotating part（12）It is respectively arranged with the first semicircle banking stop（111）With the second half Circular banking stop（121）.
A kind of 6. robot rotary articulation device according to claim 1, it is characterised in that：First rotating part（11） Inside and second rotating part（12）Be internally provided with for limiting the first controlled motor（3）The spacing block set of displacement （14）.
A kind of 7. robot rotary articulation device according to claim 1, it is characterised in that：The upper rotating part（1）With The lower rotating part（2）It is disposed as cylinder.