CN207224011U - A kind of joint module and robot for robot - Google Patents
A kind of joint module and robot for robot Download PDFInfo
- Publication number
- CN207224011U CN207224011U CN201720954961.5U CN201720954961U CN207224011U CN 207224011 U CN207224011 U CN 207224011U CN 201720954961 U CN201720954961 U CN 201720954961U CN 207224011 U CN207224011 U CN 207224011U
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- China
- Prior art keywords
- access division
- robot
- joint module
- fixedly connected
- curved portion
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Abstract
The utility model discloses a kind of joint module and robot for robot, belong to robotic technology field.Joint module provided by the utility model for robot includes ball head, connecting portion, Access Division and cushion pad, connecting portion both ends are fixedly connected with ball head and Access Division respectively, clamping groove is set on Access Division, ball head on some joint module can be clamped with the clamping groove of another joint module, so that two joint modules be fixedly connected.The joint module fidelity is high, vivid, and at least two joint modules are fixedly connected with to the difficulty for reducing robot four limbs and building by clamping, improves the efficiency built.In addition, by setting cushion pad in clamping groove, the mutual abrasion during being clamped and in robot kinematics between ball head and Access Division can be efficiently reduced, improves the service life of joint module.
Description
Technical field
Robotic technology field is the utility model is related to, more particularly to it is a kind of for the joint module of robot and using this
The robot of joint module.
Background technology
Robot is to automatically control being commonly called as machine (Robot), robot include all simulation human behaviors or thought with
The machinery of other biological is simulated, robot is generally by executing agency, driving device, detection device, control system and complicated machinery
Deng composition.With the growing and improvement of people's living standards of science and technology, modularization robot comes into being, modularization
Robot be specially developed by production firm using improve user design and creativity as target robot finished product, suit or
Loose mail, by assembling, building and run robot, so as to excite user's learning interest, cultivates user's integration capability.
Existing modularization robot needs to connect multiple joints to form robot four limbs when building, due to existing
Have that joint designs are complicated, design not enough emulation, and being rotatablely connected by shaft, exist and build that difficulty is big, efficiency is low and has built
Into robot image it is not lively the problem of, therefore teen-age enthusiasm can not be given full play to, teenager can not be alone
Task is built in completion, it is necessary to could be completed under the guidance and help of adult.In addition, after the completion of existing robot is built
There are the serious phenomenon of joint wear in long-time walking process, the service life and motion stabilization of robot have been seriously affected
Property.
Utility model content
The purpose of this utility model is to provide a kind of joint module for robot, the joint module is vivid,
Fidelity is high, and the process that robot is built using the joint module not only builds that difficulty is low, it is efficient to build, in the joint module
Do not allow to be also easy to produce abrasion in build process.
Another purpose of the utility model is to provide a kind of robot, and the robot is vivid, fidelity is high, takes
Build that difficulty is low, it is efficient to build, kinetic stability is high and service life is grown.
For this purpose, the utility model uses following technical scheme：
A kind of joint module for robot, including：
Ball head；
Connecting portion, described connecting portion one end are fixedly connected with the ball head；
Access Division, the Access Division are fixedly connected with the one end of the connecting portion away from the ball head, the Access Division
One end away from the connecting portion is provided with clamping groove, and when two joint module connections, the clamping groove is used for
It is clamped the ball head of another joint module；
Cushion pad, the cushion pad are placed in the clamping groove.
Preferably, the Access Division includes being clamped on symmetrically arranged first Access Division of the connecting portion and second
Portion, the clamping groove is formed between first Access Division and second Access Division.
Preferably, first Access Division includes be fixedly connected sequentially the first curved portion, the first lug boss and the second arc
Shape portion, the one end of first curved portion away from first lug boss are fixedly connected with the connecting portion, and described first is raised
It is recessed to form the clamping towards the direction projection of second Access Division for portion between second curved portion and second Access Division
Groove.
Preferably, second Access Division includes the 3rd curved portion, the second lug boss and the 4th being fixedly connected sequentially
Curved portion, the described one end of 3rd curved portion away from second lug boss are fixedly connected with the connecting portion, and described second is convex
The portion of rising forms the clamping towards the direction projection of first lug boss between second curved portion and the 4th curved portion
Groove.
Preferably, the cushion pad includes the first buffer part and the second buffer part being fixedly connected, first buffering
Portion is placed on the arcwall face of second curved portion, and second buffer part is placed on the arcwall face of the 4th curved portion.
Preferably, the clamping groove is U-lag.
Preferably, first curved portion and the 3rd curved portion form oval-shaped groove.
Preferably, being provided with through hole on first lug boss, threaded hole is provided with second lug boss, it is described
The centerline collineation of the center line of through hole and the threaded hole.
Preferably, the first groove is provided with end face of first Access Division away from second Access Division, it is described
First groove is connected with the through hole；It is recessed that second Access Division is provided with second on the end face away from first Access Division
Groove, second groove are connected with the threaded hole.
A kind of robot, including the joint module for robot described above.
The beneficial effects of the utility model：
Joint module provided by the utility model for robot includes ball head, connecting portion, Access Division and buffering
Pad, connecting portion both ends are fixedly connected with ball head and Access Division respectively, clamping groove are set on Access Division, some joint module
On ball head can be clamped with the clamping groove of another joint module, so that two joint modules are fixedly connected to form machine
The four limbs of device people, the joint module fidelity is high, vivid, and is reduced by being clamped multiple joint modules being fixedly connected
Difficulty is built, improves and builds efficiency.By being provided with cushion pad in clamping groove, during can effectively mitigating clamping
And the mutual abrasion in robot kinematics between ball head and Access Division.Robot provided by the utility model includes
The above-mentioned joint module for robot, the robot is vivid, fidelity is high, it is low to build difficulty, it is efficient to build, movement
Stability is high and service life is grown.
Brief description of the drawings
Fig. 1 is the explosive view of the joint module provided by the utility model for robot；
Fig. 2 is the structure diagram of the joint module provided by the utility model for robot；
Fig. 3 is the front view of Fig. 2；
Fig. 4 is the top view of Fig. 2；
Fig. 5 is the A-A sectional views of Fig. 4；
Fig. 6 is the structure diagram of cushion pad provided by the utility model.
In figure：1st, ball head；101st, lightening hole；2nd, connecting portion；
3rd, Access Division；301st, the first Access Division；3011st, the first curved portion；3012nd, the first lug boss；3013rd, the second arc
Portion；3014th, the first groove；3015th, through hole；302nd, the second Access Division；3021st, the 3rd curved portion；3022nd, the second lug boss；
3023rd, the 4th curved portion；3024th, the second groove；3025th, threaded hole；
4th, cushion pad；401st, the first buffer part；402nd, the second buffer part.
Embodiment
Further illustrate the technical solution of the utility model below with reference to the accompanying drawings and specific embodiments.
As shown in Figures 1 to 6, the joint module for robot includes ball head 1, connecting portion 2, Access Division 3 and buffering
Pad 4,2 one end of connecting portion are fixedly connected with ball head 1, and 2 other end of connecting portion is fixedly connected with Access Division 3, and Access Division 3 is away from even
One end of socket part 2 is provided with clamping groove, and when two joint module connections, clamping groove is used to be clamped another joint
The ball head 1 of module, cushion pad 4 are placed in clamping groove.
By being ball head 1 by one end is arranged to for the joint module of robot, the other end is the form of Access Division 3,
When two joint modules are fixedly connected, the ball head 1 of a joint module can block with the Access Division 3 of another joint module
Connect so as to which two joint modules be fixedly connected, the joint module being fixedly connected forms the four limbs of robot.Compared to existing
Joint of robot uses the connection mode of axis connection in technology, and mould can be largely improved using the connection mode of clamping
Efficiency is built by Kuai Hua robots, and reduce modularization robot builds difficulty.When being fixedly connected with two joint modules, first
Cushion pad 4 is placed in the clamping groove of a joint module, be then caught in the ball head 1 of another joint module previous
Joint module is placed with the clamping groove of cushion pad 4, by setting cushion pad between the ball head 1 and clamping groove of clamping
4 can buffer impact of the ball head 1 to Access Division 3 in clamping, so as to reduce Access Division 3 and ball head 1 since impact causes
Abrasion, and in robot motion, cushion pad 4 can also reduce between the ball head 1 being connected together and clamping groove because
The abrasion produced for frictional force.
Specifically, multiple lightening holes 101 are provided with ball head 1.Access Division 3 includes the first Access Division 301 and the second card
Socket part 302, the first Access Division 301 and the second Access Division 302 are symmetrical arranged on connecting portion 2,301 one end of the first Access Division and
Two Access Divisions, 302 one end is fixedly connected, and is formed between the other end of the other end of the first Access Division 301 and the second Access Division 302
Clamping groove.
In the present embodiment, the first Access Division 301 includes be fixedly connected sequentially the first curved portion 3011, the first lug boss
3012 and second curved portion 3013, for the first lug boss 3012 towards the direction projection of the second Access Division 302, the first curved portion 3011 is remote
One end from the first lug boss 3012 is fixedly connected with connecting portion 2.Second Access Division 302 includes the 3rd arc being fixedly connected sequentially
Shape portion 3021, the second lug boss 3022 and the 4th curved portion 3023, the second lug boss 3022 is towards the direction of the first lug boss 3012
Projection, the one end of the 3rd curved portion 3021 away from the second lug boss 3022 and the first curved portion 3011 and connecting portion 2 are fixed at the same time
Connection.Second curved portion 3013 and the 4th curved portion 3023 form clamping groove, the first curved portion 3011 and the 3rd curved portion
3021 form oval-shaped groove.Certainly, in other embodiments, the shape of the first Access Division 301 and the second Access Division 302 also may be used
With difference, as long as the purpose on quick card connection ball head 1 can be played.
Access Division 3 is set to off, in symmetrical first Access Division, 301 and second Access Division 302 of connecting portion 2, being conducive to drop
Low-calorie connects difficulty and dismounting difficulty.When ball head 1 is put into clamping groove, the first Access Division 301 and the second Access Division 302 it
Between distance become larger, ball head 1 can smoothly enter clamping groove in, when ball head 1 enter clamping groove in after, first clamping
The distance between 301 and second Access Division 302 of portion diminishes, and is conducive to improve the intensity of clamping.First curved portion 3011 and the 3rd
The oval-shaped groove that curved portion 3021 is formed can then reduce the difficulty of 302 folding of the first Access Division 301 and the second Access Division.
Specifically, clamping groove is U-lag in the present embodiment, the two side of U-lag can provide effectively to ball head 1
Ground supports, and so as to ensure the stability of clamping, and U-lag does not interfere with phase between two joint modules being connected together
The fluency mutually rotated.
The cushion pad 4 being placed in clamping groove includes the first buffer part 401 and the second buffer part 402 being fixedly connected,
When cushion pad 4 is installed, the first buffer part 401 is placed on the arcwall face of the second curved portion 3013, the second buffer part 402 is placed in the
On four curved portions, 3023 arcwall face, 4 specific fixed form of cushion pad can use mucilage binding.First buffer part in the present embodiment
401 is identical with the shape of the second buffer part 402, and by taking the first buffer part 401 as an example, the first buffer part 401 includes what is be fixedly connected
Arc sections and stripes.Certainly in other embodiments, the shape of the first buffer part 401 and the second buffer part 402 can not also
Together, as long as can be that ball head 1 provides enough bufferings.
After the completion of clamping, in order to further improve clamping intensity, prevent in robot motion, the first Access Division 301
And second distance between Access Division 302 become larger cause ball head 1 to depart from out of clamping groove suddenly, on the first lug boss 3012
Through hole 3015 is provided with, threaded hole 3025, the center line and threaded hole of through hole 3015 are provided with the second lug boss 3022
3025 centerline collineation.After ball head 1 is caught in clamping groove, screw bolt passes through hole 3015 and threaded hole are utilized
3025 are relatively fixed the first Access Division 301 and the second Access Division 302, so as to further increase clamping intensity, avoid
In robot kinematics, ball head 1 departs from out of clamping groove, and then improves the intensity of joint module clamping, improves
The stability of robot motion.And through hole 3015 is arranged on the first lug boss 3012, threaded hole 3025 is arranged on second
On lug boss 3022, be conducive to after being clamped in 1 Access Division 3 of ball head, the shaft of bolt hidden, so as to avoid the spiral shell of bolt
Rub between column and cushion pad 4, reduce the service life of cushion pad 4.
Further, in order to avoid the bolt of the first Access Division 301 of connection and the second Access Division 302 is exposed in joint module
External action aesthetics, and prevent exposed bolt contacted with other objects influence robot movement, first
Access Division 301 is provided with the first groove 3014, the first groove 3014 and through hole on the end face away from second Access Division 302
3015 connections, the second groove 3025, the second groove are provided with end face of second Access Division 302 away from the first Access Division 301
3024 connect with threaded hole 3025.After using bolt, the first Access Division 301 is fixedly connected with the second Access Division 302, bolt head
It is respectively placed in clamp nut inside the first groove 3014 and the second groove 3024.Outside first, set on the first Access Division 301
The first groove 3014 is put, sets the second groove 3024 also to play the role of loss of weight in the second Access Division 302.
The present embodiment additionally provides a kind of robot, which includes the above-mentioned joint module for robot, passes through
The Access Division 3 of the ball head 1 of one joint module and another joint module, which is clamped, can either realize two joint modules
It is fixedly connected, this kind of connection mode can not only improve when building robot and build efficiency, additionally it is possible to which difficulty is built in reduction.This
Outside, by clamping groove set cushion pad 4 can effectively mitigate clamping during and robot kinematics in ball
Mutual abrasion between head and Access Division, so as to improve the stability and service life of robot motion.
Obviously, above-described embodiment of the utility model is used for the purpose of clearly illustrating the utility model example, and
It is not the restriction to the embodiment of the utility model.For those of ordinary skill in the field, in described above
On the basis of can also make other variations or changes in different ways.There is no need and unable to give all embodiments
It is exhaustive.All any modification, equivalent and improvement made where within the spirit and principles of the present invention etc., should be included in
Within the protection domain of the utility model claims.
Claims (10)
- A kind of 1. joint module for robot, it is characterised in that including：Ball head (1)；Connecting portion (2), described connecting portion (2) one end are fixedly connected with the ball head (1)；Access Division (3), the Access Division (3) are fixedly connected with the one end of the connecting portion (2) away from the ball head (1), institute State the one end of Access Division (3) away from the connecting portion (2) and be provided with clamping groove, when two joint module connections, institute State the ball head (1) that clamping groove is used to be clamped another joint module；Cushion pad (4), the cushion pad (4) are placed in the clamping groove.
- 2. the joint module according to claim 1 for robot, it is characterised in that the Access Division (3) includes closing In symmetrically arranged first Access Division (301) of the connecting portion (2) and the second Access Division (302), first Access Division (301) The clamping groove is formed between second Access Division (302).
- 3. the joint module according to claim 2 for robot, it is characterised in that first Access Division (301) Including the first curved portion (3011) that is fixedly connected sequentially, the first lug boss (3012) and the second curved portion (3013), described first The one end of curved portion (3011) away from first lug boss (3012) is fixedly connected with the connecting portion (2), and described first is convex Play the direction projection of portion (3012) towards second Access Division (302), second curved portion (3013) and second clamping Portion forms the clamping groove between (302).
- 4. the joint module according to claim 3 for robot, it is characterised in that second Access Division (302) Including the 3rd curved portion (3021), the second lug boss (3022) and the 4th curved portion (3023) being fixedly connected sequentially, described The one end of three curved portions (3021) away from second lug boss (3022) is fixedly connected with the connecting portion (2), and described second Lug boss (3022) is towards the direction projection of first lug boss (3012), second curved portion (3013) and the 4th arc Shape portion forms the clamping groove between (3023).
- 5. the joint module according to claim 4 for robot, it is characterised in that the cushion pad (4) includes solid Surely the first buffer part (401) and the second buffer part (402) connected, first buffer part (401) are placed in second arc On the arcwall face in portion (3013), second buffer part (402) is placed on the arcwall face of the 4th curved portion (3023).
- 6. the joint module according to claim 4 for robot, it is characterised in that the clamping groove is U-lag.
- 7. the joint module according to claim 4 for robot, it is characterised in that first curved portion (3011) Oval-shaped groove is formed with the 3rd curved portion (3021).
- 8. the joint module according to claim 4 for robot, it is characterised in that first lug boss (3012) On be provided with through hole (3015), threaded hole (3025) is provided with second lug boss (3022), the through hole (3015) The centerline collineation of center line and the threaded hole (3025).
- 9. the joint module according to claim 8 for robot, it is characterised in that first Access Division (301) Be provided with the first groove (3014) on end face away from second Access Division (302), first groove (3014) with it is described Through hole (3015) connects；It is recessed that second Access Division (302) is provided with second on the end face away from first Access Division (301) Groove (3024), second groove (3024) connect with the threaded hole (3025).
- 10. a kind of robot, it is characterised in that including the joint mould for robot any one of claim 1-9 Block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720954961.5U CN207224011U (en) | 2017-08-02 | 2017-08-02 | A kind of joint module and robot for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720954961.5U CN207224011U (en) | 2017-08-02 | 2017-08-02 | A kind of joint module and robot for robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207224011U true CN207224011U (en) | 2018-04-13 |
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ID=61855383
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720954961.5U Expired - Fee Related CN207224011U (en) | 2017-08-02 | 2017-08-02 | A kind of joint module and robot for robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207224011U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107263524A (en) * | 2017-08-02 | 2017-10-20 | 上海未来伙伴机器人有限公司 | A kind of joint module and robot for robot |
-
2017
- 2017-08-02 CN CN201720954961.5U patent/CN207224011U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107263524A (en) * | 2017-08-02 | 2017-10-20 | 上海未来伙伴机器人有限公司 | A kind of joint module and robot for robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200508 Address after: Room 612, Zone D, building 20, No. 1-42, Lane 83, Hongxiang North Road, Wanxiang Town, Pudong New Area, Shanghai Patentee after: Shanghai Yingchen Information Technology Co., Ltd Address before: 200233, 1122 North Qinzhou Road, Shanghai, 90, building 8, Xuhui District Co-patentee before: PARTNERX ROBOT (CHANGZHOU) Co.,Ltd. Patentee before: SHANGHAI PARTNERX ROBOTICS Co.,Ltd. |
|
| 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: 20180413 Termination date: 20200802 |