CN207593833U - A kind of universal driving joint module of light-duty arm - Google Patents
A kind of universal driving joint module of light-duty arm Download PDFInfo
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- CN207593833U CN207593833U CN201721740855.3U CN201721740855U CN207593833U CN 207593833 U CN207593833 U CN 207593833U CN 201721740855 U CN201721740855 U CN 201721740855U CN 207593833 U CN207593833 U CN 207593833U
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- output shaft
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- mounting base
- light
- joint module
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Abstract
The utility model is related to a kind of light-duty universal driving joint modules of arm,Including at least stent,It is rotatably sheathed on first connector and the second connector at the stent both ends respectively,The first driving motor and the second driving motor are equipped in the stent,First driving motor has the first output shaft being fixedly linked with first connector,Second driving motor has the second output shaft being fixedly linked with second connector,First output shaft extends along X-direction,Second output shaft extends along Y direction,The vertical Y-axis of the X-axis,When the first output shaft rotates,First connector rotates accordingly around the X-axis,When the second output shaft rotates,Second connector rotates accordingly around the Y-axis,The utility model is driven using two motors,And two motors are rotated into driving direction and are arranged to spatial vertical state,So as to form the universal gesture drive joint of two-freedom,Simplify the designing scheme of multi-degree-of-freemechanical mechanical arm.
Description
Technical field
The utility model is related to dexterous arm technical fields light-duty in robot industry, and in particular to a kind of light-duty universal drive of arm
Movable joint module.
Background technology
With the increasingly raising of people's life production level, the also increasingly sophisticated diversification of production and living environment, robot row
The modularization standardization of industry develops into trend.Nowadays, all trades and professions are to coping with the demand of the light-duty dexterous arm of complex environment
It is outstanding day by day, how rapidly to design, produce and manufacture the low energy consumption of modularization standardization, the light-duty dexterous arm of high-freedom degree becomes one
A increasingly urgent problem.Core structure portion of the joint as articulated manipulator, can not only provide for mechanical arm
Power implements job task or realizes the key point of dexterous control.
The overall structure in traditional one joint of articulated manipulator is mostly using single motor cooperation retarder plus input
Export structure forms a straight line or the single-degree-of-freedom multicomponent structures body of direction of rotation, and complicated integral structure, quality is big, passes
Efficiency of movement is low, and production design cost is high.
Invention content
The utility model provides a kind of light-duty universal driving joint module of arm, uses two motor drivings, and by two
Motor rotation driving direction is arranged to spatial vertical state, significantly simple so as to form the universal gesture drive joint of two-freedom
The designing scheme of multi-degree-of-freemechanical mechanical arm is changed.
In order to achieve the above objectives, the technical solution adopted in the utility model is：A kind of universal driving joint module of light-duty arm,
Including at least stent, it is rotatably sheathed on first connector and the second connector at the stent both ends, the stent respectively
The first driving motor and the second driving motor are inside equipped with, first driving motor has to be fixedly linked with first connector
The first output shaft, second driving motor has the second output shaft for being fixedly linked with second connector, described the
One output shaft extends along X-direction, and second output shaft extends along Y direction, the vertical Y-axis of the X-axis, when described
One output shaft rotate, first connector accordingly around the X-axis rotate, when second output shaft rotate, described second
Connector rotates accordingly around the Y-axis.
Further, first connector is including to the first mounting base being connected with outer type part and set on institute
State two first engaging lugs of the first mounting base both sides；Second connector includes the second peace to be connected with outer type part
Fill seat and two second engaging lugs set on the second mounting base both sides, first connector and second connector point
Not U-shaped, first output shaft is connected with the first engaging lug one of those described, second output shaft with it is therein
One second engaging lug is connected.
Further, first mounting base and second mounting base are located at the both ends of the joint module.
Further, it is equipped with to be connected with outer type part in first mounting base and second mounting base
Mounting hole.
Further, the middle part of first mounting base and two first engaging lugs, which is formed, accommodates described stent one end end
The first receiving space in portion, first driving motor are located in the first receiving space；Second mounting base and two
The middle part of second engaging lug forms the second accommodation space for accommodating the stent other end end, the described second driving electricity
Machine is located in second accommodation space.
Further, first engaging lug is equipped with the first T-slot, and first output shaft is with passing through the first T
First T-shaped nail of type groove is removably connected；Second engaging lug be equipped with the second T-slot, second output shaft with
The second T-shaped nail across second T-slot is removably connected.
Further, first output shaft and second output shaft are equipped with external tooth, the connection of the first T-shaped nail
Shaft part is equipped with the internal tooth to match with the external tooth of first output shaft, the connecting shaft section of the second T-shaped nail be equipped with it is described
The internal tooth that the external tooth of second output shaft matches, the first output shaft and first T-shaped nail, second output shaft and institute
The second T-shaped nail is stated to be respectively connected with.
Further, at least provided with the connecting shaft section for first output shaft or the first T-shaped nail on the stent
The first through hole passed through and the second through-hole that the connecting shaft section of second output shaft or the second T-shaped nail is supplied to pass through.
Further, the stent is included to support the first motor retainer of first driving motor and to prop up
The second motor retainer of second driving motor is supportted, the first motor retainer and the second motor retainer are fixed
It is connected.
Further, the first motor retainer and the second motor retainer are frame-type structure, the frame-type
The inside of structure is the accommodating chamber being put into for first driving motor or second driving motor.
After the above technical solution is adopted, the utility model has the following advantages that compared with prior art：
（1）The universal driving joint module of light-duty arm of the utility model is driven, and two motors are revolved using two motors
Turn driving direction and be arranged to spatial vertical state, so as to form the universal gesture drive joint of two-freedom, enormously simplify more
The designing scheme of degree-of-freedom manipulator.By reducing quality and universal control principle, reach light-duty low energy consumption and dexterous control
Target.
（2）The universal driving joint module of light-duty arm of the utility model has broken away from traditional assembling parts role,
Separate modular, refinement Robot industry mechanism so as to reduce production cost, improve speed of production, promote mechanical arm industry
Develop towards modularization standardization direction.
（3）The first mounting base and the second mounting base in the utility model can open up according to actual needs different size and
The interface structure of shape, and according to the motor of actual loading selection different driving ability, it is wider to be allowed to usage range.
Description of the drawings
Axonometric drawing of the attached drawing 1 for the universal driving joint module of the utility model；
Attached drawing 2 is the structure diagram of the first connector in the utility model；
Attached drawing 3 is the structure diagram of the first motor retainer in the utility model.
Wherein, 1, stent；101st, the first motor retainer；102nd, the second motor retainer；103rd, first through hole；2nd, first
Connector；201st, the first mounting base；202nd, the first engaging lug；203rd, the first T-slot；3rd, the second connector；301st, the second installation
Seat；302nd, the second engaging lug；303rd, the second T-slot.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawings and embodiments.
As shown in Figure 1 to Figure 3, the universal driving joint module of a kind of light-duty arm, it is rotatable including at least stent 1, difference
It is sheathed on first connector 2 and the second connector 3 at 1 both ends of stent, the first driving motor and the is equipped in the stent 1
Two driving motors, first driving motor have the first output shaft for being fixedly linked with first connector 2, and described second
Driving motor has the second output shaft being fixedly linked with second connector 3, and first output shaft prolongs along X-direction
It stretches, second output shaft extends along Y direction, the vertical Y-axis of the X-axis, when first output shaft rotates, described the
A connection piece 2 rotates accordingly around the X-axis, and when second output shaft rotates, second connector 3 is accordingly around described
Y-axis rotates.
In the present embodiment, stent 1 is included to support the first motor retainer 101 of the first driving motor and to support
It is equipped on second motor retainer 102 of the second driving motor, the first motor retainer 101 and the second motor retainer 102
First motor retainer 101 and the second motor retainer 102 can be fixedly linked by connecting portion by connector.
Preferably, the first motor retainer 101 and the second motor retainer 102 are frame-type structure, frame-type structure it is interior
Portion is the accommodating chamber being put into for the first driving motor or the second driving motor, is arranged to frame-type structure and also allows for the first driving motor
With the disengaging of the second driving motor.
In the present embodiment, the first connector 2 includes the first mounting base 201 to be connected with outer type part and is set on
Two first engaging lugs 202 of 201 both sides of the first mounting base；Second connector 3 include to be connected with outer type part second
Mounting base 301 and two second engaging lugs 302 set on 301 both sides of the second mounting base, the first connector 2 and the second connector 3
U-shaped respectively, the first output shaft is connected with one of those first engaging lug 202, the second output shaft and one of those the
Two engaging lugs 302 are connected.
First mounting base 201 and the second mounting base 301 are located at the both ends of joint module, and the first mounting base 201 and
The mounting hole to be connected with outer type part is equipped in two mounting bases 301, so that the first mounting base 201 and the second peace
The dress composition of seat 301 outputs and inputs axis.It is preferred that the end face of the first mounting base 201 and the second mounting base 301 is provided in round.
The middle part of first mounting base 201 and two first engaging lugs 202 forms the first appearance for accommodating the first motor retainer 101
Receive space, the first driving motor is located in first receiving space.The middle part shape of second mounting base 301 and two second engaging lugs 302
Into the second accommodation space for accommodating the second motor retainer 102, the second driving motor is located in the second accommodation space.
In the present embodiment, the first T-slot 203 is equipped on the first engaging lug 202, the is equipped on the second engaging lug 302
Two T-slots 303, the first output shaft are removably connected with the first T-shaped nail across the first T-slot 203；Second output shaft with
The second T-shaped nail across the second T-slot 303 is removably connected.
Specifically, the first output shaft and the second output shaft are equipped with external tooth, the connecting shaft section of the first T-shaped nail is equipped with and first
The internal tooth that the external tooth of output shaft matches, the connecting shaft section of the second T-shaped nail is equipped with match with the external tooth of the second output shaft in
Tooth.It is connected by the first output shaft of cooperation of external tooth and internal tooth with the first T-shaped nail, the second output shaft with the second T-shaped nail, from
And transmit movement and torque.
First passed through for the connecting shaft section of the first output shaft or the first T-shaped nail is additionally provided on first motor retainer 101
Through-hole 103 is additionally provided with second passed through for the connecting shaft section of the second output shaft or the second T-shaped nail on second motor retainer 102
Through-hole.
Universal its operation principle of driving joint module of the utility model is as follows：
First driving motor by the transmission of the inside and outside tooth engagement of the first output shaft and the first connector 2 by rotary motion and
Torque is transmitted to outer type part, and the first connector 2 is enable to rotate around X-axis, completes one degree of freedom direction
Driving operation.
Similarly, the second driving motor will rotation by the transmission of inside and outside tooth engagement and the second connector 3 of the second output shaft
Movement and torque are transmitted to outer type part, and the second connector 3 is enable to rotate around Y-axis, complete second freedom
Spend the driving operation in direction.
When the driving operation in two degree of freedom directions of universal driving joint module of the utility model, with spatial vertical structure
During arrangement, the Overlay in two direction can theoretically realize space any angle, and spirit is realized in the driving of any attitude
Skilful control.
The joint module of the utility model can be completed under identical degree of freedom, the appearance that traditional articulated manipulator is unable to reach
State and position, and then mechanical arm structure complexity is simplified, reach lightweight, modularization, standardization target.
Above-described embodiment is only the technical concepts and features for illustrating the utility model, and its object is to allow be familiar with technique
Personage can understand the content of the utility model and implement according to this, can not the scope of protection of the utility model be limited with this.
It is all according to the spirit of the present invention substantially equivalent change or modification for being made, should all cover the scope of protection of the utility model it
It is interior.
Claims (10)
1. a kind of universal driving joint module of light-duty arm, it is characterised in that：Including at least stent, it is rotatably sheathed on institute respectively
First connector and the second connector at stent both ends are stated, the first driving motor and the second driving motor are equipped in the stent,
First driving motor has the first output shaft being fixedly linked with first connector, and second driving motor has
The second output shaft being fixedly linked with second connector, first output shaft extend along X-direction, second output
Axis extends along Y direction, the vertical Y-axis of the X-axis, and when first output shaft rotates, first connector is corresponding
It is rotated around the X-axis, when second output shaft rotates, second connector rotates accordingly around the Y-axis.
2. a kind of light-duty universal driving joint module of arm according to claim 1, it is characterised in that：First connector
Two first engaging lugs including the first mounting base to be connected with outer type part and set on the first mounting base both sides；
Second connector is including to the second mounting base being connected with outer type part and set on the second mounting base both sides
Two second engaging lugs, first connector and second connector difference it is U-shaped, first output shaft with wherein
First engaging lug be connected, second output shaft is connected with the second engaging lug one of those described.
3. a kind of light-duty universal driving joint module of arm according to claim 2, it is characterised in that：First mounting base
It is located at the both ends of the joint module with second mounting base.
4. a kind of light-duty universal driving joint module of arm according to claim 2, it is characterised in that：First mounting base
With the mounting hole to be connected with outer type part is equipped in second mounting base.
5. a kind of light-duty universal driving joint module of arm according to claim 2, it is characterised in that：First mounting base
The first receiving space for accommodating described stent one end end, the described first driving are formed with the middle part of two first engaging lugs
Motor is located in the first receiving space；The middle part of second mounting base and two second engaging lugs is formed described in receiving
Second accommodation space of stent other end end, second driving motor are located in second accommodation space.
6. a kind of light-duty universal driving joint module of arm according to claim 5, it is characterised in that：First engaging lug
The first T-slot is equipped with, first output shaft is removably connected with the first T-shaped nail across first T-slot；Institute
The second engaging lug is stated equipped with the second T-slot, second output shaft and the second T-shaped nail across second T-slot are removable
That unloads is connected.
7. a kind of light-duty universal driving joint module of arm according to claim 6, it is characterised in that：First output shaft
External tooth is equipped with second output shaft, the connecting shaft section of the first T-shaped nail is equipped with the external tooth with first output shaft
The internal tooth to match, the connecting shaft section of the second T-shaped nail are equipped with the internal tooth to match with the external tooth of second output shaft, institute
State the first output shaft and first T-shaped nail, the second output shaft and second T-shaped nail is respectively connected with.
8. a kind of light-duty universal driving joint module of arm according to claim 7, it is characterised in that：On the stent at least
The first through hole and confession described second that connecting shaft section equipped with confession first output shaft or the first T-shaped nail passes through are defeated
The second through-hole that the connecting shaft section of shaft or the second T-shaped nail passes through.
9. a kind of light-duty universal driving joint module of arm according to claim 1, it is characterised in that：The stent includes using
With the first motor retainer for supporting first driving motor and the second motor of second driving motor to be supported to protect
Frame is held, the first motor retainer and the second motor retainer are fixedly linked.
10. a kind of light-duty universal driving joint module of arm according to claim 9, it is characterised in that：First motor
Retainer and the second motor retainer are frame-type structure, and the inside of the frame-type structure is to supply first driving motor
Or the accommodating chamber that second driving motor is put into.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721740855.3U CN207593833U (en) | 2017-12-14 | 2017-12-14 | A kind of universal driving joint module of light-duty arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721740855.3U CN207593833U (en) | 2017-12-14 | 2017-12-14 | A kind of universal driving joint module of light-duty arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207593833U true CN207593833U (en) | 2018-07-10 |
Family
ID=62764266
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721740855.3U Active CN207593833U (en) | 2017-12-14 | 2017-12-14 | A kind of universal driving joint module of light-duty arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207593833U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114918972A (en) * | 2022-07-06 | 2022-08-19 | 郑州大学 | Universal joint and bionic robot |
-
2017
- 2017-12-14 CN CN201721740855.3U patent/CN207593833U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114918972A (en) * | 2022-07-06 | 2022-08-19 | 郑州大学 | Universal joint and bionic robot |
| CN114918972B (en) * | 2022-07-06 | 2023-10-13 | 郑州大学 | Universal joint and bionic robot |
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