CN207889859U - Clean the foot joint structure of climbing robot - Google Patents
Clean the foot joint structure of climbing robot Download PDFInfo
- Publication number
- CN207889859U CN207889859U CN201721843226.3U CN201721843226U CN207889859U CN 207889859 U CN207889859 U CN 207889859U CN 201721843226 U CN201721843226 U CN 201721843226U CN 207889859 U CN207889859 U CN 207889859U
- Authority
- CN
- China
- Prior art keywords
- rack
- foot
- limit block
- turn hole
- connecting plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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- Braking Arrangements (AREA)
Abstract
The utility model is related to robot fields, and in particular to a kind of foot joint structure of cleaning climbing robot, including shaft, shank rack and foot rack, shank rack include connecting plate, connecting plate is equipped with not rounded limit turn hole；Connecting plate is equipped with brake apparatus away from the side of foot rack, brake apparatus includes braking stator and brake rotors, and the fixing end for braking stator is equipped with rotating limit block, and the center of rotating limit block is equipped with shaft hole, the cross-sectional shape of rotating limit block is identical with the limit shape of turn hole, and limit turn hole is inserted into rotating limit block cooperation；One end of shaft is fixedly connected on foot rack, and the other end passes through shaft hole and is fixedly connected on brake rotors.Mutual cooperation by limit turn hole and rotating limit block is realized in shank rack and the relative rotation of foot rack, is braked forced area between stator and shank rack and is increased, stress is more balanced, ensure that the accuracy and stability of robot motion.
Description
Technical field
The utility model is related to robot fields, more particularly to a kind of foot joint structure of cleaning climbing robot.
Background technology
Now in the cradle head of certain robots, cradle head brake apparatus can be set, not transported in robot
The relative rotation of two mechanical arms of brake apparatus locking is utilized when dynamic.Brake apparatus include can locking rotation movable end and
Fixing end, fixing end are fixed on a mechanical arm, and movable end is fixed on another mechanical arm.Multiple spiral shells can generally be used
Fixing end is fixedly connected on mechanical arm by bolt, prevents the opposite mechanical arm for being secured to connection of the fixing end of brake apparatus from turning
It is dynamic.But in such a way that multiple bolts mutually rotate come the fixing end of locking brake apparatus and the mechanical arm for being secured to connect
After prolonged use, it may occur that the phenomenon that bolt tear damage bolt hole, lead to the fixing end of brake apparatus and solid with it
Surely the mechanical arm connection defective tightness connected, the reason is that bolt and bolt hole forced area are smaller, the bolt when robot operates
Often will appear between bolt hole because stress is excessive cause bolt hole to damage the case where.If robot continues to operate at this time,
Slight relative rotation can occur for the fixing end of brake apparatus and the mechanical arm for being secured to connection, influence robot motion's
Accuracy.
Utility model content
The purpose of this utility model is to provide a kind of foot joint structure of cleaning climbing robot, by limit turn hole and limit
The mutual cooperation of switch block is realized in shank rack and the relative rotation of foot rack, brakes stress between stator and shank rack
Area increases, and stress is more balanced, ensure that the accuracy and stability of robot motion.
To solve the above-mentioned problems, the utility model provides a kind of foot joint structure of cleaning climbing robot, packet
Shaft, shank rack and foot rack are included, the shank rack includes connecting plate, and the connecting plate turns equipped with not rounded limit
Hole；The connecting plate away from the foot rack side be equipped with brake apparatus, the brake apparatus include braking stator and
The fixing end of the brake rotors being co-axially located in the braking stator, the braking stator is equipped with rotating limit block, the rotating limit block
Center be equipped with shaft hole, the cross-sectional shape of the rotating limit block is identical with the shape of the limit turn hole, rotating limit block cooperation
It is inserted into the limit turn hole；One end of the shaft is fixedly connected on the foot rack, and the other end passes through the shaft hole and consolidates
Surely the brake rotors are connected to.
Preferably, the shape of the limit turn hole is gear-like, the rotating limit block is gear.
Preferably, the brake apparatus is electromagnetic brake.
The foot joint structure of the cleaning climbing robot of the utility model, is equipped with not rounded on the connecting plate of shank rack
Limit turn hole, the braking stator of brake apparatus is equipped with rotating limit block, and rotating limit block cooperation is inserted into limit turn hole, when shank rack and foot
When portion's rack relatively rotates, brakes and increase stress by the mutual cooperation of limit turn hole and rotating limit block between stator and shank rack
Area, it is ensured that robot can also keep after prolonged use its move accuracy and stability.
Description of the drawings
Fig. 1 is the overall structure diagram of the foot joint structure of the cleaning climbing robot of the utility model embodiment；
Fig. 2 is the shank rack construction signal of the foot joint structure of the cleaning climbing robot of the utility model embodiment
Figure.
Wherein, 1, shaft；2, shank rack；21, connecting plate；22, turn hole is limited；23, brake apparatus；23a, braking stator；
23b, brake rotors；23c, rotating limit block；3, foot rack.
Specific implementation mode
With reference to the accompanying drawings and examples, specific embodiment of the present utility model is described in further detail.Below
Embodiment is not intended to limit the scope of the present invention for illustrating the utility model.
In conjunction with shown in Fig. 1 and Fig. 2, the foot joint knot of the cleaning climbing robot of the utility model is schematically showed
Structure, including shaft 1, shank rack 2 and foot rack 3, shank rack 2 include connecting plate 21, and connecting plate 21 is equipped with not rounded
Turn hole 22 is limited, the shape of limit turn hole 22 can be the non-round shapes such as quadrangle, hexagon；Connecting plate 21 deviates from foot rack 3
Side be equipped with brake apparatus 23, brake apparatus 23 includes braking stator 23a and the system that is co-axially located in braking stator 23a
The fixing end of the sub- 23b of turn, braking stator 23a are equipped with rotating limit block 23c, and the center of rotating limit block 23c is equipped with shaft hole (not shown),
The cross-sectional shape of rotating limit block 23c is identical with the limit shape of turn hole 22, and limit turn hole 22 is inserted into rotating limit block 23c cooperations；The one of shaft 1
End is fixedly connected on foot rack 3, and the other end passes through 1 hole of shaft and is fixedly connected on brake rotors 23b, as brake rotors 23b
When being mutually locked between braking stator 23a, foot rack 3 and shank rack 2 can not just relatively rotate.Due to limit turn hole 22
The side wall of madial wall and rotating limit block 23c are face contacts, therefore the forced area bigger of the two is not easy when robot operates
It is damaged because stress is excessive, this considerably increases the service lifes of robot, can accurately operate for a long time.
In order to optimize the structure, the shape of limit turn hole 22 is gear-like, and the rotating limit block 23c is gear.Such as rotating limit block
The shape of 23c, compared to the rotating limit block 23c that cross section is quadrangle, hexagon, the outer side surface of the rotating limit block 23c of gear-like
Product undoubtedly bigger, the contact surface of bigger represents more difficult between rotating limit block 23c and limit turn hole 22 to be damaged because stress is excessive.
In addition, brake apparatus 23 is preferably electromagnetic brake, electromagnetic brake is compared to brake apparatus such as gear lockable mechanisms in structure
Upper compacter, the volume to reduce robot occupies.
In conclusion the foot joint structure of the cleaning climbing robot of the utility model, in the connecting plate of shank rack
It is equipped with not rounded limit turn hole, the braking stator of brake apparatus is equipped with rotating limit block, and rotating limit block cooperation is inserted into limit turn hole, when small
When leg rack and foot rack relatively rotate, brake between stator and shank rack by the mutual cooperation of limit turn hole and rotating limit block
Increase the area of stress, it is ensured that robot can also keep its accuracy and stability for moving after prolonged use.
The above is only the preferred embodiment of the utility model, it is noted that for the common skill of the art
For art personnel, without deviating from the technical principle of the utility model, several improvement and replacement can also be made, these change
The scope of protection of the utility model is also should be regarded as into replacement.
Claims (3)
1. a kind of foot joint structure of cleaning climbing robot, which is characterized in that including shaft, shank rack and foot machine
Frame, the shank rack includes connecting plate, and the connecting plate is equipped with not rounded limit turn hole；The connecting plate deviates from the foot
The side of rack is equipped with brake apparatus, and the brake apparatus includes braking stator and is co-axially located in the braking stator
The fixing end of brake rotors, the braking stator is equipped with rotating limit block, and the center of the rotating limit block is equipped with shaft hole, the rotating limit block
Cross-sectional shape it is identical with the shape of the limit turn hole, the limit turn hole is inserted into rotating limit block cooperation；The one of the shaft
End is fixedly connected on the foot rack, and the other end passes through the shaft hole and is fixedly connected on the brake rotors.
2. the foot joint structure of cleaning climbing robot according to claim 1, which is characterized in that the limit turn hole
Shape is gear-like, and the rotating limit block is gear.
3. the foot joint structure of cleaning climbing robot according to claim 1, which is characterized in that the brake apparatus
For electromagnetic brake.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721843226.3U CN207889859U (en) | 2017-12-22 | 2017-12-22 | Clean the foot joint structure of climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721843226.3U CN207889859U (en) | 2017-12-22 | 2017-12-22 | Clean the foot joint structure of climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207889859U true CN207889859U (en) | 2018-09-21 |
Family
ID=63549721
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721843226.3U Expired - Fee Related CN207889859U (en) | 2017-12-22 | 2017-12-22 | Clean the foot joint structure of climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207889859U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107963142A (en) * | 2017-12-22 | 2018-04-27 | 华南理工大学广州学院 | Clean the foot joint structure of climbing robot |
-
2017
- 2017-12-22 CN CN201721843226.3U patent/CN207889859U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107963142A (en) * | 2017-12-22 | 2018-04-27 | 华南理工大学广州学院 | Clean the foot joint structure of climbing robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180921 Termination date: 20181222 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |