CN208438352U - A kind of modularization movable joint connection structure - Google Patents
A kind of modularization movable joint connection structure Download PDFInfo
- Publication number
- CN208438352U CN208438352U CN201821099641.7U CN201821099641U CN208438352U CN 208438352 U CN208438352 U CN 208438352U CN 201821099641 U CN201821099641 U CN 201821099641U CN 208438352 U CN208438352 U CN 208438352U
- Authority
- CN
- China
- Prior art keywords
- transmission
- joint
- connector
- power
- multiplexing
- 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
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of modularization movable joint connection structures, including being multiplexed joint, the multiplexing joint includes joint sphere and taper transmission gear, the boring of the joint sphere, several transmission connection mouths are provided on the outer circumference surface of the joint sphere, matching is provided with the taper transmission gear in each transmission connection mouth, is meshed between the taper transmission gear by the ex-ternal transmission tooth of taper transmission gear.User can build the structure that he wants with modularized joint ontology, such as articulated robot structure, mechanical arm, the mechanical structure of bionical class such as snake-shaped robot etc., also it can according to need and build automated system mechanical structure, such as similar reciprocating mechanism.
Description
Technical field
The utility model relates to general profile, joint of robot, modularization robot, building blocks robot fields, specifically relate to
And a kind of modularization movable joint connection structure.
Background technique
In the equipment of some joint drives, especially in articulated robot field, need it is a kind of easy to install, it is readily removable
Unload, easily changeable movable joint, by the different installation enterprise schema of movable joint, can rapidly realize build it is relevant from
Dynamicization or the motion structure ontology of smart machine application, such as build relevant robot application etc..The utility model class
Be similar to cellular machineries people, modularization robot, it is emphasised that the utility model be not provided separately in joint module it is relevant
Power, and external power-producing mode is used, to reinforce the driving capability upper limit of movable joint, and structure designs also more
Focus on the intensity of joint carrying, to ensure that the smart machine built with movable joint can have actual stronger driving and load
Ability.
Utility model content
The purpose of this utility model is that in view of the deficiencies of the prior art, providing a kind of modularization movable joint connection knot
Structure.
In order to solve the above-mentioned technical problem, it adopts the following technical scheme that
A kind of modularization movable joint connection structure, including multiplexing joint, the multiplexing joint includes joint sphere and cone
Shape transmission gear, the boring of the joint sphere are provided with several transmissions on the outer circumference surface of the joint sphere and connect
Interface, the interior matching of each transmission connection mouth are provided with the taper transmission gear, pass through taper between the taper transmission gear
The ex-ternal transmission tooth of transmission gear is meshed.
Further, which further includes being fixedly connected with connector, described to be fixedly connected with connector and connect shape with the multiplexing joint
At multiplexing arthrodesis connection structure, the both ends for being fixedly connected with connector match with the transmission connection mouth；The fixation
The cylindrical side of jointing is equipped with two rows of fixed mounting holes, and the surface of the joint sphere is provided with and fixed mounting hole phase
Matched multiplexing joint mounting hole.
Further, which further includes rotary joint, and the rotary joint connect shape with the multiplexing joint
At multiplexing joint rotary connection structure, the both ends of the rotary joint match with the transmission connection mouth；The rotation
Jointing includes the first rotor and the second rotor, is equipped with live bearing in first rotor, and described the
The middle part of two rotors is equipped with shaft, and the live bearing and shaft match.
Further, which further includes single-direction transmission connector, and the single-direction transmission connector connect shape with the multiplexing joint
At multiplexing joint single-direction transmission structure, the both ends of the single-direction transmission connector match with the transmission connection mouth；It is described unidirectional
Drive joint includes that unidirectional drive input unit, unidirectional drive output section, worm drive shaft, helical gear turbine wheel shaft, the first transmission are oblique
Gear, the second transmission helical gear, unidirectional drive output shaft and unidirectional drive export helical gear, in the unidirectional drive input unit
Portion is connected with worm drive shaft, and the worm drive shaft is connected with helical gear turbine wheel shaft, and the helical gear turbine wheel shaft is connected with
One transmission helical gear, the first transmission helical gear are connected with the second transmission helical gear, and the second transmission helical gear is set to
On unidirectional drive output shaft, the end of the unidirectional drive output shaft is equipped with unidirectional drive and exports helical gear, the unidirectional drive
Output helical gear is meshed with the inner teeth of the taper transmission gear.
Further, which further includes power transmission connector, and the power transmission connector connect shape with the multiplexing joint
At multiplexing joint power drive mechanism, the both ends of the power transmission connector match with the transmission connection mouth；The power
Drive joint includes power transmission stator, power transmission rotor and power transmission bearing, and the power transmission stator setting is dynamic
The outside of power drive joint, the power transmission stator are internally connected with the power transmission bearing, the power transmission shaft
The power transmission rotor is connected in holding, one end of the power transmission rotor is equipped with power transmission helical gear, the power
Transmission helical gear is meshed with the inner teeth of the taper transmission gear, and it is oblique that the other end of the power transmission rotor is equipped with connection
Gear, connecting shaft or connecting shaft hole.
Further, which further includes power fibre drive joint, and the power fibre drive joint and the multiplexing joint connect
It connects to form multiplexing joint power fibre drive mechanism；The power fibre drive joint include power fibre connection shell, power fibre transmission shaft,
First power fibre driving cog and the second power fibre driving cog, the first power fibre driving cog are set to the power fibre transmission shaft
One end, the second power fibre driving cog is set to the other end of the power fibre transmission shaft, the first power fibre transmission
Tooth is meshed with the inside of the taper transmission gear in the multiplexing joint, the transmission of the first power fibre driving cog and power fibre
Inner core is meshed.
Further, which further includes reverse drive connector, and the reverse drive connector connect shape with the multiplexing joint
At multiplexing joint reverse drive structure；The reverse drive connector includes reverse drive shell, reversed output shaft, reversed fixing axle
With reversed helical gear, the reversed helical gear middle part connects the reversed fixing axle, the reversed helical gear inside engagement
The inner teeth of the taper transmission gear is connected, the reversed helical gear outside engagement is connected with oblique internal gear, described oblique
It is set on the reversed output shaft to internal gear, the reversed output shaft is connected to the middle part of the reverse drive shell.
Further, which further includes radial transmission component, and the radial direction transmission component connect shape with the multiplexing joint
At multiplexing joint radial direction drive mechanism；The radial direction transmission component includes radial rotary bracket, reverse drive connector and radial rotation
The both ends of adapter, the radial rotary bracket are equipped with the reverse drive connector and radial rotary connector, the reverse drive
Connector and radial rotary connector are all connected with the multiplexing joint.
It further, further include tube rod component, the tube rod component connects to form link mechanism with multiplexing joint, the tube rod
Component connects to form mechanical arm with multiplexing joint radial direction drive mechanism；The tube rod component includes that hollow round tube rod and tube rod connect
Connector, the tube rod jointing include straight tube jointing and side lever jointing, and the hollow round tube rod passes through straight
Pipe jointing or side lever jointing connect multiplexing joint radial direction drive mechanism.
It further, further include worm type robot device, the worm type robot device is by several multiplexing joints and several
A radial direction transmission component composition.
As a result of the above technical solution, the following beneficial effects are obtained:
The utility model is a kind of modularization movable joint connection structure, provide a kind of basic modularized joint ontology with
And organizing links mode.User can build the structure that he wants with modularized joint ontology, such as joint machine
Device people's structure, mechanical arm, the mechanical structure of bionical class such as snake-shaped robot etc. also can according to need and build automated system machine
Tool structure, such as similar reciprocating mechanism.
According to the different motion connection type of modularization movable joint, axial-rotation, the diameter of such as two multiplexing joint ontologies
To rotate, the person of being fixedly connected be the different relationship such as power output and input and modularization movable joint from different components such as
Power is fine, and axis, movable joint is built into the apparatus body with relative motion function, can apply in relevant use occasion
In the middle.It is possible thereby to form following advantages:
1. different connection types can form the relevant application of joint motions abundant between multiplexing joint, to meet not
With the needs under operative scenario.
2. multiplexing joint uses the mode of outer driving, not the driving units such as built-in motor, be conducive to reduce joint
Volume, and promote the joint loads ability upper limit.
Different types of robotic structural body is realized 3. can design, and the joint driving being multiplexed between joint can
To become the tissue of robot.
Detailed description of the invention
The utility model is described in further detail with reference to the accompanying drawing:
Fig. 1 is the structural schematic diagram that joint is multiplexed in the utility model；
Fig. 2 is the explosive view that arthrodesis connection structure is multiplexed in the utility model；
Fig. 3 is the structural schematic diagram that connector is fixedly connected in the utility model；
Fig. 4 is the explosive view that joint rotary connection structure is multiplexed in the utility model；
Fig. 5 is the explosive view of rotary joint in the utility model；
Fig. 6 is the explosive view that single-direction transmission structure in joint is multiplexed in the utility model；
Fig. 7 is the structural schematic diagram of single-direction transmission connector in the utility model；
Fig. 8 is the schematic diagram of internal structure of single-direction transmission connector in the utility model；
Fig. 9 is the structural schematic diagram that joint power drive mechanism one is multiplexed in the utility model；
Figure 10 is the structural schematic diagram that joint power drive mechanism two is multiplexed in the utility model；
Figure 11 is the structural schematic diagram that joint power drive mechanism three is multiplexed in the utility model；
Figure 12 is the structural schematic diagram that joint power fibre drive mechanism is multiplexed in the utility model；
Figure 13 is the structural schematic diagram that reverse drive structure in joint is multiplexed in the utility model；
Figure 14 is the schematic diagram of internal structure of multiple reverse drive connector in the utility model；
Figure 15 is the structural schematic diagram that radial direction drive mechanism in joint is multiplexed in the utility model；
Figure 16 is the explosive view that radial direction drive mechanism in joint is multiplexed in the utility model；
Figure 17 is the structural schematic diagram of mechanical arm in the utility model；
Figure 18 is the structural schematic diagram of link mechanism in the utility model；
Figure 19 is the structural schematic diagram of worm type robot device in the utility model；
Figure 20 is the intermeshing structural schematic diagram of taper transmission gear in the utility model.
In figure: 1- is multiplexed joint；The joint 2- sphere；3- transmission connection mouth；4- taper transmission gear；5-, which is fixedly connected, to be connect
Head；6- fixed mounting hole；7- is multiplexed joint mounting hole；8- rotary joint；The first rotor of 9-；The rotation of 10- second turns
Son；11- live bearing；12- shaft；13- single-direction transmission connector；14- unidirectional drive input unit；15- unidirectional drive output section；
16- worm drive shaft；17- helical gear turbine wheel shaft；18- first is driven helical gear；19- second is driven helical gear；20- unidirectional drive
Output shaft；21- unidirectional drive exports helical gear；22- power transmission stator；23- power transmission rotor；24- power transmission bearing；
25- power transmission helical gear；26- connection helical gear；27- connecting shaft；28- connecting shaft hole；29- power fibre drive joint；30- is dynamic
Power fibre connects shell；31- power fibre transmission shaft；32- the first power fibre driving cog；33- the second power fibre driving cog；34- is reversely passed
Dynamic connector；35- reverse drive shell；The reversed output shaft of 36-；The reversed fixing axle of 37-；The reversed helical gear of 38-；The oblique internal tooth of 39-
Wheel；40- radial direction transmission component；41- radial rotary bracket；42- reverse drive connector；43- radial rotary connector；44- open circles
Shape tube rod；45- straight tube jointing；46- side lever jointing；47- is multiplexed joint A；48- is multiplexed joint B.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
Referring to Fig. 1 and Figure 20, a kind of modularization movable joint connection structure, including multiplexing joint 1, being multiplexed joint 1 includes
Joint sphere 2 and taper transmission gear 4, the boring of joint sphere 2 are provided on the outer circumference surface of joint sphere 2 several
A transmission connection mouth 3, the interior matching of each transmission connection mouth 3 are provided with taper transmission gear 4, pass through between taper transmission gear 4
The ex-ternal transmission tooth of taper transmission gear 4 is meshed.The quantity of transmission connection mouth 3 is generally 4-8 the most properly, wherein being driven
When connector 3 is 6, the engagement cooperation transmission between each taper transmission gear 4 is more reasonable, and transmission connection mouth 3 is set respectively
The top in joint sphere 2, lower part, left part, right part, front and rear are set, wherein some the transmission connection mouth 3 of joint sphere 2
Taper transmission gear 4 distinguish four taper transmission gears 4 intermeshing matching adjacent thereto, for example, 2 top of joint sphere
Taper transmission gear 4 engaged respectively with the left part of joint sphere 2, right part, front and rear, the taper of 2 lower part of joint sphere
Transmission gear 4 engages respectively with the left part of joint sphere 2, right part, front and rear.For the convenience of transmission, each taper is passed
It is equipped with swivel bearing in moving gear 4, to support the rotary motion of taper transmission gear 4, reduces the friction in its motion process
Coefficient.Finally, transmission connection basis of the multiplexing joint 1 as the structure, user can be built with being multiplexed based on joint 1
The structure that he wants, such as articulated robot structure, mechanical arm, the mechanical structure of bionical class such as snake-shaped robot etc. can also
To build automated system mechanical structure, such as similar reciprocating mechanism as needed.
Referring to Fig. 2 and Fig. 3, which further includes being fixedly connected with connector 5, is fixedly connected with connector 5 with multiplexing joint 1 and connect shape
At multiplexing arthrodesis connection structure, the both ends and transmission connection mouth 3 for being fixedly connected with connector 5 match；It is fixedly connected with connector 5
Cylindrical side is equipped with two rows of fixed mounting holes 6, and the surface of joint sphere 2 is provided with the multiplexing to match with fixed mounting hole 6
Joint mounting hole 7.When specific implementation is fixedly connected with connector 5 and is multiplexed the installation in joint 1, match in multiplexing joint mounting hole 7
Corresponding holding screw is set, in holding screw precession fixed mounting hole 6, so that achieving a fixed connection connector 5 and is multiplexed joint 1
It is fixedly connected, when needing to be fixedly connected connector 5 and multiplexing joint 1 is dismantled, is realized by unclamping holding screw.Two multiple
It is achieved a fixed connection with joint 1 by being fixedly connected with connector 5, no drive connection.
Referring to Fig. 4 and Fig. 5, which further includes rotary joint 8, and rotary joint 8 connect shape with multiplexing joint 1
At multiplexing joint rotary connection structure, both ends and the transmission connection mouth 3 of rotary joint 8 match；Rotary joint 8 wraps
The first rotor 9 and the second rotor 10 are included, is equipped with live bearing 11, the second rotor 10 in the first rotor 9
Middle part be equipped with shaft 12, live bearing 11 and shaft 12 match.When installation, and by multiplexing joint mounting hole 7
Corresponding holding screw is configured, in the mounting hole of holding screw precession rotary joint 8, to realize rotary joint 8
With multiplexing joint 1 connection, due in rotary joint 8 be equipped with corresponding shaft 12 and live bearing 11, live bearing 11
Quantity can according to need sets itself, to improve the verticity of rotary joint 8, reduce rubbing in its motion process
Wipe coefficient.By the way that rotary joint 8 is arranged, realizes rotary joint 8 and the moving rotary being multiplexed between joint 1 is transported
It is dynamic.Rotary joint 8 can be there are two types of model, and, to move freely connection, second multiple for multiplexing joint A47 driving for the first
(referring to Fig. 4) is rotated with joint B48.
Referring to Fig. 6, Fig. 7 and Fig. 8, which further includes single-direction transmission connector 13, single-direction transmission connector 13 and multiplexing joint 1
Connection forms multiplexing joint single-direction transmission structure, and both ends and the transmission connection mouth 3 of single-direction transmission connector 13 match；Single-direction transmission
Connector 13 includes unidirectional drive input unit 14, unidirectional drive output section 15, worm drive shaft 16, helical gear turbine wheel shaft 17, first
It is driven helical gear 18, second and is driven helical gear 19, unidirectional drive output shaft 20 and unidirectional drive output helical gear 21, unidirectional drive
The middle part of input unit 14 is connected with worm drive shaft 16, and worm drive shaft 16 is connected with helical gear turbine wheel shaft 17, helical gear turbine
Axis 17 is connected with the first transmission helical gear 18, and the first transmission helical gear 18 is connected with the second transmission helical gear 19, and the second transmission is oblique
Gear 19 is set on unidirectional drive output shaft 20, and the end of unidirectional drive output shaft 20 is equipped with unidirectional drive and exports helical gear
21, unidirectional drive output helical gear 21 is meshed with the inner teeth of taper transmission gear 4.It is closed in single-direction transmission connector 13 and multiplexing
When the installation settings of section 1, as input terminal, i.e. 15 connection multiplexing of unidirectional drive output section closes the multiplexing joint A47 of right side connection
A47 is saved, the multiplexing joint B48 of left side connection is as output end, i.e. 14 connection multiplexing joint B48 of unidirectional drive input unit.Specifically
During realization: the mounting means of multiplexing joint A47, multiplexing joint B48 and single-direction transmission connector 13 is as follows: unidirectional drive is defeated
The side for entering portion 14 and unidirectional drive output section 15 is equipped with mounting hole, wherein precession in the mounting hole of unidirectional drive output section 15
It is multiplexed the holding screw of joint B48, the holding screw of not precession multiplexing joint B48 in the mounting hole of unidirectional drive input unit 14.
Specific works are as follows: the side of multiplexing joint B48 drives unidirectional drive input unit by motor or other power output power
14 make rotating motion, so that worm drive shaft 16 be driven to move, pass in the engagement of worm drive shaft 16 and helical gear turbine wheel shaft 17
Under dynamic, helical gear turbine wheel shaft 17 is driven to move by worm drive shaft 16, and then oblique by helical gear turbine wheel shaft 17 and the first transmission
The engagement of gear 18 drives the first transmission helical gear 18 to move, then oblique by the first transmission helical gear and the second transmission
The effect of gear 19 drives the second transmission helical gear 19 to move, then drives unidirectional drive output by unidirectional drive output shaft 20
Helical gear 21 moves, finally under the engagement of the inner teeth of unidirectional drive output helical gear 21 and taper transmission gear 4, band
Dynamic multiplexing joint A47 movement, the movement have the function of that reverse movement is locked, are used to due to using screw rod worm gear drive to connect
The usage scenario that single-direction transmission inversely locks is done, multiplexing joint 1 can be locked and do not rotated, or can be from external input compared with subject to
True angle setting, is also applicable in and needs the intra-articular of individual event driving.
Referring to Fig. 9, Figure 10 and Figure 11, which further includes power transmission connector 43, and power transmission connector 43 and multiplexing are closed
1 connection of section forms multiplexing joint power drive mechanism, and both ends and the transmission connection mouth 3 of power transmission connector 43 match；Power
Drive joint 43 includes power transmission stator 22, power transmission rotor 23 and power transmission bearing 24, and power transmission stator 22 is set
It sets in the outside of power transmission connector 43, power transmission stator 22 is internally connected with power transmission bearing 24, power transmission shaft
It holds and is connected with power transmission rotor 23 in 24, one end of power transmission rotor 23 is equipped with power transmission helical gear 25, power transmission
Helical gear 25 is meshed with the inner teeth of taper transmission gear 4, the other end of power transmission rotor 23 be equipped with connection helical gear 26,
Connecting shaft 27 or connecting shaft hole 28.Power transmission connector 43 passes through setting power transmission stator 22,23 and of power transmission rotor
Power transmission bearing 24, effect is torque to be conducted to multiplexing 1 interior tapered transmission gear 4 of joint, there are three types of output end is specific
Connection type:
Referring to Fig. 9, the first is power transmission rotor 23 and the helical gear export structure for connect helical gear 26 and connecting formation,
The both ends of the power transmission connector 43 band bevel gear, effect are the power conduction within different joints.
Referring to Figure 10 and Figure 11, second of connecting shaft 27 that formation is connect with connecting shaft 27 for power transmission rotor 23 is exported
Structure, the third connect 28 export structure of connecting shaft hole formed, both sides with connecting shaft hole 28 for power transmission rotor 23
Formula is that torque is transmitted to inside.Relative to single-direction transmission connector 13, this multiplexing joint 1 can be with Bidirectional Conduction torque.
Referring to Figure 12, which further includes power fibre drive joint 29, and power fibre drive joint 29 is connect with multiplexing joint 1
Form multiplexing joint power fibre drive mechanism；Power fibre drive joint 29 include power fibre connection shell 30, power fibre transmission shaft 31,
First power fibre driving cog 32 and the second power fibre driving cog 33, the first power fibre driving cog 32 are set to power fibre transmission shaft 31
One end, the second power fibre driving cog 33 is set to the other end of power fibre transmission shaft 31, the first power fibre driving cog 32 with it is multiple
It is meshed with the inside of the taper transmission gear 4 in joint 1, the transmission inner core of the first power fibre driving cog 32 and power fibre is mutually nibbled
It closes.The transmission of power fibre is a kind of kind of drive based on flexible material, specifically refers to Patent No. 2018106022055, multiple
Effect with 1 power fibre drive mechanism of joint is that the taper being transmitted to the kinetic energy of long-range power fibre inside multiplexing joint 1 passes
Moving gear 4, to realize corresponding transmission.
Referring to Figure 13 and Figure 14, which further includes reverse drive connector 34, and reverse drive connector 34 and multiplexing joint 1 connect
It connects to form multiplexing joint reverse drive structure；Reverse drive connector 34 includes reverse drive shell 35, reversed output shaft 36, reversed
The middle part of fixing axle 37 and reversed helical gear 38, reversed helical gear 38 connects reversed fixing axle 37, the inside of reversed helical gear 38
The outside engagement of the inner teeth of engagement connection taper transmission gear 4, reversed helical gear 38 is connected with oblique internal gear 39, in the diagonal
Gear 39 is set on reversed output shaft 36, and reversed output shaft 36 is connected to the middle part of reverse drive shell 35.Reverse drive connects
The multiplexing joint 1 at first 34 both ends, which can do input terminal, can also do output end, when using left end as input terminal, pass through answering for left side
Two reversed helical gears 38 are driven to move with joint A47, under the action of reversed fixing axle 37, by two 38 bands of reversed helical gear
It moves oblique internal gear 39 to move, finally by reversed 36 output power of output shaft.
Referring to Figure 15 and Figure 16, which further includes radial transmission component 40, and radial transmission component 40 connects with multiplexing joint 1
It connects to form multiplexing joint radial direction drive mechanism；Radial transmission component 40 includes radial rotary bracket 41,34 and of reverse drive connector
Radial rotary connector 42, the both ends of radial rotary bracket 41 are equipped with reverse drive connector 34 and radial rotary connector 42, reversed to pass
Dynamic connector 34 and radial rotary connector 42 are all connected with multiplexing joint 1.Its output direction of rotation and the taper for being multiplexed joint A47 pass
The contrary reverse drive connector 34 of moving gear 4 can be applicable in the output of left and right 2 being such as radially driven, such as Figure 16 or so two
Positive and negative two connectors of side drive simultaneously, and relative to unilateral radial rotary, stress balance, driving load also can be stronger, favorably
In joint operation more safety and steady.
It further include tube rod component referring to Figure 17 and Figure 18, tube rod component and the connection of multiplexing joint 1 form link mechanism, manage
Bar assembly connects to form mechanical arm with the radial drive mechanism in multiplexing joint 1；Tube rod component includes hollow round tube rod 44 and tube rod
Jointing, tube rod jointing include straight tube jointing 45 and side lever jointing 46, and hollow circle tube rod 44 passes through straight
The radial drive mechanism of pipe jointing 45 or 46 connection multiplexing joint of side lever jointing 1.In specific application, pass through tube rod group
Part, multiplexing joint 1 and other single-direction transmission connectors 13, power transmission connector 43, reverse drive connector 34 are tied there are many being formed
Structure, such as polypody, four-footed, biped robot, mechanical bone, bionic hand, wheeled robot and educational robot etc., such as Figure 20
In worm type robot device, worm type robot device is made of several multiplexing joints 1 and several radial transmission components 40.
The above are only specific embodiments of the present invention, but the technical characteristics of the utility model is not limited thereto.Appoint
How based on the utility model, to solve essentially identical technical problem, essentially identical technical effect is realized, madely
Simple change, equivalent replacement or modification etc., are all covered by among the protection scope of the utility model.
Claims (10)
1. a kind of modularization movable joint connection structure, it is characterised in that: including being multiplexed joint, the multiplexing joint includes joint
Sphere and taper transmission gear, the boring of the joint sphere are provided on the outer circumference surface of the joint sphere several
A transmission connection mouth, interior match of each transmission connection mouth is provided with the taper transmission gear, between the taper transmission gear
It is meshed by the ex-ternal transmission tooth of taper transmission gear.
2. a kind of modularization movable joint connection structure according to claim 1, it is characterised in that: further include being fixedly connected
Connector, the connector that is fixedly connected connect to form multiplexing arthrodesis connection structure with the multiplexing joint, described to be fixedly connected
The both ends of connector match with the transmission connection mouth；The cylindrical side for being fixedly connected with connector is equipped with two rows of be fixedly mounted
Hole, the surface of the joint sphere are provided with the multiplexing joint mounting hole to match with fixed mounting hole.
3. a kind of modularization movable joint connection structure according to claim 1, it is characterised in that: further include rotation connection
Connector, the rotary joint connect to form multiplexing joint rotary connection structure with the multiplexing joint, the rotation connection
The both ends of connector match with the transmission connection mouth；The rotary joint includes that the first rotor and the second rotation turn
Son, first rotor is interior to be equipped with live bearing, and the middle part of second rotor is equipped with shaft, the live bearing
Match with shaft.
4. a kind of modularization movable joint connection structure according to claim 1, it is characterised in that: further include single-direction transmission
Connector, the single-direction transmission connector connect to form multiplexing joint single-direction transmission structure, the single-direction transmission with the multiplexing joint
The both ends of connector match with the transmission connection mouth；The single-direction transmission connector includes unidirectional drive input unit, unidirectional drive
Output section, worm drive shaft, helical gear turbine wheel shaft, first transmission helical gear, second transmission helical gear, unidirectional drive output shaft and
Unidirectional drive exports helical gear, and worm drive shaft is connected in the middle part of the unidirectional drive input unit, and the worm drive shaft connects
It is connected to helical gear turbine wheel shaft, the helical gear turbine wheel shaft is connected with the first transmission helical gear, the first transmission helical gear connection
There is the second transmission helical gear, the second transmission helical gear is set on unidirectional drive output shaft, the unidirectional drive output shaft
End be equipped with unidirectional drive and export helical gear, the inner teeth of the unidirectional drive output helical gear and the taper transmission gear
It is meshed.
5. a kind of modularization movable joint connection structure according to claim 1, it is characterised in that: further include power transmission
Connector, the power transmission connector connect to form multiplexing joint power drive mechanism, the power transmission with the multiplexing joint
The both ends of connector match with the transmission connection mouth；The power transmission connector includes power transmission stator, power transmission turn
The outside of power transmission connector is arranged in son and power transmission bearing, the power transmission stator, the power transmission stator
It is internally connected with the power transmission bearing, the power transmission rotor, the power are connected in the power transmission bearing
The one end for transmitting rotor is equipped with power transmission helical gear, the inner teeth of the power transmission helical gear and the taper transmission gear
It is meshed, the other end of the power transmission rotor is equipped with connection helical gear, connecting shaft or connecting shaft hole.
6. a kind of modularization movable joint connection structure according to claim 1, it is characterised in that: further include that power fibre passes
Dynamic connector, the power fibre drive joint connect to form multiplexing joint power fibre drive mechanism with the multiplexing joint；It is described dynamic
Power fibre drive joint includes that power fibre connects shell, power fibre transmission shaft, the first power fibre driving cog and the second power fibre driving cog,
The first power fibre driving cog is set to one end of the power fibre transmission shaft, and the second power fibre driving cog is set to institute
State the other end of power fibre transmission shaft, the inside of the first power fibre driving cog and the taper transmission gear for being multiplexed joint
It is meshed, the first power fibre driving cog is meshed with the transmission inner core of power fibre.
7. a kind of modularization movable joint connection structure according to claim 1, it is characterised in that: further include reverse drive
Connector, the reverse drive connector connect to form multiplexing joint reverse drive structure with the multiplexing joint；The reverse drive
Connector includes reverse drive shell, reversed output shaft, reversed fixing axle and reversed helical gear, and the reversed helical gear middle part connects
The reversed fixing axle is connect, the reversed helical gear inside engagement connects the inner teeth of the taper transmission gear, described anti-
It is connected with oblique internal gear to the engagement of helical gear outside, the oblique internal gear is set on the reversed output shaft, described
Reversed output shaft is connected to the middle part of the reverse drive shell.
8. a kind of modularization movable joint connection structure according to claim 7, it is characterised in that: further include radial transmission
Component, the radial direction transmission component connect to form multiplexing joint radial direction drive mechanism with the multiplexing joint；The radial transmission
Component includes radial rotary bracket, reverse drive connector and radial rotary connector, and the both ends of the radial rotary bracket are equipped with institute
Reverse drive connector and radial rotary connector are stated, the reverse drive connector and radial rotary connector are all connected with the multiplexing and close
Section.
9. a kind of modularization movable joint connection structure according to claim 8, it is characterised in that: further include tube rod group
Part, the tube rod component connect to form link mechanism with multiplexing joint, the tube rod component and multiplexing joint radial direction drive mechanism
Connection forms mechanical arm；The tube rod component includes hollow round tube rod and tube rod jointing, the tube rod jointing packet
Straight tube jointing and side lever jointing are included, the hollow round tube rod is connected by straight tube jointing or side lever jointing
Connect multiplexing joint radial direction drive mechanism.
10. a kind of modularization movable joint connection structure according to claim 8, it is characterised in that: further include worm type machine
Tool arm device, the worm type robot device are made of several multiplexing joints and several radial transmission components.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821099641.7U CN208438352U (en) | 2018-07-11 | 2018-07-11 | A kind of modularization movable joint connection structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821099641.7U CN208438352U (en) | 2018-07-11 | 2018-07-11 | A kind of modularization movable joint connection structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208438352U true CN208438352U (en) | 2019-01-29 |
Family
ID=65087363
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821099641.7U Expired - Fee Related CN208438352U (en) | 2018-07-11 | 2018-07-11 | A kind of modularization movable joint connection structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208438352U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108608455A (en) * | 2018-07-11 | 2018-10-02 | 楼荣平 | A kind of modularization movable joint connection structure |
| CN111152204A (en) * | 2020-01-18 | 2020-05-15 | 九立(北京)机器人科技有限公司 | Slewing mechanism, mechanical arm and robot |
-
2018
- 2018-07-11 CN CN201821099641.7U patent/CN208438352U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108608455A (en) * | 2018-07-11 | 2018-10-02 | 楼荣平 | A kind of modularization movable joint connection structure |
| CN111152204A (en) * | 2020-01-18 | 2020-05-15 | 九立(北京)机器人科技有限公司 | Slewing mechanism, mechanical arm and robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208438352U (en) | A kind of modularization movable joint connection structure | |
| CN205901557U (en) | Novel brushless motor that built -in planetary reducer constructs | |
| US20190390736A1 (en) | Thickness-variable transmission structure for robot joint | |
| CN201027256Y (en) | Washing machine clutch | |
| CN210388771U (en) | Quartz crystal beveling machine | |
| CN108608455A (en) | A kind of modularization movable joint connection structure | |
| CN201386759Y (en) | Gearbox | |
| CN111795120A (en) | Self-locking planetary reducer | |
| CN2356184Y (en) | Two stage double output shaft cycloid needle wheel speed reducer | |
| CN215596310U (en) | Seat motor assembly | |
| CN209240069U (en) | A kind of anthropomorphous machine's arm shoulder joint of Three Degree Of Freedom | |
| CN215440892U (en) | Spinning thread lubricating arrangement for textile production | |
| CN108412980A (en) | A kind of universal joint Double-outputting speed change box | |
| CN208966987U (en) | Flexible gear and hollow type harmonic wave drive speed reducer for harmonic drive | |
| CN207800574U (en) | Ultra-fine formula gaily decorated basket compression bar | |
| CN114425786A (en) | Transmission device capable of gathering self-reconfigurable space cell robot | |
| CN206429552U (en) | Main shaft rotates shaft coupling | |
| CN206929330U (en) | A kind of transmission decelerating device | |
| CN101642910B (en) | Filtering driving device and intelligent robot integrated system | |
| CN204819522U (en) | Series connection machine people | |
| CN204739185U (en) | Hydraulic transmission | |
| CN213117387U (en) | Transmission system of field management machine | |
| CN204677718U (en) | Micro-scale double-power aero-vehicle bearing speed reducer | |
| CN109027167A (en) | A kind of double transmission ratio second level-harmonic gear reducers | |
| CN211117390U (en) | Through hole type corner planetary reducer |
Legal Events
| 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: 20190129 Termination date: 20210711 |