CN209551711U - Shoulder structure and robot with same - Google Patents

Abstract

The utility model belongs to the technical field of robots, and aims to provide a shoulder structure and a robot with the same, which comprises a servo steering engine, a first mounting seat and a second mounting seat, wherein the first mounting seat is arranged on one side of the servo steering engine close to a trunk and comprises a first mounting plate and a second mounting plate; the free end of the first mounting plate is rotatably connected to the tail part of the servo steering engine, a gap exists between the wall surface of the inner side wall and the end surface of the tail part of the servo steering engine, and the free end of the second mounting plate is connected to an output shaft of the servo steering engine; two ends of the second mounting seat are respectively connected with the arm part and the servo steering engine; the limiting mechanism is accommodated in the gap and comprises a fixed part and a rotating part, wherein the fixed part is detachably connected to the first mounting plate, the rotating part is connected to the second mounting seat, the fixed part stops the rotating part to rotate in a corresponding rotating angle range so as to realize the limiting function of the shoulder, and in general, the shoulder structure and the robot are simple and compact in structure, convenient to install and maintain and high in universality.

Description

A kind of shoulder structure and the robot with the structure

Technical field

The utility model belongs to robotic technology field, is to be related to a kind of shoulder structure and have a knot more specifically The robot of structure.

Background technique

Robot is the automatic installations for executing work, mainly by mechanical body, memory or program function and core zero The composition such as component.It not only can receive mankind commander, but also can run preparatory programmed program, can also be according to artificial intelligence technology Specified principle program action.Its main task is to assist or replace the work of the mankind.In humanoid robot, robot Main means of the arm as movement output, generally require shoulder and are connected in robot trunk, pass through shoulder with this The relevant action for the movements such as swinging to realize arm relative to robot body.To keep arm movable within the specified scope, Arm has needed position limiting structure to be limited during the swing, however, the position limiting structure of existing robot shoulder is more complicated, no Just installation maintenance, versatility be not strong.

Utility model content

The purpose of this utility model is to provide a kind of shoulder structure, to solve, shoulder structure is more complex, inconvenient installation Maintenance and the not strong technical problem of versatility.

In order to solve the above technical problems, the technical solution adopted in the utility model is: providing a kind of shoulder structure, the shoulder Structure includes:

First driving device is laterally arranged, and one end is the output end for being extended with output shaft；

Terminal pad is rotationally connected on the other end of the first driving device；

First mounting base is set to the first driving device on the side of trunk, in the first driving device Drive under with the first driving device be rotatablely connected；And

Second mounting base, one end arm portions, the other end connect the first driving device；

Wherein, first mounting base includes:

First mounting plate, free end are connected in the terminal pad, and inner sidewall wall surface is another with the first driving device There are gaps for the end face of one end；With

Second mounting plate, opposite with first mounting plate and be arranged in parallel, free end is connected to the first driving dress On the output shaft set；The shoulder structure further include:

Position-limit mechanism is placed in the gap, including detachable connection in the fixed part on first mounting plate The rotating part for dividing and being connected on second mounting base or the first driving device lateral wall；

The fixed part can limit out different rotational angle ranges, and the rotating part passes through the fixed part Backstop rotates in the corresponding rotational angle range around the center line of the output shaft.

Further, the fixed part includes at least two first locating parts, and the rotating part includes the second limit Part；

First locating part, detachable connection is in the side wall towards second mounting plate of first mounting plate On, head is located at the center line in the gap and around the output shaft circumferentially；

Second locating part is set to the lateral wall of second mounting base or is set to the first driving device Lateral wall on, including be located at the gap in, with two heads be located at the limiting section on same circumference.

Further, the free end of first mounting plate offers the first mounting hole along the axial direction of the output shaft；Institute Stating terminal pad includes:

Grafting axis connects the other end of the first driving device；

Limit shaft is inserted in first mounting hole, and a part is located in the gap；And

Mounting disc is installed on the lateral wall of first mounting plate；

Wherein, first locating part is located at the periphery of the mounting disc.

Further, the periphery of Yu Suoshu mounting disc, around the output shaft on the inner sidewall of first mounting plate Center line offers multiple limit holes, is equipped with first locating part in any two limit hole；Second locating part The limiting section between corresponding two first locating part.

Further, the free end of the periphery of the first mounting hole of Yu Suoshu, first mounting plate offers to watch The form of the limiting section.

Further, second locating part further includes fixed part and interconnecting piece, the fixed part, the interconnecting piece and institute Limiting section is stated successively to join end to end；The fixed part is connected on the lateral wall of second mounting base；The limiting section is parallel In first mounting plate and with the limit shaft it is just opposite；In the axial direction of the output shaft, the thickness of the limiting section Less than or equal to length of the limit shaft in the gap.

Further, a side end face of the limiting section towards the limit shaft and the limit shaft are in the gap The periphery wall surface of exposing is adapted to.

Further, second mounting base is in U-shape structure, installs including the third mounting plate being oppositely arranged and the 4th Plate, the main body of the first driving device are built between the third mounting plate and the 4th mounting plate, and described second The fixed part of locating part is set on the lateral wall of the third mounting plate, axial direction of the limiting section along the output shaft The third mounting plate is protruded from toward the gap.

Further, first locating part is bolt or screw, and the first driving device is Servo-controller.

The purpose of this utility model, which also resides in, provides a kind of robot, which includes above-mentioned shoulder structure.

A kind of shoulder structure provided by the utility model and the robot with the structure, in the driving of first driving device Under, when the first mounting base and first driving device relatively rotate, by the fixed part that is located in gap by rotating part backstop It is rotated in corresponding rotational angle range, the arm of shoulder structure connection can be realized in the rotational angle range of restriction It swings, will not collide because excessively swinging with trunk.In addition, being detachable company between fixed part and the first mounting plate Connect, and different rotational angle ranges can be limited out according to actual needs, so, generally, the shoulder structure and have the knot The robot of structure it is simple and compact for structure, facilitate installation maintenance, versatile, production cost is low, securely and reliably.

Detailed description of the invention

To be illustrated more clearly that the technical scheme in the embodiment of the utility model, embodiment or the prior art will be retouched below Attached drawing needed in stating is briefly described, it should be apparent that, the accompanying drawings in the following description is only the utility model Some embodiments for those of ordinary skill in the art without creative efforts, can also basis These attached drawings obtain other attached drawings.

Fig. 1 is the primary structure schematic diagram that shoulder structure is connected with arm in the utility model embodiment；

Fig. 2 is the structural schematic diagram of shoulder structure in the utility model embodiment；

Fig. 3 is the exploded perspective schematic diagram of Fig. 2；

Fig. 4 is the installation diagram in the utility model embodiment between the first mounting base, position-limit mechanism and terminal pad；

Fig. 5 is the schematic diagram on another visual angle Fig. 4；

Fig. 6 is the installation diagram in the utility model embodiment between the first mounting base and terminal pad；

Fig. 7 is the structural schematic diagram of the first mounting base in shoulder structure in the utility model embodiment；

Fig. 8 is the structural schematic diagram of terminal pad in shoulder structure in the utility model embodiment；

Fig. 9 is the structural schematic diagram of the second locating part in shoulder structure in the utility model embodiment.

Wherein, the label in attached drawing is as follows:

The center line of 10- arm, 20- output shaft；

100- first driving device/Servo-controller, 110- main body, the tail portion 111-, 130- output end；

The first mounting base of 200-, the first mounting plate of 210-, 211- inner sidewall, the gap 212-, the first mounting hole of 213-, 214- Limit hole, 215- form, 216- location hole, the second mounting plate of 220-, 230- middle connecting plate；

The second mounting base of 300-, 310- third mounting plate, the 4th mounting plate of 320-；

400- position-limit mechanism, the first locating part of 410-, the head 411-, the second locating part of 420-, 421- fixed part, 422- connect Socket part, 423- limiting section/limit plate, 4231- arc surface；

500- terminal pad, 510- grafting axis, 520- limit shaft, 530- mounting disc, 531- groove.

Specific embodiment

For technical problem to be solved in the utility model, technical solution and beneficial effect is more clearly understood, below In conjunction with specific drawings and the specific embodiments, further elaborate to the utility model.Wherein, the utility model is embodied The same or similar label indicates the same or similar element or element with the same or similar functions in the attached drawing of example. It should be understood that ground, specific embodiment disclosed below are intended for explaining the utility model, it is not used to limit originally practical new Type.

It should be noted that when element is referred to as " being fixed on " or " being installed on " or " being set to " or " being connected to " another element On, it, which can be, is directly or indirectly located on another element.For example, when an element referred to as " is connected to " another yuan On part, it, which can be, is directly or indirectly connected on another element.Term " length ", " width ", "upper", "lower", " left side ", The orientation or position of the instructions such as " right side ", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outside" are based on attached drawing Shown in orientation or position, be only easy for describing, should not be understood as the limitation to the technical program.

In addition, term " first ", " second " only for ease of description, be not understood to indicate or imply relative importance or Person implicitly indicates the quantity of technical characteristic.The meaning of " plurality " is two or more, unless otherwise specifically defined. In short, for the ordinary skill in the art, can understand the concrete meaning of above-mentioned term as the case may be.

A kind of realization of shoulder structure provided by the utility model is described in detail below in conjunction with attached drawing 1 to Fig. 9.

It should be noted that the shoulder structure, the arm 10 that can be used to implement linkage robot is being parallel to trunk side Plane on rotate, namely realize swing, can be used to implement linkage arm 10 sent out on the left and right directions of trunk Life swings, and certainly, actually can also be achieved other suitable movements.In addition, in addition to being used in robot, also available to it In its suitable product structure.

As shown in Figure 1 to Figure 3, the shoulder structure, including first driving device 100, terminal pad 500, the first mounting base 200 And second mounting base 300.Wherein, the laterally setting of first driving device 100, mainly to drive shoulder component below opposite Trunk is swung up and down.One end of first driving device 100 is the output end 130 for being extended with output shaft (not shown).Specifically at this In embodiment, first driving device 100 is Servo-controller, wherein the Servo-controller includes main body 110.Wherein, Servo-controller 100 output end 130 is specially the output end of main body 110, the other end of first driving device (specially Servo-controller) 100 The specially tail portion 111 of main body 110.As shown in Fig. 2, terminal pad 500 is rotationally connected with the other end of first driving device 100 On (the specially tail portion 111 of main body 110).

It should be noted that the structure of first driving device 100 can be using conventional Servo-controller (such as harmonic wave steering engine) knot Structure, for example, the Servo-controller 100 usually can also include motor, retarder, sensor and the control being set in main body 110 Circuit processed etc., certainly, the specific structure of first driving device 100 can be determined according to actual needs.It should be noted that in this reality It applies in example, first driving device 100 is not limited to using Servo-controller.

In the present embodiment, the first mounting base 200 is set to first driving device 100 close to the side of trunk (not shown) On, it is rotatablely connected under the drive of first driving device 100 with first driving device 100.It should be noted that the shoulder structure is also It may include the second driving device (not shown), wherein second driving device is connected on trunk, mainly to drive first The other components and arm 10 of the linkage shoulder of mounting base 200 rotate about axis swing, similar to the front and back of human arm Wobbling action.Accordingly, as shown in Figure 1, one end arm portions 10 of the second mounting base 300, other end connection the first driving dress 100 are set, is specially connected on the main body 110 of Servo-controller 100.

As shown in Figures 2 to 4, the first mounting base 200 includes the first mounting plate 210 and the second mounting plate 220.Wherein, One mounting plate 210 and the second mounting plate 220 are parallel to each other, and the two is oppositely arranged.For the first mounting base 200 is connected to second In driving device, the first mounting base 200 further includes middle connecting plate 230, and the both ends of middle connecting plate 230 are separately connected described On the end of the same side of one mounting plate 210 and the second mounting plate 220, it is in U-shape structure with this first mounting base 200.In this way, such as Shown in Fig. 2, facilitates and first driving device 100 is built in the first mounting plate 210, the second mounting plate 220 and middle connecting plate 230 In the cavity surrounded, so that the structure of the shoulder structure is more compact.

As shown in Fig. 2, the free end of the first mounting plate 210 is connected in terminal pad 500, the freedom of the second mounting plate 220 End is connected on the output shaft of first driving device 100, the main body 110 under the drive of the output shaft of first driving device 100 The arm 10 that links is rotated around axially opposing first mounting base 200 of the output shaft (not shown) of first driving device 100.It can manage Xie Di is also connected with arm 10 in second mounting base 300, in this way, because being connected with the second mounting base 300 on main body 110 When the output shaft of one driving device 100 drives main body 110 to rotate relative to the first mounting base 200, the second mounting base 300 and arm 10 can rotate relative to the first mounting base 200, that is, the shoulder structure can drive shoulder in the plane being parallel to before trunk Portion's arm 10 below, hand etc. move together, are similar to human arm, that realizes entire arm swings up and down movement.

In addition, again as shown in Fig. 2, the wall surface of the inner sidewall 211 of the first mounting plate 210 and first driving device 100 it is another There are gaps 212 for one end, specially 111 end face of tail portion of main body 110.In other words, in the output of first driving device 100 In the axial direction of axis, the first mounting plate 210 and main body 110 are not touched.In this way, be conducive to reduce rotation when main body 110 with Friction between first mounting plate 210, so that rotational action is more smooth, and convenient for reducing the power output of first driving device 100 Square.

As shown in Figure 1, the shoulder structure further includes position-limit mechanism 400.To keep the structure of the shoulder structure more compact, limit Position mechanism 400 is placed in gap 212.To be limited in the position-limit mechanism 400 centainly main body 110, the second mounting base 300 Rotation, prevents from colliding because of inordinate rotation and trunk, so that it is guaranteed that the security reliability of robot, position-limit mechanism in range 400 include fixed part and rotating part.Wherein, fixed part detachable connection is on the first mounting plate 210, fixed part Different rotational angle ranges can be limited out, in this way, in dismounting and maintenance process, convenient replacement meet demand or damage in real time Fixed part.In addition, can also according to the range difference of rolling over of variety classes robot, by assemble different steering engine and The topology layout of fixed part is adaptively adjusted, the position-limit mechanisms 400 of different rotational angle demands is met with quick adjust out, from And the existing structure of the shoulder structure can be made full use of, it is conducive to save production and maintenance cost.

Accordingly, as shown in Figure 1, rotating part is connected in the second mounting base 300 or rotating part is connected to the first drive On the lateral wall of dynamic device 100, specially it is connected on the lateral wall of main body 110.In this way, when main body 110 drives around first When the center line 20 of the output shaft of dynamic device 100 rotates, entire rotating part can follow the second mounting base 300 in main body It is rotated synchronously under 110 linkage or directly with main body 110.For the rotational action is limited in corresponding rotational angle range Interior, rotating part is rotated in corresponding rotational angle range around the center line of output shaft 20 by the backstop of fixed part.It can To understand ground, the prevention by force of rotating part is further rotated by fixed part, so that the electricity in first driving device 100 Chance stops operating because overload occurs, and finally ensures that arm 10 rotates in corresponding rotational angle range.

Generally, the shoulder structure is simple and compact for structure, dismount easy to maintain, high reliablity, it is at low cost, flexibility and Versatility is good.

Further, as a kind of specific embodiment of shoulder structure provided by the utility model, such as Fig. 2 and Fig. 4 institute Show, the fixed part of position-limit mechanism 100 includes at least two first locating parts 410, limits out reasonable angle of rotation in this way, facilitating Spend range.As shown in Fig. 2, 410 detachable connection of the first locating part is in the second mounting plate 220 of direction of the first mounting plate 210 Side wall (namely inner sidewall 211 of the first mounting plate 210) on, wherein the head 411 of the first locating part 410 is located at gap 212 It is interior, and head 411 surrounds the center line 20 of output shaft circumferentially.Specifically in the present embodiment, to simplify structure, first is limited Part 410 can also be able to be certainly other suitable locating parts for screw pieces such as bolt or screws.

Accordingly, the rotating part of position-limit mechanism 100 includes the second locating part 420.Again as shown in Fig. 2, the second locating part 420 are set to the lateral wall of the second mounting base 300.Or second locating part 420 can also be directly arranged at first driving device 100 Lateral wall on.For convenience of limit, the second locating part 420 includes limiting section 423, wherein and limiting section 423 is located in gap 212, And it is located on same circumference with two heads 411.It is to be appreciated that the second locating part 420 is by 423 backstop of limiting section at two the The head 411 of one locating part 410 corresponds to the limitation of rotational angle to realize.

Further, as a kind of specific embodiment of shoulder structure provided by the utility model, such as Fig. 3, Fig. 4 and figure Shown in 7, be connected to for convenience first driving device 100 (on the other end (the specially tail portion 111 of main body 110), first peace The free end of loading board 210 offers the first mounting hole 213 along the axial direction of output shaft.As shown in figure 8, terminal pad 500 includes successively End to end grafting axis 510, limit shaft 520 and mounting disc 530.

As shown in Figure 2 and Figure 6, in the present embodiment, grafting axis 510 connects the other end of first driving device 100 (specifically For the tail portion 111 of main body 110).Specifically, grafting axis 510 is inserted in main body 110, wherein the tail portion of main body 110 111 are built-in with bearing (not shown), and grafting axis 510 is by being inserted in the inner ring of bearing to realize terminal pad 500 and main body 110 Rotation connection；Limit shaft 520 is inserted in the first mounting hole 213 to realize the connection of terminal pad 500 and the first mounting plate 210, A part of limit shaft 520 is located in gap 212 namely the axial length of limit shaft 520 is greater than the hole depth of the first mounting hole 213；Peace Sabot 530 is installed on the lateral wall of the first mounting plate 210 connection reliability for ensuring terminal pad 500 Yu main body 110.

As shown in figure 4, the first locating part 410 is located at the periphery of mounting disc 530, in this way, facilitating the installation cloth of each components Office, and be conducive to reduce the impact force to the first locating part 410, so that it is guaranteed that the reliability of limit.Specifically in the present embodiment, it is Ensuring the smoothness rotated, and simplifies structure, grafting axis 510, limit shaft 520 and mounting disc 530 are coaxially disposed, and they The center line 20 of center line and the output shaft of first driving device 100 is located along the same line.Similarly, first mounting hole 213 Center line of the center line also with limit shaft 520 is located along the same line.

Specifically in the present embodiment, to prevent main body 110 during rotation, terminal pad 500 follows rotation, such as Fig. 6 To the first mounting hole 213 shown in Fig. 8, is surrounded, multiple location holes 216, accordingly, mounting disc are offered on the first mounting plate 210 Fluted 531 are opened up on 530 periphery wall, in this way, when location hole 216 is plugged with locating piece (not shown), the head of locating piece (not shown) can be located in groove 531, in this way, the head by locating piece limits, terminal pad 500 will be unable to that circumferential turn occurs It is dynamic.

Further, as a kind of specific embodiment of shoulder structure provided by the utility model, such as Fig. 6 and Fig. 7 institute Show, to install the first locating part 410 on the first mounting plate 210, in the periphery of mounting disc 530, the inside of the first mounting plate 210 Multiple limit holes 214 are offered around the center line 20 of output shaft on wall 211, wherein the is equipped in any two limit hole 214 One locating part 410.It is to be appreciated that can be determined according to specific rotational angle demand specifically using any two limit holes 214.

As shown in Figure 4 and Figure 5, the circumferential direction rotated in the center line 20 around output shaft, the limiting section of the second locating part 420 423 are located between the head 411 of corresponding two first locating part 410.In this way, when arm 10 is swung close to the direction of trunk, limit Position portion 423 can prevent rotation by the head 411 of the first locating part 410 close to trunk side and limit, conversely, can be by remote The head 411 of the first locating part 410 from trunk side prevents rotation and limits.

Further, as a kind of specific embodiment of shoulder structure provided by the utility model, such as Fig. 4 and Fig. 5 institute Show, watches the turned position of the limiting section 423 of the second locating part 420, the periphery of the first mounting hole of Yu Suoshu 213, institute for convenience The free end for stating the first mounting plate 210 offers form 215.Specifically in the present embodiment, form 215 is provided with the first mounting plate On 210 peripheral wall, and communicated with the first mounting hole 213.In addition, and be easily installed the first locating part 410, form 215 is usual It is provided with close to the position of one of them the first locating part 410, in this way, the limiting section 423 when the second locating part 420 turns to When dynamic extreme angles, it can directly be watched by form 215, the abrasion condition to the first locating part 410 can also be directly observed, It is convenient to find and replace in time.

Further, as a kind of specific embodiment of shoulder structure provided by the utility model, as shown in figure 9, Two locating parts 420 further include fixed part 421 and interconnecting piece 422.Wherein, fixed part 421, interconnecting piece 422 and limiting section 423 be successively It joins end to end, specifically in the present embodiment, as shown in Figure 3 and Figure 4, the second mounting base 300 is in U-shape structure.Specifically, the second peace Dress seat 300 includes the third mounting plate 310 and the 4th mounting plate 320 being oppositely arranged.Wherein, as shown in Fig. 2, to make shoulder structure More compact and facilitate protection Servo-controller 100, the main body 110 of Servo-controller 100 is built in third mounting plate 310 and the Between four mounting plates 320.As shown in Fig. 2, the fixed part 421 of the second locating part 420 is connected to the lateral wall of the second mounting base 300 On.Specifically, watch and operate for convenience, fixed part 421 is set on the lateral wall of third mounting plate 310, limiting section 423 by The end of interconnecting piece 422 is radially extended along output shaft, and protrudes from third mounting plate 310 toward gap 212.Certainly in fact, Fixed part 421 may also be disposed on the lateral wall or other suitable positions of the 4th mounting plate 320.

Alternatively, the case where the second locating part 420 is directly arranged at the lateral wall of first driving device 100, the second limit Part 420 can also be the screw piece being mounted in first driving device 100, in this way, the screw head of screw piece is signified limiting section 423。

It should be noted that specifically in the present embodiment, to simplify structure and improving compactedness, the second mounting base 300 is vertical Setting, first driving device 100 are horizontally set at the inside of the second mounting base 300, the laterally setting and by the of the first mounting base 200 One driving device 100 is also surrounded inside it.

For another example shown in Fig. 2, Fig. 4 and Fig. 5, the limiting section 423 of the second locating part 420 be parallel to the first mounting plate 210 and with The limit shaft 520 of terminal pad 500 is just opposite, in this way, limiting section 423 can be in 411 He of head of two the first locating part 410 It is slided in the space that limit shaft 520 surrounds, conducive to the stability for ensuring the rotation of the second locating part 420, and then guarantees that arm 10 is put Dynamic stability.In addition, for the smoothness for ensuring the rotation of the second locating part 420, as shown in figures 4 and 9, the second locating part 420 Limiting section 423 be adapted to towards a side end face of limit shaft 520 with the periphery wall surface that limit shaft 520 exposes in gap 212. Specifically in the present embodiment, limit shaft 520 is circular shaft, and accordingly, the end face towards limit shaft 520 of limiting section 423 is circular arc Face 4231.

As shown in Figure 2 and Figure 5, to keep the structure of the shoulder structure more compact, in the output shaft of first driving device 100 Axial direction, the thickness of the limiting section 423 of the second locating part 420 is less than or equal to length of the limit shaft 520 in gap 212 Degree, in this way, can guarantee what limiting section 423 surrounded on the head 411 of two the first locating part 410 and limit shaft 520 always It is slided in space, prevents limiting section 423 in operational process from jumping and interfering with other components, to be conducive to be promoted The stability of operation.

Specifically in the present embodiment, the second locating part 420 is plate, and accordingly, limiting section 423 is limit plate.For simplification Structure and raising compactedness, as shown in figure 5, in the side close to main body 110, plate face and the limit shaft 520 of limit plate 423 End face alignment.In addition, as shown in Figure 2 and Figure 4, the plate face size of limit plate 423 is adapted to the size of form 215.In this way, working as When the stationary state of normality, limit plate 423 can block form 215, prevent dust etc. from entering inside shoulder structure, to protect shoulder Portion's structure.

It should be noted that then as shown in Figure 2 and Figure 5, in gap 212, the length on the head 411 of the first locating part 410 Less than or equal to the length of limit shaft 520, the head 411 and the periphery of limit shaft 520 of two the first locating parts 410 are ensured with this It the space surrounded between wall can be relatively closed.In this way, one can make the shoulder structure more compact；Two come be conducive to ensure run energy It is more smooth, convenient for preventing the limiting section 423 of the second locating part 420 from interfering in the process of running with limit shaft 520.

By it is upper it is to be appreciated that the shoulder structure provided in the utility model embodiment working principle approximately as:

It borrows two bolts to be fixed on the first mounting plate 210 of the first mounting base 200, in first driving device 100 Under driving, the first mounting base and first driving device are relatively rotated, and the output shaft of specially first driving device 100 links, and it is led The arm 10 of body 110, the second mounting base 300 and the connection of the second mounting base 300 is together around the defeated of first driving device 100 The center line 20 of shaft rotates, and when turning to certain angle, the head 411 of bolt and is fixed on the second mounting base 300 The limiting section 423 of the second locating part 420 collide, cause first driving device 100 to stop operating, so that arm 10 only exists It is swung up and down in the rotational angle range of two bolts limitation relative to trunk.

The utility model also provides a kind of robot, which includes above-mentioned shoulder structure.In general, the robot is also Including trunk (not shown) and arm 10, wherein one end of above-mentioned shoulder structure is specially that the second driving device (not shown) connects It connects on trunk, the other end is connected on arm 10.Generally, which not only ties by using above-mentioned shoulder structure Structure is simple and compact, and its arm 10 swings up and down that movement is smooth, and limit is accurate.

The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model.For this For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model Within, any modification, equivalent replacement, improvement and so on should be included within the scope of the claims of the utility model.

Claims (10)

1. a kind of shoulder structure, it is characterised in that: include:

First driving device is laterally arranged, and one end is the output end for being extended with output shaft；

Terminal pad is rotationally connected on the other end of the first driving device；

First mounting base is set to the first driving device on the side of trunk, in the band of the first driving device The dynamic lower and first driving device is rotatablely connected；And

Second mounting base, one end arm portions, the other end connect the first driving device；

Wherein, first mounting base includes:

First mounting plate, free end are connected in the terminal pad, the other end of inner sidewall wall surface and the first driving device There are gaps for end face；With

Second mounting plate, opposite with first mounting plate and be arranged in parallel, free end is connected to the first driving device On the output shaft；

The shoulder structure further include:

Position-limit mechanism is placed in the gap, including detachable connection on first mounting plate fixed part and The rotating part being connected on second mounting base or the first driving device lateral wall；

The fixed part can limit out different rotational angle ranges, the backstop that the rotating part passes through the fixed part It is rotated in the corresponding rotational angle range around the center line of the output shaft.

2. shoulder structure according to claim 1, which is characterized in that the fixed part includes at least two first limits Part, the rotating part include the second locating part；

First locating part, detachable connection on the side wall towards second mounting plate of first mounting plate, Head is located at the center line in the gap and around the output shaft circumferentially；

Second locating part is set to the lateral wall of second mounting base or is set to the outer of the first driving device On side wall, it is located at the limiting section on same circumference including being located in the gap, with two heads.

3. shoulder structure according to claim 2, which is characterized in that the free end of first mounting plate is along the output The axial direction of axis offers the first mounting hole；The terminal pad includes:

Grafting axis connects the other end of the first driving device；

Limit shaft is inserted in first mounting hole, and a part is located in the gap；And

Mounting disc is installed on the lateral wall of first mounting plate；

Wherein, first locating part is located at the periphery of the mounting disc.

4. shoulder structure according to claim 3, which is characterized in that the periphery of Yu Suoshu mounting disc, first installation Center line on the inner sidewall of plate around the output shaft offers multiple limit holes, installs in any two limit hole State the first locating part；The limiting section of second locating part is between corresponding two first locating part.

5. shoulder structure according to claim 3, which is characterized in that the periphery of the first mounting hole of Yu Suoshu, described first The free end of mounting plate offers to watch the form of the limiting section.

6. shoulder structure according to claim 3, which is characterized in that second locating part further includes fixed part and connection Portion, the fixed part, the interconnecting piece and the limiting section successively join end to end；The fixed part is connected to second installation On the lateral wall of seat；The limiting section is parallel to first mounting plate and just opposite with the limit shaft；In the output shaft Axial direction, the thickness of the limiting section is less than or equal to length of the limit shaft in the gap.

7. shoulder structure according to claim 6, which is characterized in that a side of the limiting section towards the limit shaft End face is adapted to the periphery wall surface that the limit shaft exposes in the gap.

8. shoulder structure according to claim 6 or 7, which is characterized in that second mounting base is in U-shape structure, including The third mounting plate and the 4th mounting plate being oppositely arranged, the main body of the first driving device are built in the third mounting plate Between the 4th mounting plate, the fixed part of second locating part is set to the lateral wall of the third mounting plate On, the limiting section protrudes from the third mounting plate toward the gap along the axial of the output shaft.

9. according to the described in any item shoulder structures of claim 2 to 7, which is characterized in that first locating part be bolt or Screw, the first driving device are Servo-controller.

10. a kind of robot, which is characterized in that the robot includes shoulder knot according to any one of claims 1 to 9 Structure.