CN209579582U - Joint electric energy short range transmission structure and the legged type robot and mechanical arm for applying it - Google Patents
Joint electric energy short range transmission structure and the legged type robot and mechanical arm for applying it Download PDFInfo
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- CN209579582U CN209579582U CN201920031156.4U CN201920031156U CN209579582U CN 209579582 U CN209579582 U CN 209579582U CN 201920031156 U CN201920031156 U CN 201920031156U CN 209579582 U CN209579582 U CN 209579582U
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Abstract
The utility model relates to mechanical equipment joint technical field, a kind of joint electric energy short range transmission structure is disclosed, including motor and by motor-driven first connecting rod, motor includes an output shaft, and first connecting rod is connected by output shaft and motor rotation；The joint of motor and first connecting rod junction is equipped with electric energy wireless transmission component, electric energy wireless transmission component includes at least one set of electric energy transmitting coil and electric energy receiving coil, electric energy transmitting coil is fixed on motor, and electric energy receiving coil is fixed on first connecting rod or the components being fixedly connected with first connecting rod.The utility model uses wireless way for transmitting by setting electric energy wireless transmission component, by the electric energy of joint, avoids the limitation of the fatigue damage and power supply line of joint power supply line to joint motions, keeps the scope of activities in joint bigger.
Description
Technical field
The utility model relates to mechanical equipment joint technical fields, more particularly to a kind of joint electric energy short range transmission knot
Structure and the legged type robot and mechanical arm for applying it.
Background technique
Currently, generally requiring to connect various lines between two connecting rod of front and back of the joint unit of legged type robot or mechanical arm
Cable, such as the transfer bus of the power supply line of electric energy, control bus and various sensor signals is provided；When these leads pass through machinery
It, generally can be from the rotating shaft center of joint across or passing through outside joint when the joint of arm；When lead is from rotary shaft
Center at when passing through, due to the prolonged relative rotary motion of joint, various leads easily generate fatigue damage, and then quilt
Damage is broken down；When passing through from joint periphery, lead is not only easy to produce fatigue damage, but also can be easy by extraneous ring
Object in border is damaged, and also will limit the rotation angle in joint, reduces the kinematic dexterity of joint.
Utility model content
For overcome the deficiencies in the prior art, one of the purpose of this utility model is that the electric energy for providing a kind of joint is close
Distance Transmission structure realizes the wireless transmission of the electric energy of joint by coil.
The two of the purpose of this utility model are to provide a kind of legged type robot, use in the joint of legged type robot electric
Energy short range transmission structure passes through the wireless transmission that coil realizes the electric energy of legged type robot joint.
The three of the purpose of this utility model are to provide a kind of mechanical arm, mechanical arm joint using electric energy closely
Transmission structure realizes the wireless transmission of the electric energy at joint of mechanical arm by coil.
One of the purpose of this utility model adopts the following technical scheme that realization: joint electric energy short range transmission structure, including
Motor and by the motor-driven first connecting rod, the motor includes an output shaft, and the first connecting rod passes through the output
Axis and motor rotation connect；The joint of the motor and the first connecting rod junction is equipped with electric energy wireless transmission component, institute
Stating electric energy wireless transmission component includes that at least one set of electric energy transmitting coil and electric energy receiving coil, the electric energy transmitting coil are fixed
On motor, components that the electric energy receiving coil is fixed on the first connecting rod or is fixedly connected with the first connecting rod
On.
Further, the joint electric energy short range transmission structure further include signal wireless transmission component, the signal without
Line transmission assembly includes at least one set of first signal end and second signal end, and first signal end is fixed on motor, described
Second signal end is fixed on the first connecting rod.
Further, the joint electric energy short range transmission structure further include signal wireless transmission component, the signal without
Line transmission assembly includes that at least one set of first signal end and second signal end, first signal end are fixed on the motor,
Second signal end is fixed on the output shaft.
Further, the joint electric energy short range transmission structure further include signal wireless transmission component, the signal without
Line transmission assembly includes that at least one set of first signal end and second signal end, first signal end are fixed in the motor
Portion, the second signal end are fixed on the components being fixedly connected inside the motor with the output shaft.Signal is wireless
Transmission assembly is fixed to inside motor, can be reduced signal wireless transmission component to the occupancy in outside motor space, be made its whole knot
Structure is more compact；Meanwhile signal wireless transmission component being built in motor, reduce its contact with external environment, makes its work
Make relatively reliable.
Further, the electric energy transmitting coil and the electric energy receiving coil are arranged in parallel relatively, the electric energy transmitting
Coil and the electric energy receiving coil are annular shape, and are arranged concentrically with the output shaft.Electric energy transmitting coil and electricity
Energy receiving coil is so set, simple process, easy for installation, and the efficiency of transmission of electric energy is high.
Further, the signal wireless transmission component is near field communication mould group or optical communications module.
Further, the joint electric energy short range transmission structure further include signal wireless transmission component, the signal without
Line transmission assembly is near field communication mould group, is built into inside electric energy wireless transmission component, i.e., signal is wirelessly transferred component
One group of coil is shared with electric energy wireless transmission component.One can be shared when signal is wirelessly transferred component and electric energy wireless transmission component
When group coil, simplified structure can be played the role of, reduce the space occupied.
The two of the purpose of this utility model adopt the following technical scheme that realization: a kind of legged type robot, the foot formula machine
Foregoing joint electric energy short range transmission structure is equipped at person joint.
The three of the purpose of this utility model adopt the following technical scheme that realization: a kind of mechanical arm, at the joint of mechanical arm
Equipped with foregoing joint electric energy short range transmission structure.
Compared with prior art, the utility model has the beneficial effects that:
1, by setting electric energy wireless transmission component, the electric energy of joint is used into wireless way for transmitting, avoids joint
Locate the limitation of the fatigue damage and power supply line of power supply line to joint motions, keeps the scope of activities in joint bigger；
2, the joint of legged type robot uses electric energy wireless transmission component, and the electric energy of legged type robot joint is adopted
It wirelessly transmits, avoids the joint of legged type robot in frequent rotary motion, intra-articular power supply line generates tired
Strain wound；Or legged type robot joint power supply line and extraneous generation interference are avoided, while avoiding power supply line to sufficient formula
The limitation of joint of robot movement；
3, the joint of mechanical arm uses electric energy wireless transmission component, avoids the joint of mechanical arm in frequent revolution fortune
In dynamic, intra-articular power supply line generates fatigue damage；Or avoid power supply line and extraneous generate at joint of mechanical arm and interfere, together
When avoid the limitation that power supply line moves joint of mechanical arm.
4, the utility model breaks conventional arrangement, is skillfully constructed, and structure is simple, practical, manufacture easy to produce.
The utility model is described in further detail with reference to the accompanying drawings and detailed description.
Detailed description of the invention
Fig. 1 is schematic diagram when the utility model is applied to legged type robot；
Fig. 2 is the partial sectional view that the utility model is applied to its leg straight configuration when legged type robot；
Fig. 3 is the partial section enlarged view that the utility model is applied to joint when legged type robot；
Fig. 4 is the schematic diagram that the utility model is applied to mechanical arm.
In figure: 2, motor；3, first connecting rod；4, second connecting rod；5, output shaft；6, electric energy wireless transmission component；61, electric energy
Transmitting coil；62, electric energy receiving coil；7, signal is wirelessly transferred component；71, the first signal end；72, second signal end.
Specific embodiment
In the following, being described further in conjunction with attached drawing and specific embodiment to the utility model.It should be noted that
When two element " being fixedly connected ", two elements can be directly connected to or there may also be elements placed in the middle.On the contrary, when member
When part is referred to as " directly existing " another element "upper", intermediary element is not present.Term as used herein "upper", "lower" and
Similar statement is for illustrative purposes only.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein is only for the purpose of describing specific embodiments not
It is intended to the limitation present invention.
As shown in Figure 1, Figure 2, Figure 3 shows, joint electric energy short range transmission structure, including motor 2 and by the first of the driving of motor 2
Connecting rod 3, motor 2 include the output shaft 5 of an output power, and first connecting rod 3 is connected by output shaft 5 and the rotation of motor 2；Motor 2
It is equipped with electric energy wireless transmission component 6 with the joint of 3 junction of first connecting rod, electric energy wireless transmission component 6 emits including electric energy
Coil 61 and electric energy receiving coil 62, electric energy transmitting coil 61 are fixed on motor 2, and electric energy receiving coil 62 is fixed on the first company
On bar 3 or the components being fixedly connected with first connecting rod 3.Joint electric energy short range transmission structure includes at least one set of electric energy hair
Ray circle 61 and electric energy receiving coil 62.
When joint electric energy short range transmission structure is applied to legged type robot, including motor 2, first connecting rod 3, further include
The second connecting rod 4 being rotatablely connected with first connecting rod 3, the output shaft 5 that motor 2 includes, first connecting rod 3 pass through output shaft 5 and motor 2
Rotation connection；The joint of motor 2 and 3 junction of first connecting rod is equipped with electric energy wireless transmission component 6.
Electric energy wireless transmission component 6 includes at least one set of electric energy transmitting coil 61 and electric energy receiving coil 62, electric energy transmitting
Coil 61 is fixed on motor 2, and electric energy receiving coil 62 is fixed on first connecting rod 3, and electric energy transmitting coil 61 and electric energy receive
Coil 62 is opposite to be arranged in parallel.Electric energy transmitting coil 61 is driven by first circuit board, and electric energy receiving coil 62 is by second circuit
Plate is driven, and first circuit board and second circuit board all have wireless transmission driving capability；Electric energy transmitting coil 61 and electric energy connect
Take-up circle 62 can be circle, or other rules or irregular shape；In preferred embodiment, in order to improve
The efficiency of transmission of electric energy, electric energy transmitting coil 61 and electric energy receiving coil 62 are opposite to be arranged in parallel, electric energy transmitting coil 61 and electricity
Energy receiving coil 62 is selected as annulus, and the radius of annulus is equal, and is arranged concentrically with output shaft 5.
Joint electric energy short range transmission structure further includes signal wireless transmission component 7, and it includes extremely that signal, which is wirelessly transferred component 7,
Few one group of first signal end 71 and second signal end 72；First signal end 71 is driven by tertiary circuit plate, 72 quilt of second signal end
The driving of 4th circuit board, tertiary circuit plate and the 4th circuit board all have wireless communication function；Signal is wirelessly transferred component 7 can be with
It is arranged on the joint of motor 2 and 3 junction of first connecting rod, the first signal end 71 is fixed on motor 2 at this time, second signal end
72 are fixed on first connecting rod 3；Signal wireless transmission component 7 can also be arranged between motor 2 and output shaft 5, and at this time first
Signal end 71 is fixed on motor 2, and second signal end 72 is fixed on output shaft 5；Signal wireless transmission component 7 can also be arranged
In the inside of motor 2, the first signal end 71 is fixed on the inside of motor 2 at this time, and second signal end 72 is fixed on solid with output shaft 5
Surely it on the other components inside motor 2 connected, such as can be fixed on the planet carrier being fixedly connected with output shaft 5.It will
Different positions is arranged in first signal end 71 and second signal end 72, when installing signal wireless transmission component, can cooperate
Different mechanical structure is installed around it, is installed more flexible.Meanwhile it being set in motor when by signal wireless transmission component
When portion, it is isolated with external environment, thus it is relatively reliable to work.
It can be near field communication mould group that signal, which is wirelessly transferred component 7, or optical communications module, for example (,) it is infrared logical
News, ultraviolet communication, visible optical communication, laser communications.When signal wireless transmission component 7 is near field communication mould group, will believe
To the inside of electric energy wireless transmission component 6, i.e. signal wireless transmission component 7 and electric energy wireless transmission group in number wireless transmission component 7
Part 6 shares one group of coil, to simplify structure, reduces the space occupied.
As shown in figure 4, joint electric energy short range transmission structure can also apply to mechanical arm.When the joint for being applied to mechanical arm
It is similar when joint electric energy short range transmission structure is with applied to legged type robot when place.
When joint, electric energy short range transmission structure is applied on legged type robot and mechanical arm, electric energy receiving coil is received
After electric energy, the components of electric energy can be needed to power for the various sensors connecting with electric energy receiving coil or LED light etc., avoided
The limitation of range of motion and the fatigue of cable itself are damaged when passing through joint for the cable of these components power supply
It is bad.
Above embodiment is only preferred embodiments of the present invention, cannot be protected with this to limit the utility model
Range, the variation of any unsubstantiality that those skilled in the art is done on the basis of the utility model and replacement belong to
In the utility model range claimed.
Claims (9)
1. joint electric energy short range transmission structure, which is characterized in that including motor (2) and by the first of the motor (2) driving
Connecting rod (3), the motor (2) include an output shaft (5), and the first connecting rod (3) passes through the output shaft (5) and the motor
(2) rotation connection；The joint of the motor (2) and the first connecting rod (3) junction is equipped with electric energy wireless transmission component
(6), the electric energy wireless transmission component (6) includes at least one set of electric energy transmitting coil (61) and electric energy receiving coil (62), institute
Electric energy transmitting coil (61) is stated to be fixed on motor (2), the electric energy receiving coil (62) be fixed on the first connecting rod (3) or
On the components that person is fixedly connected with the first connecting rod (3).
2. electric energy short range transmission structure in joint as described in claim 1, which is characterized in that the joint electric energy closely passes
Defeated structure further includes signal wireless transmission component (7), and signal wireless transmission component (7) includes at least one set of first signal end
(71) it is fixed on motor (2) with second signal end (72), first signal end (71), the second signal end (72) is fixed
On the first connecting rod (3).
3. electric energy short range transmission structure in joint as described in claim 1, which is characterized in that the joint electric energy closely passes
Defeated structure further includes signal wireless transmission component (7), and signal wireless transmission component (7) includes at least one set of first signal end
(71) it is fixed on the motor (2) with second signal end (72), first signal end (71), second signal end (72) are fixed
On the output shaft (5).
4. electric energy short range transmission structure in joint as described in claim 1, which is characterized in that the joint electric energy closely passes
Defeated structure further includes signal wireless transmission component (7), and signal wireless transmission component (7) includes at least one set of first signal end
(71) and second signal end (72), first signal end (71) are fixed on the motor (2) inside, the second signal end
(72) it is fixed on the components being fixedly connected inside the motor (2) with the output shaft (5).
5. the joint electric energy short range transmission structure as described in claim 2-4 is any, which is characterized in that the electric energy emission lines
Circle (61) and the electric energy receiving coil (62) are arranged in parallel relatively, and the electric energy transmitting coil (61) and the electric energy receive line
Enclosing (62) is annular shape, and is arranged concentrically with the output shaft (5).
6. electric energy short range transmission structure in joint as claimed in claim 5, which is characterized in that the signal is wirelessly transferred component
It (7) is near field communication mould group or optical communications module.
7. electric energy short range transmission structure in joint as described in claim 1, which is characterized in that the joint electric energy closely passes
Defeated structure further includes signal wireless transmission component (7), and signal wireless transmission component (7) is near field communication mould group,
It is built into inside electric energy wireless transmission component (6), i.e. signal wireless transmission component (7) and electric energy wireless transmission component (6) shares
One group of coil.
8. a kind of legged type robot, which is characterized in that the legged type robot joint is equipped with as described in claim 1-7 is any
Joint electric energy short range transmission structure.
9. a kind of mechanical arm, which is characterized in that be equipped with joint electricity as claimed in claim 1 at the joint of mechanical arm
It can short range transmission structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920031156.4U CN209579582U (en) | 2019-01-08 | 2019-01-08 | Joint electric energy short range transmission structure and the legged type robot and mechanical arm for applying it |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920031156.4U CN209579582U (en) | 2019-01-08 | 2019-01-08 | Joint electric energy short range transmission structure and the legged type robot and mechanical arm for applying it |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209579582U true CN209579582U (en) | 2019-11-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920031156.4U Active CN209579582U (en) | 2019-01-08 | 2019-01-08 | Joint electric energy short range transmission structure and the legged type robot and mechanical arm for applying it |
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| CN (1) | CN209579582U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113910292A (en) * | 2021-10-11 | 2022-01-11 | 中科新松有限公司 | Mechanical arm structure |
| CN114227750A (en) * | 2021-11-25 | 2022-03-25 | 上海微创医疗机器人（集团）股份有限公司 | Mechanical arm joint structure and control method and system |
-
2019
- 2019-01-08 CN CN201920031156.4U patent/CN209579582U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113910292A (en) * | 2021-10-11 | 2022-01-11 | 中科新松有限公司 | Mechanical arm structure |
| CN114227750A (en) * | 2021-11-25 | 2022-03-25 | 上海微创医疗机器人（集团）股份有限公司 | Mechanical arm joint structure and control method and system |
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