CN210282353U

CN210282353U - Whole-circle rotary robot joint module

Info

Publication number: CN210282353U
Application number: CN201920920443.0U
Authority: CN
Inventors: 冯世豪; 管贻生; 叶文驹; 朱海飞; 杨宇峰; 朱炎行; 莫森宇; 蔡传武
Original assignee: Guangdong University of Technology
Current assignee: Guangdong University of Technology
Priority date: 2019-03-25
Filing date: 2019-06-18
Publication date: 2020-04-10
Anticipated expiration: 2029-06-18

Abstract

The utility model relates to the technical field of robot, more specifically relates to a whole week gyration robot joint module, including shell, drive arrangement, rotatory output modularization interface, fixed modularization interface, be used for the output drive mechanism to rotatory output modularization interface drive arrangement's power transmission, still including being used for carrying out the electrically conductive sliding ring that the electricity is connected to drive arrangement electrical interface and rotatory output modularization interface. The utility model provides a whole week rotary robot joint module transmits power to rotatory output modularization interface through output drive mechanism, and the sliding ring rotor end of leading electricity simultaneously holds and drive arrangement electrical interface connection, stator end and rotatory output interface connection, consequently, the whole week of rotatory output modularization interface is rotatory to be avoided the wire winding to tie a knot simultaneously, can realize that the whole week of rotatory output modularization interface is rotatory, has expanded the function of this module.

Description

Whole-circle rotary robot joint module

Technical Field

The utility model relates to the technical field of robots, more specifically relates to a whole week rotary robot joint module.

Background

In an existing robot system, a robot is often designed for a specific task, so that the robot lacks expansibility and reconfigurability. The cost of developing a specific robot for each specific task is high. Therefore, reconfigurable modular robots are a popular direction of research to address this problem. The modularized design can simplify design, manufacture and maintenance, effectively shorten the development period, reduce the development cost and greatly enhance the flexibility and elasticity of the system during construction.

The small-size rotary joint module of current steering wheel drive (like patent number CN201721204269.7), the problem that the wire twined can appear in the during operation, only can rotate at specific angle, can not realize whole week rotation, and the functionality is relatively poor.

Therefore, how to increase the rotation angle range of the small swing joint module, and further realize the entire rotation function of the small swing joint module, and expand the function of the swing joint module becomes a problem to be solved.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome prior art's not enough, provide a whole week rotary robot joint module, can not receive the influence that the wire winding was pull, can realize unlimited continuous whole week rotation.

In order to solve the technical problem, the utility model discloses a technical scheme is:

a full-circle-rotation robot joint module comprises a shell, a driving device, a rotary output modular interface, a fixed modular interface, an output transmission mechanism and a conductive slip ring, wherein the output transmission mechanism is used for transmitting power of the driving device to the rotary output modular interface, and the conductive slip ring is used for electrically connecting an electric interface of the driving device with the rotary output modular interface.

The utility model provides a pair of whole week rotary robot joint module carries out quick assembly disassembly through the modularization interface, and output drive mechanism installs electrically conductive sliding ring to drive arrangement's power transmission to rotatory output modularization interface in output drive mechanism, can realize whole week rotation while realizing to drive arrangement and rotatory output modularization interface realization electricity and connect under the influence that does not receive the wire winding to pull. When the rotary output modular interface is connected with the modular interfaces on other equipment, mechanical connection and electrical connection can be simultaneously realized.

Furthermore, the rotary output modular interface and the fixed modular interface are respectively provided with a modular snap ring structure, and any two modular snap ring structures can be connected in a screwing mode, so that the modules can be quickly disassembled and assembled.

Further, the driving device comprises a first electrical interface and a second electrical interface; the first electrical interface is electrically connected with the rotary output modular interface; the second electrical interface is electrically connected to the fixed modular interface.

Furthermore, the rotor end of the conductive slip ring is electrically connected with the driving device, and the stator end of the conductive slip ring is electrically connected with the rotary output modular interface. Meanwhile, the stator end and the rotary output modular interface synchronously rotate, so that the condition that wires at two ends are wound and knotted can be avoided.

Furthermore, the output transmission mechanism comprises a bearing seat fixed on the driving device, a driving gear shaft and a rotary gear shaft which are meshed with each other; the drive gear shaft is connected with an output shaft of the drive device through a spline, the special-shaped shaft part at the upper end of the rotary gear shaft is connected with the rotary output modular interface, and the bottom end of the rotary gear shaft is matched with a bearing and is arranged on a bearing block.

Furthermore, the rotary gear shaft is provided with a through hole arranged along the axial direction, the stator end of the conductive slip ring is in interference fit with the through hole, and the rotor end is close to the driving device. The stator end can rotate synchronously with the revolving gear shaft.

Furthermore, rotatory output modularization interface includes drawing die interface and two-blade part, the drawing die interface fixedly cup joint in the gyration gear shaft, two-blade part is equipped with the electrical interface.

Furthermore, the shell includes the epitheca that is close to rotatory output modularization interface, is close to the base of fixed modularization interface, the epitheca is equipped with the second bearing mount pad, drawing die interface cooperation bearing is installed in the second bearing mount pad, can install the bearing respectively through bearing frame and second bearing mount pad and carry out spacing support to gyration gear shaft and drawing die interface.

Furthermore, a cavity for wiring is arranged at the joint of the bearing seat and the driving device. The electric interface of the driving device and the lead of the rotor end of the conductive slip ring pass through the cavity.

Furthermore, the fixed modular interface is provided with an elastic anti-falling structure. The elastic anti-dropping structure is connected with the modular interfaces on other equipment and then self-locked and fixed.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the driving device and the rotary output modular interface are electrically connected through the conductive slip ring, and the problems that the rotary output modular interface is limited by an angle and cannot rotate continuously in the whole circle due to the winding of a lead are effectively solved.

2. Can carry out whole week rotation because of rotatory output modularization interface, the utility model provides a whole week rotary robot joint module can regard as the drive module of parts such as wheels except can regard as the joint module of position such as operating arm, has expanded service function, effectively improves the suitability.

Drawings

Fig. 1 is a schematic structural diagram of a joint module of a full-circle-rotation robot.

Fig. 2 is an exploded view of a full-circle-revolution robot joint module.

Fig. 3 is a schematic mechanism diagram of the joint module of the full-circle-revolving robot in fig. 1 after the upper shell 11 is removed.

Fig. 4 is a schematic structural diagram of a rotary output modular interface.

Fig. 5 is a schematic structural diagram of a fixed modular interface.

Fig. 6 is a schematic structural view of a rotary gear shaft.

Fig. 7 is a schematic bottom structure diagram of the draft interface.

Detailed Description

The present invention will be further described with reference to the following embodiments. Wherein the showings are for the purpose of illustration only and are shown by way of illustration only and not in actual form, and are not to be construed as limiting the present patent; for a better understanding of the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.

The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if there are the terms "upper", "lower", "left", "right", etc. indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of the description, but it is not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore the terms describing the positional relationship in the drawings are only for illustrative purposes and are not to be construed as limitations of the present patent, and those skilled in the art can understand the specific meanings of the terms according to specific situations.

Example 1

Fig. 1 to 7 show a first embodiment of a joint module of a full-circle-revolving robot according to the present invention. As shown in fig. 1 to 5, a joint module of a full-circle-rotation robot includes a housing 1, a driving device 2, a rotary output modular interface 5a, a fixed modular interface 5b, an output transmission mechanism for transmitting power of the driving device 2 to the rotary output modular interface 5a, and a conductive slip ring 4 for electrically connecting an electrical interface of the driving device 2 and the rotary output modular interface 5 a. Wherein the driving device 2 is a steering engine.

The utility model provides a pair of whole week rotary robot joint module carries out the modularization installation through the modularization interface, and output drive mechanism installs electrically conductive sliding ring 4 to drive arrangement's power transmission to rotatory output modularization interface 5a in output drive mechanism, can realize whole week rotation simultaneously to drive arrangement and output drive mechanism realization electricity connection under the towed influence of wire winding not. When the rotary output modular interface is connected with the modular interfaces on other equipment, mechanical connection and electrical connection can be simultaneously realized.

The rotary output modular interface 5a and the fixed modular interface 5b are both provided with modular snap ring structures, and the two modular snap ring structures can be screwed and connected.

The drive device 2 comprises a first electrical interface and a second electrical interface; the first electrical interface is connected with the conductive slip ring 4 through a lead, and then leads from the conductive slip ring 4 are electrically connected with the rotary output modular interface 5 a; the second electrical interface is electrically connected directly to the fixed modular interface 5b by a wire. The stator end of the conductive slip ring 4 is electrically connected with the driving device 2, and the rotor end is electrically connected with the rotary output modular interface 5 a.

As shown in fig. 2 and 3, the output transmission mechanism includes a bearing housing 33 fixed to the driving device 2, a driving gear shaft 31 and a revolving gear shaft 32 engaged with each other; the special-shaped shaft part at the upper end of the rotary gear shaft 32 is connected with the rotary output modular interface 5a, and the bottom end of the rotary gear shaft is matched with a bearing and is arranged on a bearing seat. The special-shaped shaft part at the upper end of the rotary gear shaft 32 is connected with the rotary output modular interface 5a, and the bottom end of the rotary gear shaft is matched with a bearing and is arranged on a bearing seat. The bearing housing is provided with a first bearing 331, and is supported by the bearing housing 33, and the lower end of the rotary gear shaft 32 is fitted to the first bearing 331. The bearing block 33 is fixed to the drive device 5 by screws.

As shown in fig. 6, the rotary gear shaft 32 is provided with a through hole axially arranged along the rotary gear shaft 32, the through hole is used for placing the conductive slip ring 4, the stator end of the conductive slip ring 4 is fixedly sleeved on the through hole, the conductive slip ring 4 and the through hole are in interference fit, and the rotor end is close to the driving device 2. The stator end is fixedly sleeved on the through hole and can synchronously rotate with the rotary gear shaft 32, and the rotor end is close to the driving device 2 to facilitate wiring. In addition, a cavity for wiring is arranged at the joint of the bearing seat 33 and the driving device 2, and a lead of an electric interface of the driving device and a rotor end of the conductive slip ring passes through the cavity.

As shown in fig. 4, the rotary output modular interface 5a includes a die interface 51 and a two-blade part 52, the die interface 51 is fixedly sleeved on the rotary gear shaft 32, and the two-blade part 52 is provided with an electrical interface. As shown in fig. 6 and 7, a polygonal boss is disposed at the upper end of the rotary gear shaft 32, a polygonal groove matched with the polygonal boss is disposed below the drawing interface 51, the drawing interface and the rotary gear shaft 32 can be fixed by matching the polygonal boss and the polygonal groove, and the rotary gear shaft 32 drives the drawing interface 51 to rotate. As shown in fig. 6, the die interface 51 and the two-blade component 52 are provided with fitting holes that are fitted to each other, and the two-blade component 52 and the die interface 51 can be fixed to each other by fastening bolts through the fitting holes. Three through holes are formed in the two leaf parts, and spring pins are mounted on the through holes to form electrical interfaces on the two leaf parts 52. The middle part of the drawing die interface 51 is provided with a wiring through hole which is communicated with the space between the two-blade part and the conductive slip ring, a lead wire is led from the rotor end of the conductive slip ring 4 and passes through the through hole to be connected with the electrical interface of the two-blade part, and when the rotary output modular interface 5a is connected with the modular interfaces of other equipment, the electrical interfaces can be mutually abutted to quickly complete the electrical connection.

In addition, as shown in fig. 1, the housing 1 includes an upper shell 11 adjacent to the rotary output modular jack 5a, and a base 12 adjacent to the fixed modular jack 5b, wherein the upper shell 11 is provided with a second bearing mounting seat, the second bearing mounting seat is provided with a second bearing 111, and the upper end of the drawing jack is mounted on the second bearing 111, so that the drawing jack 51 is rotatably mounted on the second bearing mounting seat. The installation of two coaxial parts, namely the rotary gear shaft 32 and the drawing interface 51, is completed together by respectively installing bearings at two ends of the second bearing installation seat and the bearing seat 33.

In addition, at one end of the fixed modular interface 5b, since the fixed modular interface does not need to be rotated for outputting, but only needs to be fixedly connected, the drawing interface 51 of the fixed modular interface 5b is integrally arranged on the base 12, and the driving device 2 can be directly connected to the two-blade part at the position through a lead wire, so that the electric connection is completed.

As shown in fig. 2 and 5, the fixed mold modularization joint 5b is provided with an elastic retaining structure 53. The elastic anti-disengaging structure 53 is an elastic key structure, and includes a self-locking end and an unlocking key. The self-locking end is positioned at the fixed modular interface 5b, and when the modular clamping structure is clamped and installed, the self-locking end can be pressed down through pressure, and the self-locking is completed by automatically popping out after the modular clamping structure is fixed in a rotating mode. When the connection of the modularized clamping structure needs to be released, the self-locking end can be pressed down synchronously by pressing down the unlocking key positioned on the base 12, the self-locking is released at the moment, and the modularized clamping structure can be detached and separated.

It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not limitations to the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. The utility model provides a full-circle-rotation robot joint module, includes shell (1), drive arrangement (2), rotatory output modularization interface (5a), fixed modularization interface (5b), is used for transmitting the power of drive arrangement (2) to the output drive mechanism of rotatory output modularization interface (5a), characterized by still includes and is used for carrying out electrically conductive sliding ring (4) that the electricity is connected to drive arrangement (2) electrical interface and rotatory output modularization interface (5 a).

2. A full-revolution robotic joint module according to claim 1, characterized in that said rotary output modular interface (5a) and said fixed modular interface (5b) are each provided with a modular snap ring structure, any two modular snap ring structures being screw connectable.

3. A full-revolution robotic joint module according to claim 1 or 2, characterized in that said driving means (2) comprises a first electrical interface and a second electrical interface; the first electrical interface is electrically connected with the rotary output modular interface (5 a); the second electrical interface is electrically connected with the fixed modular interface (5 b).

4. A full-revolution robotic joint module according to claim 3, characterized in that said conductive slip ring (4) is electrically connected with said driving means (2) at its rotor end and with said rotary output modular interface (5a) at its stator end.

5. A full-revolution rotary robot joint module according to claim 4, characterized in that the output transmission mechanism comprises a bearing block (33) fixed on the driving device (2), a driving gear shaft (31) and a rotary gear shaft (32) which are meshed with each other; the driving gear shaft (31) is connected with an output shaft of the driving device (2) through a spline, a special-shaped shaft part at the upper end of the rotary gear shaft (32) is connected with the rotary output modular interface (5a), and the lower end of the rotary gear shaft is matched with a bearing and is arranged on a bearing seat (33).

6. A full-revolution rotary robot joint module according to claim 5, characterized in that the rotary gear shaft (32) is provided with a through hole arranged along the axial direction, the conductive slip ring (4) has a stator end in interference fit with the through hole and a rotor end close to the driving device (2).

7. A full-revolution rotary robot joint module according to claim 6, characterized in that the rotary output modular interface (5a) comprises a draft interface (51) and two-leaf parts (52), the draft interface (51) is fixedly sleeved on the rotary gear shaft (32), and the two-leaf parts (52) are provided with electrical interfaces.

8. A full-revolution robotic joint module according to claim 7, characterized in that said housing (1) comprises an upper shell (11) close to said rotary output modular interface (5a), a base (12) close to said fixed modular interface (5b), said upper shell (11) being provided with a second bearing mount, said drawing interface (51) being bearing-mounted on said second bearing mount in cooperation.

9. A full-revolution robot joint module according to claim 5, characterized in that the connection of the bearing housing (33) and the driving device (2) is provided with a cavity for wiring.

10. A full-revolution robotic joint module according to claim 2, characterized in that said fixed modular interface (5b) is provided with an elastic anti-slip structure (53).