CN214724221U

CN214724221U - Swing module and robot applying same

Info

Publication number: CN214724221U
Application number: CN202023329332.4U
Authority: CN
Inventors: 杨宇峰; 管贻生; 蔡传武
Original assignee: Foshan Biowin Robotics And Automation Co ltd
Current assignee: Foshan Biowin Robotics And Automation Co ltd
Priority date: 2020-12-30
Filing date: 2020-12-30
Publication date: 2021-11-16
Anticipated expiration: 2030-12-30

Abstract

The utility model discloses a swing module and a robot using the same, wherein the swing module comprises a first shell, a second shell, an auxiliary shaft and a swing driver, and the second shell is arranged on the first shell in a swinging way; the auxiliary shaft is detachably arranged on the first shell and used for being installed with the second shell; the swing driver is arranged in the first shell, and an output shaft of the swing driver is used for being installed with the second shell; wherein, the output shaft and the auxiliary shaft of the swing driver are arranged on two opposite sides of the first shell. Realize installing and removing the convenience through the detachable auxiliary shaft between first casing and the second casing, the utility model discloses but wide application in the robotechnology field.

Description

Swing module and robot applying same

Technical Field

The utility model relates to the technical field of robots, in particular to swing module and use its robot.

Background

The swinging module is an important module in the modular robot and has the function of swinging the joints or the trunk of the robot. However, the common swing module has the problems of inconvenient assembly and disassembly, exposed wire body, non-compact structure and the like.

SUMMERY OF THE UTILITY MODEL

For at least one among the above-mentioned technical problem of solution, the utility model provides a pendulum changes module and uses its robot, and the pendulum changes the module and conveniently installs and removes, and the technical scheme who adopts as follows:

the utility model provides a robot includes at least one pendulum commentaries on classics module.

The swing module provided by the utility model comprises a first shell, a second shell, an auxiliary shaft and a swing driver, wherein the second shell is arranged on the first shell in a swinging way; the auxiliary shaft is detachably arranged on the first shell, and the auxiliary shaft is used for being installed with the second shell; the swing driver is arranged in the first shell, and an output shaft of the swing driver is used for being mounted with the second shell; wherein the output shaft of the swing driver and the auxiliary shaft are mounted on opposite sides of the first housing.

The utility model discloses an in some embodiments, be provided with the trough in the second casing, the auxiliary shaft is provided with and is used for the intercommunication the wiring hole of trough, the wiring groove passes through the wiring hole intercommunication extremely first casing inner chamber.

In some embodiments of the present invention, the first housing is provided with an anti-separation interface and/or the second housing is provided with an anti-separation interface.

In some embodiments of the present invention, the interface portion includes a pair of discs and two engaging portions, two of the engaging portions are along the circumference of the pair of discs is disposed at opposite positions, the engaging portions are disposed with a slot, the pair of discs is disposed with two side wings, two of the side wings are along the circumference of the pair of discs is disposed at opposite positions, and the side wings are disposed with a slot.

In some embodiments of the present invention, the interface portion has two interfaces, two of the interfaces are disposed at opposite positions along the circumference of the docking tray, one of the interfaces is disposed adjacent to one of the side wings and communicates with the corresponding slot of the side wing, and the other interface is disposed adjacent to the other side wing and communicates with the corresponding slot of the side wing.

The utility model discloses an in some embodiments, the interface part includes the screens subassembly, the screens subassembly includes presses splenium, screens portion and first stand, screens portion can set up one of them with reciprocating to the kneck, a port of the draw-in groove of the corresponding flank of the department to the kneck position is used for plugging up to the screens portion, screens portion with press the splenium to connect, press the splenium to install on the first stand, be provided with the elastic component that has compression elasticity on the first stand.

In some embodiments of the present invention, the one end of the clamping groove of the side wing is provided with the stopping portion and/or the one end of the clamping groove of the engaging portion is provided with the stopping portion.

In some embodiments of the present invention, two of the side wings of the docking tray are different in size.

In some embodiments of the present invention, the second housing is provided with a detachable second bottom case, and the first column is disposed on the second bottom case.

The embodiment of the utility model has the following beneficial effect at least: set up the detachable auxiliary shaft in the swing module, install and remove the convenience between first casing and the second casing, the utility model discloses but wide application in the robotechnology field.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a block diagram of a swing module;

FIG. 2 is a partial view of area A of FIG. 1;

FIG. 3 is a top view of the structure of FIG. 1;

FIG. 4 is a cross-sectional view of the structure of FIG. 1;

FIG. 5 is a view showing a configuration of a second casing, in which a connecting port is provided at a top portion of the second casing;

FIG. 6 is a view showing a configuration of a second casing, in which a connecting port is provided at a top portion of the second casing;

FIG. 7 is a view showing a configuration of a first casing, in which a bottom of the first casing is provided with a connecting port;

fig. 8 is a structural view of the first casing, in which a bottom of the first casing is provided with a connector.

Detailed Description

Embodiments of the invention, examples of which are illustrated in the accompanying drawings, are described in detail below with reference to fig. 1 to 8, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it should be understood that if the terms "center", "middle", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. are used to indicate an orientation or positional relationship based on that shown in the drawings, it is only for convenience of description and simplicity of description, and it is not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The utility model relates to a robot, robot include at least one pendulum and change the module, realize the swing of robot joint department. For example: if the robot is provided with a plurality of swing modules, the twisting of the trunk of the robot can be realized.

Other configurations and operations of the robot are known to those skilled in the art and will not be described in detail herein, and the structure of the swing module will be described below.

The utility model relates to a swing module, swing module include first casing 101, second casing 102, auxiliary shaft 103 and swing driver 104, and second casing 102 can be asway installed on first casing 101, specifically, is provided with the fulcrum that is used for installing second casing 102 on two relative sides of first casing 101 respectively, and second casing 102 has two installation arms, and second casing 102 is through the configuration installation realization horizontal hunting on first casing 101 of installation arm and fulcrum.

An auxiliary shaft 103 is detachably provided on the first housing 101, the auxiliary shaft 103 is used for mounting with the second housing 102, specifically, the auxiliary shaft 103 is rotatable, and the auxiliary shaft 103 is fixedly mounted with the second housing 102 by a plurality of screws. Compare in current swing module play the structure of auxiliary shaft 103 effect set up to with casing integrated into one piece structure, set up auxiliary shaft 103 into detachable monomer structure, easy production, conveniently install and remove, during the installation, rotationally install auxiliary shaft 103 visitor in first casing 101 earlier, pass through screw and auxiliary shaft 103 fastening, easy and simple to handle with an installation arm of second casing 102. The swing driver 104 is used for swinging the second housing 102, the swing driver 104 is arranged in the first housing 101, an output shaft of the swing driver 104 is used for being mounted with the second housing 102, and specifically, the other mounting arm of the second housing 102 is fastened with the output shaft of the swing driver 104 through a screw. The auxiliary shaft 103 serves as one of the fulcrums on the first housing 101, and the output shaft of the swing driver 104 serves as the other fulcrum on the first housing 101, and specifically, the output shaft of the swing driver 104 and the auxiliary shaft 103 are mounted on opposite sides of the first housing 101.

It can be understood that the second housing 102 is provided with a wiring groove 105, the auxiliary shaft 103 is provided with a wiring hole for communicating the wiring groove 105, the wiring groove 105 is communicated to the inner cavity of the first housing 101 through the wiring hole, and the auxiliary shaft 103 is wired in a hollow wiring manner, so that interference with the wiring when the second housing 102 swings is avoided. As can be seen from the drawings, the end surface of the auxiliary shaft 103 is provided with a positioning protrusion, and when the second housing 102 is mounted with the first housing 101, the routing groove 105 and the positioning protrusion are configured to perform a positioning function.

As can be seen from the figures, the first housing 101 and/or the second housing 102 are/is provided with a detachment prevention interface. In some examples, if the first casing 101 and the second casing 102 both need to be externally connected, an interface portion is disposed on each of the first casing 101 and the second casing 102, specifically, an interface portion is disposed on a top portion of the second casing 102, and an interface portion is disposed on a bottom portion of the first casing 101, where the upper and lower directions in this application are referred to when the interface portions are in an upward state. In some examples, if one end of the swing joint has a need for external connection, an interface portion is provided on the first casing 101 or the second casing 102.

As can be seen from the figures, the interface section includes a docking tray 201 and two engaging sections 202. Specifically, the docking tray 201 is provided with two side wings 204, the two side wings 204 are disposed at opposite positions along the circumference of the docking tray 201, the side wings 204 are provided with locking grooves 205, the two engaging portions 202 are disposed at opposite positions along the circumference of the docking tray 201, and the engaging portions 202 are provided with locking grooves 205.

Further, the interface section has two pair of interfaces 203, the two pair of interfaces 203 being arranged at opposite positions along the circumference of the docking tray 201, wherein one pair of interfaces 203 is arranged adjacent to one of the wings 204 and communicates with the card slot 205 of the corresponding wing 204, and the other pair of interfaces 203 is arranged adjacent to the other wing 204 and communicates with the card slot 205 of the corresponding wing 204.

It can be understood that, when the two swing modules of the module a and the module b are spliced by the interface part, the two clamping parts 202 in the module a are respectively placed at the two docking interfaces 203 of the module b, and the docking tray 201 of the module a and the docking tray 201 of the module b are in side abutment. The module A and the module B rotate relatively, the side wing 204 of the module A rotates into the clamping groove 205 of the clamping part 202 of the module B, the side wall of the clamping part 202 of the module A rotates into the clamping groove 205 of the side wing 204 of the module B, the side wall of the clamping part 202 of the module B rotates into the clamping groove 205 of the side wing 204 of the module A, and the side wing 204 of the module B rotates into the clamping groove 205 of the clamping part 202 of the module A, so that the two swing modules are butted and assembled conveniently.

As can be seen from the attached drawings, the two side wings 204 of the docking tray 201 have different sizes, so that the positioning and installation are more convenient, and correspondingly, the two engaging portions 202 of the docking tray 201 have different sizes.

Further, in order to realize the anti-disengagement function, the interface portion includes a detent assembly, the detent assembly includes a pressing portion 206, a detent portion 207 and a first upright column 208, the detent portion 207 is disposed at one of the docking ports 203 in a vertically movable manner, the detent portion 207 is configured to block a port of the detent groove 205 of the corresponding side wing 204 at the position of the docking port 203, the detent portion 207 is connected to the pressing portion 206, the pressing portion 206 is mounted on the first upright column 208, an elastic member having compression elasticity is disposed on the first upright column 208, and specifically, the elastic member is a spring sleeved on the first upright column 208. When the module A and the module B are in butt joint, one clamping part 202 of the module A abuts against the clamping part 207 of the module B, one clamping part 202 of the module B abuts against the clamping part 207 of the module A, the corresponding clamping part 207 is pressed down by the clamping part 202, and after the butt joint is completed through rotation, the pressing part 206 and the clamping part 207 reset under the action of the elastic piece, so that the clamping part 202 is prevented from being separated from the clamping groove 205 of the corresponding side wall. If the two swing modules need to be separated, the pressing portions 206 on the two swing modules are pressed, the two swing modules are rotated reversely, the clamping portion 202 can be separated from the clamping groove 205 of the corresponding side wing 204, the side wing 204 can be separated from the clamping groove 205 of the corresponding clamping portion 202, and the detachment is convenient.

It will be appreciated that the first upright 208 of the detent assembly is mounted on the housing. Specifically, in the detent assembly provided on the first housing 101, the first upright 208 is fixed in the first housing 101 by a mounting plate and screws; disposed in the detent assembly on the second housing 102, the first upright 208 is disposed in the second housing 102. As can be seen from the attached drawings, the second housing 102 is provided with a detachable second bottom shell 106, the first upright column 208 is disposed on the second bottom shell 106, and the second bottom shell 106 functions as a supporting plate for the first upright column 208.

With reference to the drawings, it can be understood that the second bottom shell 106 serves as a bottom plate of the cabling channel 105, and is used for blocking cabling to avoid messy cabling.

As can be seen from the drawings, the locking groove 205 of the side wing 204 is provided with a positioning bead 209, and the outer side of the locking portion 202 is provided with a positioning hole 210. After the first module and the second module are in rotary butt joint, the positioning hole 210 in the first module and the positioning bead 209 in the second module are arranged and installed, the positioning bead 209 in the first module and the positioning hole 210 in the second module are arranged and installed, butt joint positioning between the two swing modules is achieved, tight butt joint is guaranteed, looseness is avoided, and in addition, the positioning bead 209 and the positioning hole 210 are clamped in a matched mode to play a role in preventing separation.

Further, a stopper 211 is provided at one end of the locking groove 205 of the wing 204 and/or a stopper 211 is provided at one end of the locking groove 205 of the engaging portion 202. Specifically, when the engaging portion 202 of the first module is rotated into the engaging groove 205 of the second module flank 204, the stopping portion 211 of the engaging groove 205 of the second module flank 204 is used for abutting against the engaging portion 202 of the first module. It will be appreciated that the stop 211 also serves to structurally reinforce the slot 205, preventing structural deformation of the slot 205.

As can be seen from the attached drawings, the docking tray 201 is provided with spring pins 212 for connecting the wires, and after the module a and the module b are docked, the spring pins 212 on the two swing modules are correspondingly contacted, so that signal connection between the two swing modules is realized.

In the description herein, references to the terms "one embodiment," "some examples," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" or the like, if any, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.

Claims

1. A swing module is characterized in that: comprises that

A first housing (101);

a second housing (102), the second housing (102) being swingably mounted on the first housing (101);

an auxiliary shaft (103), the auxiliary shaft (103) being detachably provided on the first housing (101), the auxiliary shaft (103) being for mounting with the second housing (102);

a swing driver (104), the swing driver (104) being disposed in the first housing (101), an output shaft of the swing driver (104) being for mounting with the second housing (102);

wherein the output shaft of the swing driver (104) and the auxiliary shaft (103) are mounted on two opposite sides of the first housing (101).

2. The swing module of claim 1, wherein: a wiring groove (105) is formed in the second shell (102), a wiring hole used for being communicated with the wiring groove (105) is formed in the auxiliary shaft (103), and the wiring groove (105) is communicated to the inner cavity of the first shell (101) through the wiring hole.

3. The swing module according to claim 1 or 2, wherein: the first shell (101) is provided with a separation-proof interface part and/or the second shell (102) is provided with a separation-proof interface part.

4. The swing module of claim 3, wherein: the interface part comprises a butt joint disc (201) and two clamping parts (202), the two clamping parts (202) are arranged at opposite positions along the circumference of the butt joint disc (201), the clamping parts (202) are provided with clamping grooves (205), the butt joint disc (201) is provided with two side wings (204), the two side wings (204) are arranged at opposite positions along the circumference of the butt joint disc (201), and the side wings (204) are provided with the clamping grooves (205).

5. The swing module of claim 4, wherein: the interface part is provided with two butt-joint interfaces (203), the two butt-joint interfaces (203) are arranged at opposite positions along the circumference of the butt-joint disc (201), one butt-joint interface (203) is arranged adjacent to one side wing (204) and communicated with a clamping groove (205) of the corresponding side wing (204), and the other butt-joint interface (203) is arranged adjacent to the other side wing (204) and communicated with the clamping groove (205) of the corresponding side wing (204).

6. The swing module of claim 5, wherein: the interface part comprises a clamping component, the clamping component comprises a pressing part (206), a clamping part (207) and a first upright post (208), the clamping part (207) is arranged at one of the interfaces (203) in a vertically movable manner, the clamping part (207) is used for blocking one port of a clamping groove (205) of a corresponding side wing (204) at the position of the interface (203), the clamping part (207) is connected with the pressing part (206), the pressing part (206) is arranged on the first upright post (208), and an elastic part with compression elasticity is arranged on the first upright post (208).

7. The swing module of claim 4, wherein: a stopping part (211) is arranged at one end of the clamping groove (205) of the side wing (204) and/or a stopping part (211) is arranged at one end of the clamping groove (205) of the clamping part (202).

8. The swing module of claim 4, wherein: the two side wings (204) of the docking tray (201) are different in size.

9. The swing module of claim 6, wherein: the second shell (102) is provided with a detachable second bottom shell (106), and the first upright column (208) is arranged on the second bottom shell (106).

10. A robot, characterized by: comprising at least one swing module according to any one of claims 1 to 9.