CN105234957A - Robot and robot joint structure thereof - Google Patents
Robot and robot joint structure thereof Download PDFInfo
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- CN105234957A CN105234957A CN201510791339.2A CN201510791339A CN105234957A CN 105234957 A CN105234957 A CN 105234957A CN 201510791339 A CN201510791339 A CN 201510791339A CN 105234957 A CN105234957 A CN 105234957A
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- motor shaft
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Abstract
The invention discloses a robot and a robot joint structure thereof, wherein the robot joint structure comprises a brake (7), a motor shaft (4) with a wiring hole and a connecting piece (5) positioned on the outer wall of the motor shaft (4), and the connecting piece (5) and the motor shaft (4) are coaxially arranged; the outer wall of connecting piece (5) with the hole circumference of stopper (7) is fixed, connecting piece (5) with have between motor shaft (4) along a plurality of fixed connection positions of the even setting of circumference of motor shaft (4). The robot joint structure provided by the embodiment of the invention avoids the arrangement of a rotor hub and a transmission structure, effectively simplifies the robot joint structure, reduces the size and weight of the robot joint structure, and facilitates the assembly and use of the robot joint structure.
Description
Technical field
The present invention relates to technical field of transmission equipment, particularly a kind of robot and robot joint structure thereof.
Background technology
At present, the inner cabling mode of the many employings of robot joint structure.Artificially routine with 6 axle lightweight machines, articulation structure is inner Wiring structure.Diameter due to brake wheel hub limits the diameter of motor shaft, makes motor shaft be difficult to make the hollow structure for cabling.Therefore, robot joint structure adopts the structure that motor is biased to realize the inner cabling of joint of robot to the cable of dodging intra articular mostly; But this kind of structure makes articulation structure size become large, thus causes robot overall dimensions weight to increase.Also some robot joint structure adopts the core motor axle of special brake and large-diameter to match and realizes inner cabling.In this joint, brake is arranged on the bonnet of motor, is connected with the rear-end transmission of motor output shaft by gear drive; But this kind of structure causes robot joint structure complicated, and size and the weight in joint are larger.
Therefore, how simplifying structure, minification and weight, is the art personnel problem demanding prompt solutions.
Summary of the invention
In view of this, the invention provides a kind of robot joint structure, to simplify structure, minification and weight.The invention also discloses a kind of robot.
For achieving the above object, the invention provides following technical scheme:
As can be seen from above-mentioned technical scheme, robot joint structure provided by the invention, comprises brake and has the motor shaft of cable hole, also comprise the connector be positioned on described motor shaft outer wall, described connector and described motor shaft coaxially arranged;
The endoporus circumference of the outer wall of described connector and described brake is fixing, and what the circumference had between described connector with described motor shaft along described motor shaft was evenly arranged is multiplely fixedly connected with position.
Preferably, in above-mentioned robot joint structure, described in be fixedly connected with position and comprise the connector screwed hole that is arranged on described connector and be positioned at described connector screwed hole and the connecting bolt be connected with described motor shaft.
Preferably, in above-mentioned robot joint structure, described motor shaft is provided with the motor shaft screwed hole that arrange corresponding to described connector screwed hole;
Described connecting bolt connects described connector screwed hole and described motor shaft screwed hole.
Preferably, in above-mentioned robot joint structure, described motor shaft screwed hole runs through the hole wall of described cable hole and the outer wall of described motor shaft.
Preferably, in above-mentioned robot joint structure, align with the hole wall of described cable hole in one end that described connecting bolt stretches into described motor shaft screwed hole.
Preferably, in above-mentioned robot joint structure, the outer wall of described connecting bolt and described motor shaft offsets.
Preferably, in above-mentioned robot joint structure, described connector and described motor shaft are integral type structure.
Preferably, in above-mentioned robot joint structure, described connector and described motor shaft are weld the integral structure formed, described in be fixedly connected with position be welding position.
Preferably, in above-mentioned robot joint structure, described connector and described motor shaft are the integral structure that injection moulding is formed.
Preferably, in above-mentioned robot joint structure, the outer wall of described connector is prism structure, and the endoporus of described brake is the prism hole be mated.
Present invention also offers a kind of robot, comprise robot joint structure, described robot joint structure is the robot joint structure as described in above-mentioned any one.
Robot joint structure provided by the invention, in installation process, is multiplely fixedly connected with position by arranging between connector with motor shaft, and what ensure that connector and motor shaft is fixedly connected with performance; Again brake is sheathed on the outer wall of connector, makes the endoporus circumference of the outer wall of connector and brake fixing.By said structure, avoid arranging rotor hub and drive mechanism, effectively simplify robot joint structure, reduce size and the weight of the robot joint structure that the embodiment of the present invention provides, facilitate assembling and the use of robot joint structure.
Present invention also offers a kind of robot with above-mentioned robot joint structure.Because above-mentioned robot joint structure has above-mentioned technique effect, the robot with above-mentioned robot joint structure also should have same technique effect, introduces no longer in detail at this.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
The cross-sectional schematic of the robot joint structure that Fig. 1 provides for the first embodiment of the present invention;
The exploded perspective view of the robot joint structure that Fig. 2 provides for the first embodiment of the present invention;
The structural representation of the connector that Fig. 3 provides for the second embodiment of the present invention and motor shaft.
Detailed description of the invention
The invention discloses a kind of robot joint structure, to simplify structure, minification and weight.The invention also discloses a kind of robot.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Please refer to Fig. 1 and Fig. 2, the cross-sectional schematic of the robot joint structure that Fig. 1 provides for the first embodiment of the present invention; The exploded perspective view of the robot joint structure that Fig. 2 provides for the first embodiment of the present invention.
Embodiments provide a kind of robot joint structure, comprise brake 7, have the motor shaft 4 of cable hole and the connector 5 of connection motor shaft 4 and brake 7; Connector 5 is positioned on motor shaft 4 outer wall, and connector 5 is coaxially arranged with motor shaft 4; The endoporus circumference of the outer wall of connector 5 and brake 7 is fixing, and what the circumference had between connector 5 with motor shaft 4 along motor shaft 4 was evenly arranged is multiplely fixedly connected with position.
The robot joint structure that the embodiment of the present invention provides, in installation process, is multiplely fixedly connected with position by arranging between connector 5 with motor shaft 4, and what ensure that connector 5 and motor shaft 4 is fixedly connected with performance; Brake 7 is sheathed on the outer wall of connector 5 again, makes the endoporus circumference of the outer wall of connector 5 and brake 7 fixing.By said structure, avoid arranging rotor hub and drive mechanism, effectively simplify robot joint structure, reduce size and the weight of the robot joint structure that the embodiment of the present invention provides, facilitate assembling and the use of robot joint structure.
As depicted in figs. 1 and 2, in the present embodiment, be fixedly connected with position comprise the connector screwed hole that is arranged on connector 5 and be positioned at connector screwed hole and the connecting bolt 6 be connected with motor shaft 4.That is, being fixedly connected with position is bolt connection bit.The outer wall of connector 5 is provided with multiple connector screwed hole be evenly arranged along its circumference; The connecting bolt 6 be connected with motor shaft 4 is provided with in connector screwed hole.Compared with connecting with key, avoid the thickness of reserved keyway on the motor shaft (4), only need by connecting bolt 6, connector 5 to be fixedly connected with motor shaft 4.Therefore, reduce the thickness requirements of outer wall to the hole wall of cable hole of motor shaft 4, and then the convenient aperture expanding cable hole.By expanding cable hole, the cabling facilitating motor shaft inside is arranged, and, decrease the entity part of motor shaft 4, further mitigate the weight of robot joint structure.
In the present embodiment, robot joint structure comprises joint housing 1, motor 2, brake fixing seat 3, motor shaft 4, connector 5, connecting bolt 6 and brake 7 and forms.Wherein, motor 2 is arranged in joint housing 1, and drive motors axle 4 rotates in brake 7, and brake 7 is fixed with motor shaft 4 circumference by connector 5 and connecting bolt 6, brake fixing seat 3 is fixedly connected with joint housing 1, coordinating to be formed and brake by brake fixing seat 3 and brake 7.
In order to improve motor shaft 4 and the connective stability of connector 5, motor shaft 4 is provided with the motor shaft screwed hole that arrange corresponding to connector screwed hole; Connecting bolt 6 connects connector screwed hole and motor shaft screwed hole.
In the present embodiment, motor shaft 4 screwed hole runs through the hole wall of cable hole and the outer wall of motor shaft 4.By above-mentioned setting, increase the effective length of motor shaft screwed hole and connecting bolt 6 threaded engagement, further increase the connective stability of motor shaft 4 and connector 5.
As shown in Figure 1, the hole wall of connecting bolt 6 one end and cable hole of stretching into motor shaft screwed hole aligns.In the present embodiment, while effectively ensure that the connective stability of motor shaft 4 and connector 5, avoid connecting bolt 6 and mutually interfere with the inside cabling of cable hole.
Also connecting bolt 6 can be made to be positioned at motor shaft screwed hole and to have a segment distance apart from the hole wall of cable hole, connecting bolt 6 also can be made to stretch out the hole wall of cable hole.
The robot joint structure that the embodiment of the present invention provides, connecting bolt 6 offsets with the outer wall of motor shaft 4.That is, using connecting bolt 6 as fastening bolt, on the motor shaft (4) screwed hole not being set, by tightening connecting bolt 6, the outer wall of its end and motor shaft 4 being offseted, and then reach the connection of arbor 4 and connector 5.By above-mentioned setting, avoid perforate on the motor shaft (4), ensure that the intensity of motor shaft 4.
As shown in Figure 3, in the present embodiment, being fixedly connected with position is integral type connection bit.That is, connector 5 and motor shaft 4 are integral type structure.By above-mentioned setting, avoid arranging miscellaneous part, further simplify the overall structure of robot joint structure.
Be in the embodiment of integral type structure at the first connector 5 with motor shaft 4, connector 5 is weld the integral structure formed with motor shaft 4, and being fixedly connected with position is welding position.In process, connector 5 is sheathed on motor shaft 4, is being connected on the two contact surface by spot welding or other modes.By connector 5 and motor shaft 4 being processed respectively, reduce difficulty of processing.
Be in the embodiment of integral type structure at the second connector 5 with motor shaft 4, the integral structure that connector 5 and motor shaft 4 are formed for injection moulding.This embodiment improves the connection effect of connector 5 and motor shaft 4.
The outer wall of connector 5 is prism structure, and the endoporus of brake 7 is the prism hole be mated.By above-mentioned setting, the circumference only needing outer wall brake 7 being sheathed on connector 5 can complete the two is fixed, and the installation facilitating the two is fixed.
The embodiment of the present invention additionally provides a kind of robot, comprises robot joint structure, and robot joint structure is as any one robot joint structure above-mentioned.Because above-mentioned robot joint structure has above-mentioned technique effect, the robot with above-mentioned robot joint structure also should have same technique effect, introduces no longer in detail at this.
In this description, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar portion mutually see.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the present invention.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein can without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (11)
1. a robot joint structure, comprise brake (7) and there is the motor shaft (4) of cable hole, it is characterized in that, also comprise the connector (5) be positioned on described motor shaft (4) outer wall, described connector (5) is coaxially arranged with described motor shaft (4);
The endoporus circumference of the outer wall of described connector (5) and described brake (7) is fixing, and what the circumference had between described connector (5) with described motor shaft (4) along described motor shaft (4) was evenly arranged is multiplely fixedly connected with position.
2. robot joint structure as claimed in claim 1, it is characterized in that, described in be fixedly connected with position and comprise the connector screwed hole that is arranged on described connector (5) and be positioned at described connector screwed hole and the connecting bolt (6) be connected with described motor shaft (4).
3. robot joint structure as claimed in claim 2, is characterized in that, described motor shaft (4) is provided with the motor shaft screwed hole that arrange corresponding to described connector screwed hole;
Described connecting bolt (6) connects described connector screwed hole and described motor shaft screwed hole.
4. robot joint structure as claimed in claim 3, it is characterized in that, described motor shaft screwed hole runs through the hole wall of described cable hole and the outer wall of described motor shaft (4).
5. robot joint structure as claimed in claim 4, it is characterized in that, align with the hole wall of described cable hole in one end that described connecting bolt (6) stretches into described motor shaft screwed hole.
6. robot joint structure as claimed in claim 2, is characterized in that, described connecting bolt (6) offsets with the outer wall of described motor shaft (4).
7. robot joint structure as claimed in claim 1, is characterized in that, described connector (5) and described motor shaft (4) are integral type structure.
8. robot joint structure as claimed in claim 7, is characterized in that, described connector (5) and described motor shaft (4) for weld the integral structure formed, described in be fixedly connected with position be welding position.
9. robot joint structure as claimed in claim 7, is characterized in that, the integral structure that described connector (5) and described motor shaft (4) are formed for injection moulding.
10. the robot joint structure as described in any one of claim 1-9, is characterized in that, the outer wall of described connector (5) is prism structure, and the endoporus of described brake (7) is the prism hole be mated.
11. 1 kinds of robots, comprise robot joint structure, it is characterized in that, described robot joint structure is the robot joint structure as described in any one of claim 1-10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510791339.2A CN105234957A (en) | 2015-11-17 | 2015-11-17 | Robot and robot joint structure thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510791339.2A CN105234957A (en) | 2015-11-17 | 2015-11-17 | Robot and robot joint structure thereof |
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| Publication Number | Publication Date |
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| CN105234957A true CN105234957A (en) | 2016-01-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201510791339.2A Pending CN105234957A (en) | 2015-11-17 | 2015-11-17 | Robot and robot joint structure thereof |
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| CN (1) | CN105234957A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737584A (en) * | 2016-12-29 | 2017-05-31 | 东莞市锝铼金机器人自动化有限公司 | A kind of anthropomorphic robot based on hollow driver, mini drive |
| CN107160429A (en) * | 2017-06-29 | 2017-09-15 | 乐聚(深圳)机器人技术有限公司 | Robot steering wheel component |
| CN107322634A (en) * | 2017-08-11 | 2017-11-07 | 上海智殷自动化科技有限公司 | Industrial robot rotation joint structure for hollow cabling |
| CN111791262A (en) * | 2020-06-24 | 2020-10-20 | 深圳市优必选科技股份有限公司 | hollow robotic arm |
Citations (8)
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|---|---|---|---|---|
| WO1987001326A1 (en) * | 1985-09-10 | 1987-03-12 | Fanuc Ltd | Brake system for industrial robots |
| CN2445691Y (en) * | 2000-09-15 | 2001-09-05 | 顺德市高达莱日用电器有限公司 | Shaft connecting mechanism of salad stirrer |
| CN102075031A (en) * | 2010-09-15 | 2011-05-25 | 许晓华 | Improved brake structure |
| CN102226642A (en) * | 2011-04-08 | 2011-10-26 | 东营鲁方金属材料有限公司 | Manual furnace body rotating device of revolution metallurgical furnace |
| CN104165200A (en) * | 2014-07-30 | 2014-11-26 | 东风汽车公司 | Parking braking structure used for automobile hub motor |
| CN104416579A (en) * | 2013-09-03 | 2015-03-18 | 中国科学院沈阳自动化研究所 | Intelligent modular hollow joint |
| JP2015085447A (en) * | 2013-10-31 | 2015-05-07 | セイコーエプソン株式会社 | Robot and manufacturing method of the same |
| CN205129890U (en) * | 2015-11-17 | 2016-04-06 | 珠海格力电器股份有限公司 | Robot and robot joint structure thereof |
-
2015
- 2015-11-17 CN CN201510791339.2A patent/CN105234957A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1987001326A1 (en) * | 1985-09-10 | 1987-03-12 | Fanuc Ltd | Brake system for industrial robots |
| CN2445691Y (en) * | 2000-09-15 | 2001-09-05 | 顺德市高达莱日用电器有限公司 | Shaft connecting mechanism of salad stirrer |
| CN102075031A (en) * | 2010-09-15 | 2011-05-25 | 许晓华 | Improved brake structure |
| CN102226642A (en) * | 2011-04-08 | 2011-10-26 | 东营鲁方金属材料有限公司 | Manual furnace body rotating device of revolution metallurgical furnace |
| CN104416579A (en) * | 2013-09-03 | 2015-03-18 | 中国科学院沈阳自动化研究所 | Intelligent modular hollow joint |
| JP2015085447A (en) * | 2013-10-31 | 2015-05-07 | セイコーエプソン株式会社 | Robot and manufacturing method of the same |
| CN104165200A (en) * | 2014-07-30 | 2014-11-26 | 东风汽车公司 | Parking braking structure used for automobile hub motor |
| CN205129890U (en) * | 2015-11-17 | 2016-04-06 | 珠海格力电器股份有限公司 | Robot and robot joint structure thereof |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737584A (en) * | 2016-12-29 | 2017-05-31 | 东莞市锝铼金机器人自动化有限公司 | A kind of anthropomorphic robot based on hollow driver, mini drive |
| CN107160429A (en) * | 2017-06-29 | 2017-09-15 | 乐聚(深圳)机器人技术有限公司 | Robot steering wheel component |
| CN107160429B (en) * | 2017-06-29 | 2024-11-29 | 乐聚(深圳)机器人技术有限公司 | Steering engine assembly of robot |
| CN107322634A (en) * | 2017-08-11 | 2017-11-07 | 上海智殷自动化科技有限公司 | Industrial robot rotation joint structure for hollow cabling |
| CN111791262A (en) * | 2020-06-24 | 2020-10-20 | 深圳市优必选科技股份有限公司 | hollow robotic arm |
| CN111791262B (en) * | 2020-06-24 | 2022-05-10 | 深圳市优必选科技股份有限公司 | Hollow mechanical arm |
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Application publication date: 20160113 |