CN109910050A - A miniature full-circle rotary joint module - Google Patents
A miniature full-circle rotary joint module Download PDFInfo
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- CN109910050A CN109910050A CN201910228982.2A CN201910228982A CN109910050A CN 109910050 A CN109910050 A CN 109910050A CN 201910228982 A CN201910228982 A CN 201910228982A CN 109910050 A CN109910050 A CN 109910050A
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- interface
- driving device
- microminiature
- rotation output
- revolute joint
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- 230000005540 biological transmission Effects 0.000 claims abstract description 16
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 6
- 230000002265 prevention Effects 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000009434 installation Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 238000004804 winding Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to robotic technology fields, more specifically, it is related to a kind of microminiature complete cycle revolute joint module, it further include the conducting slip ring for being electrically connected to driving device electric interfaces and rotation output modular interface including shell, driving device, rotation output modular interface, fixed module interface, the output transmission mechanism for the power transmission of driving device extremely being rotated output modular interface.Microminiature complete cycle revolute joint module provided by the invention, rotation output modular interface is transferred power to by exporting transmission mechanism, conductive sliding ring rotor end is connect with driving device electric interfaces simultaneously, stator terminal is connect with rotation output interface, therefore, rotation output modular interface integral cycle rotating avoids conducting wire tangled up and knotted simultaneously, can be realized rotation output modular interface integral cycle rotating, extends the function of the module.
Description
Technical field
The present invention relates to robotic technology fields, more particularly, to a kind of microminiature complete cycle revolute joint module.
Background technique
In existing robot system, often the design robot for specific task, makes robot lack extension
Property and reconstitution.And it is very high all to develop the cost that specific robot is spent for each specific task.Therefore, it can weigh
The modularization robot of structure is at popular research direction to solve this problem.Modular design can be to design and manufacture and maintenance
Simplified, and can effectively shorten the lead time, reduce development cost, greatly enhance system building when flexibility and elasticity.
The small-sized revolute joint module (such as patent No. CN201721204269.7) of existing servo driving, at work can
There is the problem of conducting wire winding, can only be rotated in specific angle, can not achieve integral cycle rotating, it is functional poor.
Therefore, how to increase the rotation angle range of small-sized revolute joint module, and then realize small-sized revolute joint module
Integral cycle rotating function, extend the function of revolute joint module, become problem to be solved.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of microminiature complete cycle revolute joint module, energy
It is not influenced by conducting wire winding traction, is able to achieve unconfined continuous integral cycle rotating.
In order to solve the above technical problems, the technical solution adopted by the present invention is that:
A kind of microminiature complete cycle revolute joint module, including shell, driving device, rotation output modular interface, fixation
Modular interface, for the output driver the power transmission of the driving device to the rotation output modular interface
Structure further includes conductive sliding for being electrically connected to the driving device electric interfaces and the rotation output modular interface
Ring.
A kind of microminiature complete cycle revolute joint module provided by the invention carries out fast assembling-disassembling by modular interface, defeated
Transmission mechanism is the power transmission of driving device to output modular interface is rotated out, and installation is conductive sliding in output transmission mechanism
Ring, can be under the influence of not wound traction by conducting wire, to driving device and rotation output modular while realizing integral cycle rotating
Interface realizes electrical connection.When rotating the modular interface in output modular interface connection other equipment, machine can be achieved at the same time
Tool connection and electrical connection.
Further, the rotation output modular interface and the fixed module interface are equipped with modularization snap ring knot
Structure, any two modular card ring structure can screw connection, realize intermodule fast assembling-disassembling.
Further, the driving device includes the first electric interfaces and the second electric interfaces；First electric interfaces
It is electrically connected with the rotation output modular interface；Second electric interfaces are electrically connected with the fixed module interface.
Further, the conductive sliding ring rotor end is electrically connected with the driving device, and stator terminal and the rotation export
Modular interface electrical connection.Stator terminal and rotation output modular interface synchronization rotation simultaneously, can avoid the winding of both ends conducting wire and beat
The case where knot.
Further, the output transmission mechanism include the bearing block being fixed in the driving device, it is intermeshing
Gear shaft and rotary teeth wheel shaft；The gear shaft is connect with the output shaft of the driving device by spline, described
Rotary teeth wheel shaft upper end abnormity shaft portion is connect with rotation output modular interface, and bottom end fitted bearing is installed on bearing block.
Further, the rotary teeth wheel shaft is equipped with axially disposed through-hole, the conducting slip ring stator terminal and through-hole
Interference fit, rotor-end is close to the driving device.Stator terminal can be rotated synchronously with rotary teeth wheel shaft.
Further, the rotation output modular interface includes draft interface and two leaf parts, the draft interface
It is fixedly sheathed in the rotary teeth wheel shaft, the two leaves part is equipped with electric interfaces.
Further, the shell includes close to the upper casing of the rotation output modular interface, close to the stent
The pedestal of block interface, the upper casing are equipped with second bearing mounting base, and the draft Interference fit bearing is installed on second bearing
Mounting base, by bearing block and second bearing mounting base can installation axle honours rotary teeth wheel shaft respectively and draft interface is limited
Support.
Further, the bearing block and the driving device junction are equipped with the cavity for wiring.Driving device electricity
Gas interface and the conducting wire at conductive sliding ring rotor end pass through this cavity.
Further, the fixed module interface is equipped with elastic disconnecting prevention structure.Elastic disconnecting prevention structure is in fixed module
After modular interface on interface and other equipment is attached, self-locking fixation is carried out.
Compared with prior art, the beneficial effects of the present invention are:
1, driving device and rotation output modular interface are electrically connected by conducting slip ring, are effectively solved because of conducting wire
Winding cause rotate the angled restriction of output modular interface, cannot continuous integral cycle rotating the problem of.
2, because rotation output modular interface can carry out integral cycle rotating, microminiature complete cycle revolute joint mould provided by the invention
Block can be used as the drive module of such as wheel component other than it can be used as the joint module of the positions such as motion arm, expand use
Function effectively improves applicability.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of microminiature complete cycle revolute joint module.
Fig. 2 is the explosive view of microminiature complete cycle revolute joint module.
Fig. 3 is that Fig. 1 microminiature complete cycle revolute joint module sheds the structural scheme of mechanism after upper casing 11.
Fig. 4 is rotation output modular interface structure schematic diagram.
Fig. 5 is the structural schematic diagram of fixed module interface.
Fig. 6 is the structural schematic diagram of rotary teeth wheel shaft.
Fig. 7 is the bottom substance schematic diagram of draft interface.
Specific embodiment
The present invention is further illustrated With reference to embodiment.Wherein, attached drawing only for illustration,
What is indicated is only schematic diagram, rather than pictorial diagram, should not be understood as the limitation to this patent；Reality in order to better illustrate the present invention
Example is applied, the certain components of attached drawing have omission, zoom in or out, and do not represent the size of actual product；To those skilled in the art
For, the omitting of some known structures and their instructions in the attached drawings are understandable.
The same or similar label correspond to the same or similar components in the attached drawing of the embodiment of the present invention；It is retouched in of the invention
In stating, it is to be understood that if the orientation or positional relationship for having the instructions such as term " on ", "lower", "left", "right" is based on attached drawing
Shown in orientation or positional relationship, be merely for convenience of description of the present invention and simplification of the description, rather than indication or suggestion is signified
Device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore positional relationship is described in attached drawing
Term only for illustration, should not be understood as the limitation to this patent, for the ordinary skill in the art, can
To understand the concrete meaning of above-mentioned term as the case may be.
Embodiment 1
A kind of first embodiment of microminiature complete cycle revolute joint module of the present invention as shown in Figure 1 to Figure 7 shows the.Extremely such as Fig. 1
Shown in Fig. 5, a kind of microminiature complete cycle revolute joint module, including shell 1, driving device 2, rotation output modular interface 5a,
Fixed module interface 5b, the output driver for the power transmission of driving device 2 extremely being rotated output modular interface 5a
Structure further includes the conducting slip ring 4 for being electrically connected to 2 electric interfaces of driving device and rotation output modular interface 5a.
Wherein, driving device 2 is steering engine.
A kind of microminiature complete cycle revolute joint module provided by the invention carries out modularization installation by modular interface,
Transmission mechanism is exported the power transmission of driving device to output modular interface 5a is rotated, installs and leads in output transmission mechanism
Electric slip ring 4, can be under the influence of not wound traction by conducting wire, to driving device and output driver while realizing integral cycle rotating
Structure realizes electrical connection.When rotating the modular interface in output modular interface connection other equipment, machinery can be achieved at the same time
Connection and electrical connection.
Rotation output modular interface 5a and fixed module interface 5b is equipped with modular card ring structure, two modularizations
Snap ring structure can screw conjunction connection.
Driving device 2 includes the first electric interfaces and the second electric interfaces；First electric interfaces are connected conductive by conducting wire
Slip ring 4, then be electrically connected from lead from conducting slip ring 4 and rotation output modular interface 5a；Second electric interfaces are by leading
Line is directly electrically connected with fixed module interface 5b.Wherein, 4 stator terminal of conducting slip ring is electrically connected with driving device 2, rotor-end with
Rotate output modular interface 5a electrical connection.
As shown in Figures 2 and 3, output transmission mechanism include the bearing block 33 being fixed in driving device 2, it is intermeshing
Gear shaft 31 and rotary teeth wheel shaft 32；The 32 upper end abnormity shaft portion of rotary teeth wheel shaft and rotation output modular interface
5a connection, bottom end fitted bearing are installed on bearing block.The 32 upper end abnormity shaft portion of rotary teeth wheel shaft and rotation output mould
The 5a connection of block interface, bottom end fitted bearing are installed on bearing block.First bearing 331 is installed on bearing block, passes through bearing
Seat 33 is supported, and 32 lower end of rotary teeth wheel shaft is matched with first bearing 331.Bearing block 33 is fixed by screws in driving device
On 5.
As shown in fig. 6, rotary teeth wheel shaft 32 is equipped with the through-hole being axially arranged along rotary teeth wheel shaft 32, through-hole is led for placing
Electric slip ring 4,4 stator terminal of conducting slip ring are fixedly sheathed in through-hole, conducting slip ring 4 and the through-hole in interference fit, and rotor-end is close
Driving device 2.Stator terminal is fixedly sheathed in the synchronous rotation of through-hole Shi Keyu rotary teeth wheel shaft 32, and rotor-end is close to driving device 2
Facilitate carry out wiring.In addition, bearing block 33 and 2 junction of driving device are equipped with the cavity for wiring, driving device is electrically connect
Mouth and the conducting wire at conductive sliding ring rotor end pass through this cavity.
Wherein, as shown in figure 4, rotation output modular interface 5a includes draft interface 51 and two leaf parts 52, draft
Interface 51 is fixedly sheathed in rotary teeth wheel shaft 32, and two leaf parts 52 are equipped with electric interfaces.As shown in Figure 6 and Figure 7, swiveling gear
32 upper end of axis is equipped with polygon boss, is equipped with the polygonal grooves matched with polygon boss below draft interface 51, passes through
Polygon boss and polygonal grooves match, and can carry out installation fixation, swiveling gear to draft interface and rotary teeth wheel shaft 32
Axis 32 drives draft interface 51 to rotate.In addition, as shown in fig. 6, draft interface 51 and two leaf parts 52 are equipped with and cooperate
Mounting hole, installation fixation can be carried out to two leaf parts 52 and draft interface 51 by clamping bolt by mounting hole.Two leaves zero
It is set on part there are three through-hole, spring needle is installed on through-hole, form the electric interfaces on two leaf parts 52.In draft interface 51
Portion is equipped with wiring through-hole, and wiring through-hole is connected to the space between two leaf parts and conducting slip ring, from the rotor-end of conducting slip ring 4
Middle lead can be attached across through-hole with the electric interfaces of two leaf parts, in rotation output modular interface 5a and other
When the modular interface connection of equipment, electric interfaces can be abutted mutually, and electrical connection is rapidly completed.
In addition, as shown in Figure 1, shell 1 includes close to the upper casing 11 of rotation output modular interface 5a, close to fixed module
Change the pedestal 12 of interface 5b, upper casing 11 is equipped with second bearing mounting base, and second bearing mounting base is equipped with second bearing 111, draft
Interface upper end is installed on second bearing 111, to make the rotational installation of draft interface 51 in second bearing mounting base.Pass through the second axis
It holds mounting base and bearing is installed at 33 both ends of bearing block respectively, it is common to complete that the two are total to rotary teeth wheel shaft 32, draft interface 51
The installation of axis part.
In addition, in the one end fixed module interface 5b, since fixed module interface does not need rotation output, it is only necessary to Gu
Fixed connection, therefore 51 integrated setting of draft interface of fixed module interface 5b, on pedestal 12, driving device 2 can directly draw
Line is connected on two leaf parts herein, completes electrical connection.
As shown in Figure 2 and Figure 5, fixed module interface 5b is equipped with elastic disconnecting prevention structure 53.Elastic disconnecting prevention structure 53 is bullet
Property press-key structure, including from lock end and unlock key.It is located at fixed module interface 5b from lock end, in modularization snap-in structure
It when engaging installation, can be pressed by pressure from lock end, automatic spring is completed self-locking after rotation fixes modularization snap-in structure.
It, also can be same from lock end by pressing the release tab being located on pedestal 12 when needing to release the connection of modularization snap-in structure
Step pushes, and releases self-locking locking at this time, can carry out disassembly separation to modularization snap-in structure.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention.For those of ordinary skill in the art, may be used also on the basis of the above description
To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.It is all this
Made any modifications, equivalent replacements, and improvements etc., should be included in the claims in the present invention within the spirit and principle of invention
Protection scope within.
Claims (10)
1. a kind of microminiature complete cycle revolute joint module, including shell (1), driving device (2), rotation output modular interface
(5a), fixed module interface (5b) are used to power transmission to the rotation output modular of the driving device (2) connect
The output transmission mechanism of mouth (5a), which is characterized in that further include for the driving device (2) electric interfaces and the rotation
The conducting slip ring (4) that output modular interface (5a) is electrically connected.
2. microminiature complete cycle revolute joint module according to claim 1, which is characterized in that the rotation output modular
Interface (5a) and the fixed module interface (5b) are equipped with modular card ring structure, and any two modular card ring structure is equal
Connection can be screwed.
3. microminiature complete cycle revolute joint module according to claim 1 or 2, which is characterized in that the driving device (2)
Including the first electric interfaces and the second electric interfaces；First electric interfaces and the rotation output modular interface (5a) electricity
Connection；Second electric interfaces are electrically connected with the fixed module interface (5b).
4. microminiature complete cycle revolute joint module according to claim 3, which is characterized in that the conducting slip ring (4) turns
Sub- end is electrically connected with the driving device (2), and stator terminal is electrically connected with the rotation output modular interface (5a).
5. microminiature complete cycle revolute joint module according to claim 4, which is characterized in that the output transmission mechanism packet
Include the bearing block (33) being fixed on the driving device (2), intermeshing gear shaft (31) and rotary teeth wheel shaft
(32)；The gear shaft (31) is connect with the output shaft of the driving device (2) by spline, the rotary teeth wheel shaft
(32) abnormity shaft portion in upper end is connect with rotation output modular interface (5a), and lower end fitted bearing is installed on bearing block (33)
On.
6. microminiature complete cycle revolute joint module according to claim 5, which is characterized in that the rotary teeth wheel shaft (32)
Equipped with axially disposed through-hole, conducting slip ring (4) stator terminal and through-hole are interference fitted, and rotor-end is filled close to the driving
Set (2).
7. microminiature complete cycle revolute joint module according to claim 6, which is characterized in that the rotation output modular
Interface (5a) includes draft interface (51) and two leaf parts (52), and the draft interface (51) is fixedly sheathed in the rotary teeth
Wheel shaft (32), the two leaves part (52) are equipped with electric interfaces.
8. microminiature complete cycle revolute joint module according to claim 7, which is characterized in that the shell (1) includes leaning on
Upper casing (11), the pedestal (12) close to the fixed module interface (5b) of nearly rotation output modular interface (5a),
The upper casing (11) is equipped with second bearing mounting base, and draft interface (51) fitted bearing is installed on second bearing mounting base.
9. microminiature complete cycle revolute joint module according to claim 4, which is characterized in that the bearing block (33) and institute
It states driving device (2) junction and is equipped with the cavity for being used for wiring.
10. microminiature complete cycle revolute joint module according to claim 2, which is characterized in that the fixed module connects
Mouth (5b) is equipped with elastic disconnecting prevention structure (53).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910228982.2A CN109910050A (en) | 2019-03-25 | 2019-03-25 | A miniature full-circle rotary joint module |
| CN201910527791.6A CN110125975A (en) | 2019-03-25 | 2019-06-18 | A kind of complete cycle rotary machine person joint's module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910228982.2A CN109910050A (en) | 2019-03-25 | 2019-03-25 | A miniature full-circle rotary joint module |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109910050A true CN109910050A (en) | 2019-06-21 |
Family
ID=66966647
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910228982.2A Pending CN109910050A (en) | 2019-03-25 | 2019-03-25 | A miniature full-circle rotary joint module |
| CN201910527791.6A Pending CN110125975A (en) | 2019-03-25 | 2019-06-18 | A kind of complete cycle rotary machine person joint's module |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910527791.6A Pending CN110125975A (en) | 2019-03-25 | 2019-06-18 | A kind of complete cycle rotary machine person joint's module |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN109910050A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110549363A (en) * | 2019-08-31 | 2019-12-10 | 广东工业大学 | Robot joint |
| CN110682324A (en) * | 2019-09-18 | 2020-01-14 | 广东工业大学 | A flexible robotic arm joint that can rotate at all angles |
| CN111037543A (en) * | 2019-12-06 | 2020-04-21 | 广东工业大学 | Small-size modularization robot gyration joint model |
| CN111673786A (en) * | 2020-07-19 | 2020-09-18 | 深圳市华瑞康生物科技有限公司 | A mechanical gripper that can be rotated at will |
| CN114174018A (en) * | 2019-07-25 | 2022-03-11 | 贝克霍夫自动化有限公司 | Arm module for a modular robot arm of an industrial robot |
| CN114474142A (en) * | 2022-03-10 | 2022-05-13 | 武汉联影智融医疗科技有限公司 | Passive joint and passive articulated arm for medical equipment |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116237981A (en) * | 2023-02-08 | 2023-06-09 | 瑞声光电科技(常州)有限公司 | Spring block limiting mechanism |
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| JP2003117877A (en) * | 2001-10-17 | 2003-04-23 | Japan Servo Co Ltd | Articulated industrial robot |
| JP2005040923A (en) * | 2003-07-25 | 2005-02-17 | Toyota Motor Corp | Robot axis structure and articulated robot equipped with it |
| JP4273335B2 (en) * | 2004-06-16 | 2009-06-03 | 独立行政法人産業技術総合研究所 | Robot arm |
| CN102672727B (en) * | 2012-04-01 | 2014-07-30 | 北京航空航天大学 | Robot monomer capable of realizing deformable robot |
| CN205989346U (en) * | 2016-05-23 | 2017-03-01 | 平安科技（深圳）有限公司 | Robot and its attachment means |
| CN207359112U (en) * | 2017-09-19 | 2018-05-15 | 佛山博文机器人自动化科技有限公司 | The small-sized revolute joint module of servo driving |
| CN207522633U (en) * | 2017-09-19 | 2018-06-22 | 广东工业大学 | A kind of Mobile Robot Based on Two Driving Wheels |
| CN207241837U (en) * | 2017-09-19 | 2018-04-17 | 广东工业大学 | A kind of modularization multi-foot robot |
| CN210282353U (en) * | 2019-03-25 | 2020-04-10 | 广东工业大学 | Whole-circle rotary robot joint module |
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2019
- 2019-03-25 CN CN201910228982.2A patent/CN109910050A/en active Pending
- 2019-06-18 CN CN201910527791.6A patent/CN110125975A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114174018A (en) * | 2019-07-25 | 2022-03-11 | 贝克霍夫自动化有限公司 | Arm module for a modular robot arm of an industrial robot |
| CN110549363A (en) * | 2019-08-31 | 2019-12-10 | 广东工业大学 | Robot joint |
| CN110682324A (en) * | 2019-09-18 | 2020-01-14 | 广东工业大学 | A flexible robotic arm joint that can rotate at all angles |
| CN111037543A (en) * | 2019-12-06 | 2020-04-21 | 广东工业大学 | Small-size modularization robot gyration joint model |
| CN111673786A (en) * | 2020-07-19 | 2020-09-18 | 深圳市华瑞康生物科技有限公司 | A mechanical gripper that can be rotated at will |
| CN114474142A (en) * | 2022-03-10 | 2022-05-13 | 武汉联影智融医疗科技有限公司 | Passive joint and passive articulated arm for medical equipment |
| CN114474142B (en) * | 2022-03-10 | 2023-09-22 | 武汉联影智融医疗科技有限公司 | Passive joint and passive joint arm for medical equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110125975A (en) | 2019-08-16 |
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