CN210100017U - Rotary connection structure, motion unit module and robot - Google Patents
Rotary connection structure, motion unit module and robot Download PDFInfo
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- CN210100017U CN210100017U CN201920476343.3U CN201920476343U CN210100017U CN 210100017 U CN210100017 U CN 210100017U CN 201920476343 U CN201920476343 U CN 201920476343U CN 210100017 U CN210100017 U CN 210100017U
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- 230000005540 biological transmission Effects 0.000 claims abstract description 45
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- 238000009434 installation Methods 0.000 description 55
- 238000005096 rolling process Methods 0.000 description 6
- 230000004888 barrier function Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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Abstract
The utility model relates to a mechanical connection technical field, concretely relates to rotation connection structure, motion unit module and robot. The rotary connecting structure comprises a first mounting frame, a second mounting frame, a ball and a transmission assembly, wherein an annular first mounting part is arranged on the first mounting frame; an annular second mounting part is arranged on the second mounting frame, and the second mounting part is arranged corresponding to the first mounting part; the ball is arranged between the first mounting part and the second mounting part, and the first mounting frame is connected with the second mounting frame through the ball and rotates relatively; the transmission assembly is arranged on the first mounting frame or the second mounting frame and is driven by a driving mechanism to drive the first mounting frame or the second mounting frame to rotate. The utility model discloses a rotation connection structure has simple structure, and frictional force is little, and the noise is little, small advantage.
Description
Technical Field
The utility model relates to a mechanical connection technical field, concretely relates to rotation connection structure, motion unit module and robot.
Background
The relative motion between the mechanical structures is usually achieved by using a transmission structure, such as a spherical structure, for relative rotation between two hemispheres. The spherical structure is a relatively closed structure, and in order to maintain the beautiful appearance of the spherical structure and protect the transmission structure, the transmission structure needs to be arranged inside the spherical structure, and the internal space of the spherical structure is limited, especially in a small spherical structure.
In the prior art, for example, chinese patent document CN108361272A discloses a shaftless hinge structure, which includes a first rotating body and a second rotating body, wherein the first rotating body includes a first outer shell and an inner ring, the second rotating body includes a second outer shell and an outer ring, a through hole is formed in the inner ring, an outer wall of the inner ring is in surface contact with an inner wall of the outer ring, an oil groove is formed between the inner ring and the outer ring, grease or graphite is added into the oil groove to reduce friction force of the inner ring and the outer ring during relative rotational movement, at least one bearing mounting post or at least one ball mounting post is arranged on the outer ring, and a small bearing or a small ball is arranged in the bearing mounting post or the ball mounting post. This prior art provides a no centraxonial hinge structure, has solved the problem that receives revolution mechanic's axis to hinder when hinge structure is inside to set up the bigger device of size, but because inner ring and outer loop be the face-to-face contact, both are sliding friction during interior outer ring relative rotary motion, and frictional force is great, can produce great noise when leading to inner ring and outer loop relative rotation, has also increased the control degree of difficulty of the angle of motion between the interior outer loop simultaneously. Similar prior art still discloses a subunit module for constructing modular robot that chinese patent CN207983353U discloses, wherein circle subassembly presss from both sides in the middle of multistage bearing spare inner circle and multistage bearing spare outer circle, and well circle subassembly can rotate relative to multistage bearing spare outer circle and multistage bearing spare inner circle, through set up the bearing on well circle subassembly, the outer lane of bearing and the cam of multistage bearing spare inner circle, multistage bearing spare outer circle at least one rolling contact, realized no centraxonial hinge structure, but this prior art's bearing outer circle and the contact of multistage bearing spare inner circle's cam and/or multistage bearing spare outer circle belong to the contact of face with the face, and the same has the great problem that frictional force can produce great noise when inner circle and outer circle rotate relatively. In addition, the bearing mounting columns adopted in CN108361272A and CN207983353U have complex structure and large occupied space, which results in large overall volume of the rotating structure and more complex installation.
SUMMERY OF THE UTILITY MODEL
Therefore, the to-be-solved technical problem of the utility model lies in overcoming the defect that shaftless hinge structure frictional force among the prior art is big, and the noise is big to it is little to provide a frictional force, and the noise is little, simple structure, small rotation connection structure, is provided with this rotation connection structure's motion unit module, and is provided with the robot of motion unit module.
In order to solve the problems, the rotary connecting structure of the utility model comprises a first mounting frame, a second mounting frame, a ball and a transmission component, wherein the first mounting frame is provided with an annular first mounting part; an annular second mounting part is arranged on the second mounting frame, and the second mounting part is arranged corresponding to the first mounting part; the ball is arranged between the first mounting part and the second mounting part, and the first mounting frame is connected with the second mounting frame through the ball and rotates relatively; the transmission assembly is arranged on the first mounting frame or the second mounting frame and is driven by a driving mechanism to drive the first mounting frame or the second mounting frame to rotate.
The first installation department be to the first arc wall that the inboard of first mounting bracket is sunken, the ball stretches into in the first arc wall, and/or the second installation department be to the second arc wall that the inboard of second mounting bracket is sunken, the ball stretches into in the second arc wall.
The first installation department keep away from the projection of the one end of second mounting bracket at the horizontal plane is located being close to of first installation department the one end of second mounting bracket is in the projection range of horizontal plane, and is located the outer wall of ball is in the projection range of horizontal plane.
The second installation department is close to the projection of the one end of first mounting bracket at the horizontal plane is located keeping away from of second installation department the one end of first mounting bracket is in the projection range of horizontal plane, and is located the outer wall of ball is in the projection range of horizontal plane.
Still include with first installation department or the block portion that the second installation department is connected, first installation department with the second installation department is located one side of block portion, just the both ends of first installation department are in the projection of horizontal plane, and the both ends of second installation department are located at the projection of horizontal plane block portion is in the projection range of horizontal plane.
Still including setting up first mounting bracket with holder between the second mounting bracket, the equipartition is provided with the mounting groove on the holder, the ball is installed in the mounting groove.
The transmission assembly comprises a first transmission piece and a second transmission piece which is arranged on the inner side of the first mounting frame or the second mounting frame and is in transmission connection with the first transmission piece, and the first transmission piece is vertically arranged above the second transmission piece.
The first transmission piece is a first bevel gear, the second transmission piece is a second bevel gear arranged on the second mounting rack, and the size of the first bevel gear is smaller than that of the second bevel gear.
The driving mechanism is a driving motor arranged on the first mounting frame, and the driving motor is located in a central hole of the first mounting frame.
The first mounting frame is located on the inner side of the second mounting frame, a protective cover is connected to the first mounting frame, and the second mounting frame is located between the first mounting frame and the protective cover.
The protective cover is provided with a protective part, and the transmission assembly and the driving mechanism are located in the protective part.
The motion unit module of the utility model comprises the above-mentioned rotary connection structure; the first shell is connected with a protective cover of the rotary connecting structure; the second shell is connected with a second mounting frame of the rotary connecting structure; the connecting structure comprises a first mounting frame and a second mounting frame, wherein a transmission assembly is arranged on the second mounting frame, a driving mechanism is arranged on the first mounting frame of the rotating connecting structure, and the driving mechanism drives the transmission assembly to rotate and drive the second mounting frame to rotate, so that the first shell is opposite to the second shell to rotate.
The first shell and the second shell are connected to form a sphere.
The utility model discloses a robot has foretell motion unit module.
The utility model discloses technical scheme has following advantage:
1. the utility model discloses a rotate connection structure, first mounting bracket passes through the ball with the second mounting bracket is connected and is rotated relatively, and drive assembly sets up first mounting bracket or on the second mounting bracket, during actuating mechanism's drive assembly motion, drive assembly drives first mounting bracket or the second mounting bracket rotates for first mounting bracket with take place relative rotation between the second mounting bracket. The rotary connecting structure comprises fewer parts, is simple in structure, convenient to assemble and low in production cost, and has a simple connecting structure. When the first mounting frame and the second mounting frame rotate relatively, the resistance to be overcome is rolling friction of the balls, and the rolling friction force of the balls is small, so that the resistance to be overcome when the rotary connecting structure rotates is small, and the noise is low when the rotary connecting mechanism rotates; moreover, the resistance is small, the power of the required driving mechanism is small, the size of the corresponding driving mechanism is small, the size of the rotating connecting mechanism can be correspondingly reduced, the control difficulty of the rotating angle of the first mounting frame and the second mounting frame is reduced, and the rotating angle is more accurate.
2. The utility model discloses a rotation connection structure, the setting of first arc wall and/or second arc wall, the convenience is fixed and the installation to the ball to prevent that first mounting bracket and second mounting bracket from taking place axial motion.
3. The rotary connection structure of the utility model, the projection of the end of the first installation part far away from the second installation frame on the horizontal plane is positioned in the projection range of the end of the first installation part near the second installation frame on the horizontal plane and in the projection range of the outer wall of the ball on the horizontal plane; the second installation department is close to the projection of the one end of first mounting bracket at the horizontal plane is located keeping away from of second installation department the one end of first mounting bracket is in the projection range of horizontal plane, and is located the outer wall of ball is in the projection range of horizontal plane. When the connecting structure is assembled and rotated, the ball is installed on the first installation part, the second installation part of the second installation frame 6 is pressed downwards towards the first installation part, the ball is pressed between the first installation part and the second installation part, at the moment, the second installation frame is not in contact with the first installation frame and is only connected with the first installation frame through the ball, the resistance of the first installation frame and the second installation frame during relative rotation can be reduced, and the noise during rotation is reduced.
4. The utility model discloses a rotation connection structure, the setting of stop part blocks that the second mounting bracket is thrown off from one side and the first mounting bracket of stop part, can prevent that ball and inside tiny part from droing the harm that probably causes children.
5. The utility model discloses a rotation connection structure, the setting of holder makes things convenient for the installation of ball to make ball relative position stable, first mounting bracket and second mounting bracket can stabilize the rotation, first mounting bracket and second mounting bracket pivoted are more smooth.
6. The utility model discloses a rotate connection structure, the second driving medium sets up first mounting bracket or the inboard of second mounting bracket, and the vertical setting of first driving medium is in the top of second driving medium, and such mode of setting up makes drive assembly not occupy horizontal space, also promptly, the maximum dimension in horizontal space can be for the size of second drive frame, can practice thrift the volume that rotates connection structure.
7. The utility model discloses a rotation connection structure, the setting of safety cover is firstly connected fixed first mounting bracket to with the protection of second mounting bracket between first mounting bracket and safety cover, secondly, protection drive assembly and actuating mechanism prevent that drive assembly and actuating mechanism from receiving external influence, or cause the influence to the external world.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is an exploded view of a rotating link;
FIG. 2 is a cross-sectional view in cross-section of the face of the axis of the overdrive motor and the center of the first holder of the rotary union;
FIG. 3 is an enlarged view of portion A of FIG. 2;
description of reference numerals:
1-a first bevel gear; 2-driving the motor; 3-a second bevel gear; 4-a first mounting frame; 41-a first mounting portion; 5-rolling balls; 6-a second mounting frame; 61-a second mounting portion; 7-a cage; 8-mounting grooves; 9-a protective cover; 10-barrier.
Detailed Description
The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The first embodiment;
the rotary connection structure of the embodiment comprises a first mounting frame 4, a second mounting frame 6, a ball 5, a retainer 7, a transmission assembly and a protective cover 9.
The first mounting bracket 4 is provided thereon with an annular first mounting portion 41; first installation department 41 is to the first arc wall that the inboard of first mounting bracket 4 is sunken, first arc wall and the outer wall smooth connection of first mounting bracket 4.
The ball 5 is arranged between the first mounting part 41 and the second mounting part 61, and the first mounting frame 4 is connected with the second mounting frame 6 through the ball 5 and rotates relatively. As shown in fig. 3, the balls 5 extend into the first arc-shaped groove and the second arc-shaped groove. The projection of one end of the first mounting part 41, which is far away from the second mounting frame 6, on the horizontal plane is positioned in the projection range of one end of the first mounting part 41, which is close to the second mounting frame 6, on the horizontal plane and in the projection range of the outer wall of the ball 5 on the horizontal plane, wherein the projection range refers to the direction towards the inner side of the first mounting part 4 as the inner direction; the projection of the one end of the second installation part 61 close to the first installation frame 4 on the horizontal plane is located in the projection range of the one end of the second installation part 61 far away from the first installation frame 4 on the horizontal plane, and is located in the projection range of the outer wall of the ball 5 on the horizontal plane, wherein the projection range refers to the direction towards the inner side of the second installation frame 6.
The holder 7 sets up first mounting bracket 4 with between the second mounting bracket 6, the equipartition is provided with mounting groove 8 on the holder 7, ball 5 is installed in mounting groove 8. The cage 7 is used for limiting the position of the ball 5, so that the relative rotation of the first mounting frame 4 and the second mounting frame 6 is more smooth.
In this embodiment, the first mounting bracket 4 is located inside the second mounting bracket 6. Be provided with the barrier portion 10 of being connected with first installation department 41 on first mounting bracket 4, first installation department 41 with second installation department 61 is located one side of barrier portion 10, just the projection at the horizontal plane at the both ends of first installation department 41, with the projection at the horizontal plane at the both ends of second installation department 61 is located barrier portion 10 is in the projection range at the horizontal plane. The blocking portion 10 is configured to block the second mounting frame 6 from moving out of the first mounting frame 4 from the blocking portion 10.
As shown in fig. 2, the protecting cover is located on the upper side of the first mounting frame 4 and the second mounting frame 6, and is fixedly connected with the first mounting frame 4, and the second mounting frame 6 is located between the first mounting frame 4 and the protecting cover 9. The protective cover 9 has a protective portion in which the transmission assembly and the drive mechanism are located.
The transmission assembly is arranged on the second mounting frame 6 and driven by the driving mechanism to rotate the second mounting frame 6, so that the first mounting frame 4 and the second mounting frame 6 rotate relatively. The transmission assembly comprises a first transmission piece and a second transmission piece which is arranged on the second mounting frame 6 and is in transmission connection with the first transmission piece, the first transmission piece is vertically arranged above the second transmission piece, the transverse size of the rotary connection structure is saved to the maximum extent, and the size of the rotary connection mechanism is reduced. In this embodiment, the first transmission member is a first bevel gear 1, the second transmission member is a second bevel gear 3 disposed on the inner side of the second mounting bracket 6, and the size of the first bevel gear 1 is smaller than that of the second bevel gear 3. The second bevel gear 3 may be integrally formed with the second mounting frame 6.
The driving mechanism is a driving motor 2 arranged on the first mounting frame 4, the driving motor 2 is positioned in a central hole of the first mounting frame 4, and an output shaft of the driving motor 2 is connected with a first bevel gear 1.
When the rotary connecting structure is installed, the ball 5 is firstly installed in the installation groove 8, then the ball 5 and the retainer 7 are simultaneously installed at the first installation part 41 of the first installation frame 4, and as shown in fig. 3, the second installation frame 6 is forcibly pressed down towards the first installation frame 4, so that the ball 5 enters the second installation part 61; and installing the driving motor 2 and the first bevel gear 1, and finally installing the protective cover 9 on the first installation frame 4, namely completing the installation of the rotary connection structure. As shown in fig. 3, the first mounting portion 41 and the second mounting portion 61 are annular structures which are mutually nested, so that when the first mounting frame 4 and the second mounting frame 6 are moved towards each other, the first mounting frame 4 and the second mounting frame 6 cannot move towards each other against the deformation of the first mounting portion 41 at the upper half of the ball 5 and the deformation of the second mounting portion 61 at the lower half of the ball 5; when the first and second mounting frames 4 and 6 move in the separating direction, the first and second mounting frames 4 and 6 are not easily moved in the separating direction against the deformation of the first mounting portion 41 in the lower half portion of the ball 5 and the deformation of the second mounting portion 61 in the upper half portion of the ball 5, so that the structure of the first and second mounting frames 4 and 6 after being connected is relatively stable.
The rotary connecting structure comprises fewer parts, and is simple in structure, convenient to assemble and low in production cost. When the first mounting frame 4 and the second mounting frame 6 rotate relatively, the resistance to be overcome is rolling friction of the balls 5, and the rolling friction force of the balls is small, so that the friction force to be overcome when the rotating connection structure rotates is small, and the noise is low when the rotating connection structure rotates; moreover, the resistance is small, the power of the required driving mechanism is small, the size of the corresponding driving mechanism is small, the size of the rotating connecting mechanism can be reduced, the control difficulty of the rotating angle of the first mounting frame 4 and the second mounting frame 6 is reduced, and the rotating angle is more accurate.
Example two:
the motion unit module of this embodiment comprises the rotary connection structure of the first embodiment, a first housing connected to the outer end of the protective cover 9 of the rotary connection structure, and a second housing connected to the outer end of the second mounting frame 6 of the rotary connection structure. The first mounting frame 4 and the second mounting frame 6 are both of annular structures, and the first shell and the second shell are connected to form a sphere. Be provided with drive assembly on the second mounting bracket 6, be provided with actuating mechanism on the first mounting bracket 4 of rotation connection structure, the actuating mechanism drive assembly rotates and drives second mounting bracket 6 rotates, makes first casing is relative the second casing rotates.
After the rotary connecting structure is connected with the first shell and the second shell, referring to fig. 2, the first shell is located at the upper side, the second shell is located at the lower side, the second mounting frame 6 is not in contact with the protective cover 9 and the first mounting frame 4, and is connected with the first mounting frame 4 only through the balls 5, that is, the first shell and the second shell are connected and relatively rotated through the balls 5, the friction force when the balls 5 rotate is small, so that the friction force overcome when the first shell and the second shell relatively rotate is small, the power of the driving motor 2 required by rotation is small, the size of the corresponding driving motor 2 is small, and the volumes of the first shell and the second shell can be set to be small; moreover, the resistance when the first shell and the second shell rotate relatively is small, and the angle control when the first shell and the second shell rotate relatively is more accurate.
After the rotary connection structure is connected with the first housing and the second housing, when the first housing and the second housing are separated, the second mounting frame 6 cannot be separated from the ball 5 and the first mounting frame 4 due to the blocking of the second mounting part 61 positioned at the upper half part of the ball 5, and the first housing and the second housing cannot be separated; when the first and second housings are pressed toward each other, the first and second housings cannot move toward each other by being stopped by the first mounting portion 41 located in the lower half of the ball 5. That is, the first and second housings are connected to the first and second mounting brackets 4 and 6, respectively, in a stable state. When the moving unit module is disassembled, the first shell and the second shell need to be disassembled first, and the rotating connection structure is disassembled.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. 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. And obvious variations or modifications can be made without departing from the scope of the invention.
Claims (14)
1. A rotary connecting structure is characterized by comprising,
a first mounting frame (4) on which an annular first mounting part (41) is provided;
the second mounting frame (6) is provided with an annular second mounting part (61), and the second mounting part (61) is arranged corresponding to the first mounting part (41);
the ball (5) is arranged between the first mounting part (41) and the second mounting part (61), and the first mounting frame (4) is connected with the second mounting frame (6) through the ball (5) and rotates relatively;
the transmission assembly is arranged on the first mounting frame (4) or the second mounting frame (6) and is driven by a driving mechanism to drive the first mounting frame (4) or the second mounting frame (6) to rotate.
2. The rotatable connection according to claim 1, characterized in that the first mounting portion (41) is a first arc-shaped groove that is concave towards the inside of the first mounting frame (4), into which the ball (5) extends, and/or the second mounting portion (61) is a second arc-shaped groove that is concave towards the inside of the second mounting frame (6), into which the ball (5) extends.
3. The rotating connection according to claim 2, characterized in that the projection of the end of the first mounting part (41) remote from the second mounting frame (6) on the horizontal plane is located within the projection of the end of the first mounting part (41) close to the second mounting frame (6) on the horizontal plane and within the projection of the outer wall of the ball (5) on the horizontal plane.
4. The rotating connection according to claim 3, characterized in that the projection of the end of the second mounting part (61) close to the first mounting frame (4) on the horizontal plane is located within the projection of the end of the second mounting part (61) far from the first mounting frame (4) on the horizontal plane and within the projection of the outer wall of the ball (5) on the horizontal plane.
5. The rotating connecting structure according to any one of claims 1 to 4, further comprising a blocking portion (10) connected to the first mounting portion (41) or the second mounting portion (61), wherein the first mounting portion (41) and the second mounting portion (61) are located on one side of the blocking portion (10), and projections of both ends of the first mounting portion (41) and projections of both ends of the second mounting portion (61) on a horizontal plane are located within a projection range of the blocking portion (10) on the horizontal plane.
6. The rotating connection structure according to any one of claims 1 to 4, further comprising a retainer (7) arranged between the first mounting frame (4) and the second mounting frame (6), wherein mounting grooves (8) are uniformly distributed on the retainer (7), and the balls (5) are mounted in the mounting grooves (8).
7. The rotary connection according to any one of claims 1 to 4, wherein the transmission assembly comprises a first transmission member, and a second transmission member arranged inside the first mounting frame (4) or the second mounting frame (6) and in transmission connection with the first transmission member, the first transmission member being arranged vertically above the second transmission member.
8. The rotary connection according to claim 7, wherein the first transmission member is a first bevel gear (1) and the second transmission member is a second bevel gear (3) provided on the second mounting bracket (6), and the first bevel gear (1) has a size smaller than the second bevel gear (3).
9. The rotating connection according to any one of claims 1 to 4, characterized in that the drive mechanism is a drive motor (2) arranged on the first mounting frame (4), the drive motor (2) being located in a central bore of the first mounting frame (4).
10. The rotating connection according to any one of claims 1 to 4, characterized in that the first mounting frame (4) is located inside the second mounting frame (6), a protective cover (9) being connected to the first mounting frame (4), and the second mounting frame (6) being located between the first mounting frame (4) and the protective cover (9).
11. The rotary connection according to claim 10, characterized in that the protective cover (9) has a protective portion, the transmission assembly and the drive mechanism being located in the protective portion.
12. A motion unit module, comprising,
the rotary joint structure according to any one of claims 1 to 11;
the first shell is connected with a protective cover (9) of the rotary connecting structure;
the second shell is connected with a second mounting rack (6) of the rotary connecting structure;
the novel power transmission device is characterized in that a transmission assembly is arranged on the second mounting frame (6), a driving mechanism is arranged on the first mounting frame (4) of the rotary connection structure, the driving mechanism drives the transmission assembly to rotate to drive the second mounting frame (6) to rotate, and the first shell is made to rotate relative to the second shell.
13. The motion unit module of claim 12, wherein the first housing and the second housing are connected to form a sphere.
14. A robot characterized by having a motion unit module according to claim 12 or 13.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920476343.3U CN210100017U (en) | 2019-04-09 | 2019-04-09 | Rotary connection structure, motion unit module and robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920476343.3U CN210100017U (en) | 2019-04-09 | 2019-04-09 | Rotary connection structure, motion unit module and robot |
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| Publication Number | Publication Date |
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| CN210100017U true CN210100017U (en) | 2020-02-21 |
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| CN201920476343.3U Active CN210100017U (en) | 2019-04-09 | 2019-04-09 | Rotary connection structure, motion unit module and robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110154013A (en) * | 2019-04-09 | 2019-08-23 | 北京可以科技有限公司 | A rotating connection structure, a motion unit module and a robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110154013A (en) * | 2019-04-09 | 2019-08-23 | 北京可以科技有限公司 | A rotating connection structure, a motion unit module and a robot |
| CN110154013B (en) * | 2019-04-09 | 2024-11-22 | 北京可以科技有限公司 | A rotating connection structure, a motion unit module and a robot |
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