CN108381540A - A kind of space self-reorganization robot elbow turns cell - Google Patents
A kind of space self-reorganization robot elbow turns cell Download PDFInfo
- Publication number
- CN108381540A CN108381540A CN201810459885.XA CN201810459885A CN108381540A CN 108381540 A CN108381540 A CN 108381540A CN 201810459885 A CN201810459885 A CN 201810459885A CN 108381540 A CN108381540 A CN 108381540A
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- Prior art keywords
- rotation
- shell
- support base
- gear
- worm screw
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of space self-reorganization robot elbows to turn cell, is mainly used for aerospace field, by upper rotation shell, lower shell of revolution body, and cover board, worm and gear, axle sleeve, support base, pedestal upper cover, connecting end surface, connect turntable, fastening nut, motor, the compositions such as bolt.The left and right ends of worm screw are separately connected axle sleeve and are fixed in support base, support base is connected by bolt with upper rotation shell, and it is fixed in rotation shell, worm gear is connected with one end of rotary shaft by key, it is fixed in support base, the other end of rotary shaft is connected by connecting turntable with lower shell of revolution body, and fastening nut is used in combination to pre-tighten.Motor is mounted in support base, can be driven by the gear of a pair of meshing, and then drives worm screw rotation, and worm screw drives worm gear rotation, while driving the rotation of lower shell of revolution body different angle.
Description
Technical field
The present invention relates to a kind of space self-reorganization robot elbows to turn cell, belongs to robotic technology field.
Background technology
Modularized self-reorganization robot is the new branch of science that robot research field is risen in recent years, is current machine
One hot spot of people's research.With advances in technology and development, the requirement to the function and adaptive capacity to environment of robot is not yet
Disconnected to improve, traditional robot is difficult to work under complex environment, and to adapt to complex environment, robot starts to module
The direction of change is developed.The unit module that modularized self-reorganization robot can be combined arbitrarily by several forms, each unit module
Has unified connecting end surface, by the way that the module of different function to be connected with each other, to realize different motion modes and function.
Invention content
The invention discloses a kind of space self-reorganization robot elbows to turn cell, is mainly used for aerospace field.Basic skill
Art scheme is：A kind of space self-reorganization robot elbow turns cell by upper rotation shell, lower shell of revolution body, cover board, worm and gear, axis
Set, support base, pedestal upper cover, connecting end surface connect turntable, fastening nut, motor, the compositions such as bolt.The left and right two of worm screw
End is separately connected axle sleeve and is fixed in support base, and support base is connected by bolt with upper rotation shell, and is fixed on
It rotates in shell, worm gear is connected with one end of rotary shaft by key, is fixed in support base, and the other end of rotary shaft passes through company
Switch through disk with lower shell of revolution body to be connected, fastening nut is used in combination to pre-tighten.Motor is mounted in support base, can pass through a pair of meshing
Gear be driven, and then drive worm screw rotation, worm screw drives worm gear rotation, while driving lower shell of revolution body different angle
Rotation.
The advantage of the invention is that：
1. mechanism can connect the robot module of different function, the rotation of different machines people's module multi-angle is driven, is improved
The flexibility of self-reorganization robot movement.
2. mechanism is driven using worm and gear, there is good self-locking performance, ensure that module work process
In safety and stability.
3. mechanism practicability is good, reliability is high, adapts to the working environment of Various Complex, has wide application prospect and warp
Ji benefit.
Description of the drawings：
Mechanism is further illustrated below in conjunction with the accompanying drawings.
Attached drawing 1：A kind of space self-reorganization robot elbow turns cell overall schematic
Attached drawing 2：A kind of space self-reorganization robot elbow turns to rotate body diagram on cell
Attached drawing 3：A kind of space self-reorganization robot elbow turns shell of revolution body schematic diagram under cell
Attached drawing 4：A kind of space self-reorganization robot elbow turns cell rotation schematic diagram
Attached drawing 5：A kind of embodiment of the present invention：Elbow turns the mechanical arm schematic diagram of cell and link block composition
In figure：1 connecting end surface, 2 connection bolts, 3 cover boards, 4 screws rotate shell on 5, and 6 time shell of revolution bodies, 7 motors, 8 support
Pedestal, 9 foundation bolts, 10 axle sleeves, 11 worm screws, 12 worm gears, 13 rotary shafts, 14 gear wheels, 15 pinion gears, 16 pedestal upper covers, 17
Connect turntable, 18 turntable bolts, 19 fastening nuts.
Specific implementation mode
Below in conjunction with the accompanying drawings, parts of the present invention and its correlation are illustrated.
Shown in overall structure of the present invention such as Fig. 1, Fig. 2 and Fig. 3, a kind of space self-reorganization robot elbow turns the upper rotation of cell
Shell（5）Main installation driving parts, worm screw（11）Left and right ends be separately connected axle sleeve（10）After be fixed on support base（8）
On, support base（8）Pass through foundation bolt（9）With upper rotation shell（5）It is connected, is fixed on rotation shell（5）In, worm screw
（11）One end therein passes through flat key and gear wheel after fixation（14）It is connected；Motor（7）Mounted on support base（8）On, motor
（8）Output shaft and pinion gear（15）It is connected, pinion gear（15）By with gear wheel（14）Engagement, drive worm screw（11）It carries out
Rotation；Worm gear（12）It is fixed on rotary shaft（13）One end, rotary shaft（13）Mounted on support base（8）On, pedestal after installation
Upper cover（16）Foundation bolt can be passed through（9）It is connected to support base（8）On；Rotary shaft（13）The other end with connect turntable
（17）It is connected, connects turntable（17）Pass through turntable bolt（18）It is connected to lower shell of revolution body（6）In, fastening nut is used in combination（19）Tightly
Gu and then by upper rotation shell（5）With lower shell of revolution body（6）It links together, cover board（3）Pass through screw（4）It is fixed on up and down
Rotate shell（6）On, respectively by connecting bolt at left and right sides of rotating mechanism（2）With connecting end surface（1）Connection, connecting end surface
（1）After being connect with the robot module being rotated, motor（7）Rotation, worm screw（11）Drive worm gear（12）It can be with while rotation
Drive lower shell of revolution body（6）Rotation, and then realize the rotational motion of space self-reorganization robot, rotating manner is as shown in Figure 4.Figure
5 be a kind of embodiment of the invention, connecting end surface（1）After being connected with other Self-Reconfigurable Modules and manipulator, a kind of machine of composition
The swing arm schematic diagram of tool arm.
Working method of the present invention and work step are illustrated below.
A kind of space self-reorganization robot elbow turns cell and passes through motor（7）Driving, motor（7）Output shaft and pinion gear（15）
It is connected, pinion gear（15）Rotation drives gear wheel（14）Rotation, and then drive and gear wheel（14）The worm screw being connected（11）
Rotation, worm screw（11）With worm gear（12）Engagement, worm gear（12）With rotary shaft（13）It is connected, rotary shaft（13）By connecting turntable
（17）With lower shell of revolution body（6）It is connected, motor（7）Drive worm screw（11）Worm gear is driven while rotation（12）Rotation, worm gear
（12）Rotation drives rotary shaft（13）Rotation, and then drive lower shell of revolution body（6）Rotation, to realize space self-reorganization robot
Rotation.
Claims (1)
1. a kind of space self-reorganization robot elbow turns cell, it is characterised in that：Upper rotation shell（5）Main installation driving parts,
Worm screw（11）Left and right ends be separately connected axle sleeve（10）After be fixed on support base（8）On, support base（8）Pass through pedestal spiral shell
Bolt（9）With upper rotation shell（5）It is connected, is fixed on rotation shell（5）In, worm screw（11）One end therein passes through flat after fixation
Key and gear wheel（14）It is connected；Motor（7）Mounted on support base（8）On, motor（8）Output shaft and pinion gear（15）Phase
Even, pinion gear（15）By with gear wheel（14）Engagement, drive worm screw（11）It is rotated；Worm gear（12）It is fixed on rotary shaft
（13）One end, rotary shaft（13）Mounted on support base（8）On, pedestal upper cover after installation（16）Foundation bolt can be passed through
（9）It is connected to support base（8）On；Rotary shaft（13）The other end with connect turntable（17）It is connected, connects turntable（17）Pass through
Turntable bolt（18）It is connected to lower shell of revolution body（6）In, fastening nut is used in combination（19）Fastening, and then by upper rotation shell（5）With
Lower shell of revolution body（6）It links together, cover board（3）Pass through screw（4）It is fixed on and is rotated up and down on shell, rotating mechanism or so two
Side is respectively by connecting bolt（2）With connecting end surface（1）Connection, connecting end surface（1）After being connect with the robot module being rotated,
Motor（7）Rotation, worm screw（11）Drive worm gear（12）Lower shell of revolution body can be driven while rotation（6）Rotation, and then realize
The rotational motion of space self-reorganization robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810459885.XA CN108381540A (en) | 2018-05-15 | 2018-05-15 | A kind of space self-reorganization robot elbow turns cell |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810459885.XA CN108381540A (en) | 2018-05-15 | 2018-05-15 | A kind of space self-reorganization robot elbow turns cell |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108381540A true CN108381540A (en) | 2018-08-10 |
Family
ID=63071671
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810459885.XA Pending CN108381540A (en) | 2018-05-15 | 2018-05-15 | A kind of space self-reorganization robot elbow turns cell |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108381540A (en) |
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| CN107791248A (en) * | 2017-09-28 | 2018-03-13 | 浙江理工大学 | Control method based on the six degree of freedom serial manipulator for being unsatisfactory for pipper criterions |
| CN208163638U (en) * | 2018-05-15 | 2018-11-30 | 哈尔滨理工大学 | A kind of space self-reorganization robot elbow turns cell |
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2018
- 2018-05-15 CN CN201810459885.XA patent/CN108381540A/en active Pending
Patent Citations (17)
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| CN102381378A (en) * | 2011-08-18 | 2012-03-21 | 天津理工大学 | Reconfigurable modular robot |
| CN103332231A (en) * | 2013-07-12 | 2013-10-02 | 天津理工大学 | Mobile modularized self-reconfigurable robot |
| KR20150068702A (en) * | 2013-12-12 | 2015-06-22 | 한국전기연구원 | Cylinder type piezo ultrasonic motor for pivot joint of robot |
| CN203726501U (en) * | 2014-03-04 | 2014-07-23 | 中国人民解放军军事医学科学院卫生装备研究所 | Foldable light type mechanical arm capable of following and monitoring target |
| CN104149083A (en) * | 2014-06-21 | 2014-11-19 | 广东电网公司电力科学研究院 | Cleaning and flaw detection robot for electric power metal parts |
| CN104401415A (en) * | 2014-10-23 | 2015-03-11 | 天津理工大学 | Knuckle reconfigurable robot unit module |
| CN104742117A (en) * | 2015-03-16 | 2015-07-01 | 天津理工大学 | Self-reconfigurable robot unit module having independent movement function |
| CN105904465A (en) * | 2016-05-27 | 2016-08-31 | 贾艺凡 | Solar battery automatic sun tracking robot |
| CN106393167A (en) * | 2016-12-01 | 2017-02-15 | 东华大学 | Self-reconfiguration robot connecting device |
| CN206623089U (en) * | 2017-03-14 | 2017-11-10 | 兰州理工大学 | A kind of Three Degree Of Freedom submarine mechanical arm |
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