CN110978044A - Modularization servo motor overcoat - Google Patents
Modularization servo motor overcoat Download PDFInfo
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- CN110978044A CN110978044A CN201911270622.5A CN201911270622A CN110978044A CN 110978044 A CN110978044 A CN 110978044A CN 201911270622 A CN201911270622 A CN 201911270622A CN 110978044 A CN110978044 A CN 110978044A
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- servo motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
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Abstract
The invention discloses a modularized servo motor outer sleeve. The joint machine base mechanism is arranged in the U-shaped flange frame mechanism; the joint machine seat mechanism comprises an L-shaped support, a servo motor and a motor sleeve cover, wherein the servo motor and the motor sleeve cover are arranged on the L-shaped support, the servo motor is embedded in the motor sleeve cover, and the servo motor and the motor sleeve cover are respectively and fixedly connected with the L-shaped support; the U-shaped flange frame mechanism comprises a U-shaped flange frame, a driving flange and a follow-up flange, wherein the driving flange and the follow-up flange are arranged on the U-shaped flange frame, the driving flange is arranged on the L-shaped left arm, and the follow-up flange is arranged on the L-shaped right arm. The modularized servo motor outer sleeve can rapidly realize the molding and manufacturing of the robot joint through the mode of the embedded servo motor. By adopting the design of the invention, the motor outer sleeve and the robot joint with corresponding models can be formed by modifying and designing servo motors with different models.
Description
Technical Field
The invention belongs to the technical field of modular robot joints, and particularly relates to a modular servo motor outer sleeve.
Background
The modularized robot joint is a key part for robot body research and development, and has wide application prospect in the application fields of light industrial robots, cooperative robots and the like. In chinese utility model patent specification CN209256986U, a modular robot joint is disclosed, comprising: the arm body I is of a cylindrical structure, an opening is formed in the front end of the arm body I, and a detachable end cover is arranged at the rear end of the arm body I; the end part of the arm body II forms a cover body which can be sleeved on the front end of the arm body I; the modular driving mechanism comprises a driving motor fixed on the front end surface of the arm body I and a driving disc in transmission connection with an output shaft of the driving motor; the driving disc is detachably fixed on the end face of the cover body through a fastener; this robot joint adopts the modularized design, and the student can be convenient carries out the dismouting with the joint position of robot, improves the robot teaching effect. However, the modular robot joint is generally composed of core components such as a motor, a reducer, an encoder, a controller and the like, so that the technical threshold is high, and the difficulty in the integrated design of an electromechanical system is great. This is the main reason that influences the development progress of the robot. Meanwhile, any link in core components such as a motor, a speed reducer, an encoder and a controller brings subversive risks to the integration design of an electromechanical system. Therefore, a rapid and low-risk robot joint research and development technology is of great significance for promoting the research and development process of the robot body.
Disclosure of Invention
In view of the above prior art, the technical problem to be solved by the present invention is to provide a modular servo motor housing. It can embed servo motor, realizes rapid Assembly and connects to constitute the modularization robot joint body jointly. Meanwhile, the modularized servo motor outer sleeve adopts an interchangeability design, and the input flange and the output flange of the modularized servo motor outer sleeve can be mutually and interchangeably connected, so that the mechanical arm system can be quickly built.
In order to solve the technical problem, the invention provides a modularized servo motor outer sleeve. The joint machine base mechanism is arranged in the U-shaped flange frame mechanism; the joint machine seat mechanism comprises an L-shaped support, a servo motor and a motor sleeve cover, wherein the servo motor and the motor sleeve cover are arranged on the L-shaped support, the servo motor is embedded in the motor sleeve cover, and the servo motor and the motor sleeve cover are respectively and fixedly connected with the L-shaped support; the U-shaped flange frame mechanism comprises a U-shaped flange frame, a driving flange and a follow-up flange, the U-shaped flange frame comprises a flange body, an L-shaped left arm and an L-shaped right arm, the L-shaped left arm and the L-shaped right arm are arranged on the flange body, the driving flange and the follow-up flange are arranged on the U-shaped flange frame, the driving flange is arranged on the L-shaped left arm, and the follow-up flange is arranged on the L-shaped right arm.
The servo motor is provided with an output shaft and a connecting threaded hole, and the motor sleeve cover is provided with an inner cavity, a fixing threaded hole and a motor sleeve cover bearing hole; establish on the L type support with connecting screw hole assorted connecting hole on the servo motor, with motor cover on fixed screw hole assorted fixed orifices, dead eye and the assembly screw hole, servo motor's output shaft can pass the dead eye of L type support, makes servo motor a side end face and the laminating of L type support surface to pass connecting hole and servo motor fixed connection through a set of screw.
The servo motor body can be embedded into the inner cavity of the motor sleeve cover, the left side face of the motor sleeve cover is just attached to the surface of the L-shaped support after the motor sleeve cover is installed in place, and the peripheral circle of fixing holes of the motor sleeve cover can be fixedly connected with the L-shaped support through screws.
The L-shaped support, the servo motor and the motor sleeve cover are connected and assembled to form a joint base mechanism.
The L-shaped left arm is fixedly connected with the flange body through a left threaded hole, and the L-shaped right arm is fixedly connected with the flange body through a right threaded hole respectively to form a U-shaped flange frame.
The driving flange is fixedly connected with the L-shaped left arm through a driving screw group, a D-shaped hole of the driving flange is connected with a servo motor output shaft (the servo motor output shaft is a D-shaped output shaft), and the servo motor drives the driving flange and the U-shaped flange frame through the D-shaped output shaft.
The servo flange is fixedly connected with the L-shaped right arm through a servo screw, and a servo shaft is arranged on the servo flange and can be in interference fit with a bearing hole of a motor sleeve cover, so that the flange body is movably supported, and the bearing rigidity of the flange body is improved.
The flange body and the L-shaped bracket contain assembly threaded holes with the same assembly parameters, so that the mutual assembly can be realized.
Compared with the prior art, the invention has the following beneficial effects: due to the adoption of the structure, the modularized servo motor outer sleeve can rapidly realize the molding and manufacturing of the robot joint in a mode of embedding the servo motor. Meanwhile, the L-shaped support and the flange body with the exchange function can realize the rapid assembly of the robot joint, thereby greatly accelerating the research and development process of the robot. By adopting the design of the invention, the motor outer sleeve and the robot joint with corresponding models can be formed by modifying and designing servo motors with different models.
Drawings
FIG. 1 is a schematic view of the constitution of the present invention;
FIG. 2 is an exploded view of the joint housing mechanism of the present invention;
FIG. 3 is an exploded view of the U-shaped flange frame mechanism of the present invention;
FIG. 4 is a left perspective view of the joint housing mechanism of the present invention;
FIG. 5 is a right perspective view of the joint housing mechanism of the present invention;
in the figure: the device comprises a 1-joint machine base mechanism, a 10-motor sleeve cover, 11-fixed threaded holes, 12-inner cavities, 13-L-shaped supports, 14-connecting holes, 15-bearing holes, 16-fixing holes, 17-output shafts, 18-connecting threaded holes, 19-servo motors, a 2-U-shaped flange frame mechanism, 20-right threaded holes, 21-follow-up flanges, 22-follow-up screws, 23-follow-up shafts, 24-L-shaped right arms, 25-D-shaped holes, 26-driving screws, 27-driving flanges, 28-L-shaped left arms, 29-left threaded holes, 30-flange bodies, 31-assembling threaded holes and 32-motor sleeve cover bearing holes.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
Fig. 1 to 5 show various structural diagrams of the present invention. As shown in fig. 1-5, the present invention provides a modular servo motor 19 housing. The joint machine base mechanism comprises a joint machine base mechanism 1 and a U-shaped flange frame mechanism 2, wherein the joint machine base mechanism 1 is arranged in the U-shaped flange frame mechanism 2; the joint machine base mechanism 1 comprises an L-shaped support 13, a servo motor 19 and a motor sleeve cover 10, wherein the servo motor 19 and the motor sleeve cover 10 are arranged on the L-shaped support 13, the servo motor 19 is embedded in the motor sleeve cover 10, and the servo motor 19 and the motor sleeve cover 10 are respectively and fixedly connected with the L-shaped support 13; the U-shaped flange frame mechanism 2 comprises a U-shaped flange frame, a driving flange 27 and a follow-up flange 21, the U-shaped flange frame comprises a flange body 30, an L-shaped left arm 28 and an L-shaped right arm 24, the L-shaped left arm 28 and the L-shaped right arm 24 are arranged on the flange body 30, the driving flange 27 and the follow-up flange 21 are arranged on the U-shaped flange frame, the driving flange 27 is arranged on the L-shaped left arm 28, and the follow-up flange 21 is arranged on the L-shaped right arm 24. The servo motor 19 is provided with an output shaft 17 and a connecting threaded hole 18, and the motor sleeve cover 10 is provided with an inner cavity 12, a fixing threaded hole 11 and a motor sleeve cover bearing hole 32; the L-shaped support 13 is provided with a connecting hole 14 matched with a connecting threaded hole 18 on the servo motor 19, a fixing hole 16 matched with a fixing threaded hole 11 on the motor sleeve cover 10, a bearing hole 15 and an assembling threaded hole 31, and an output shaft 17 of the servo motor 19 can penetrate through the bearing hole 15 of the L-shaped support 13, so that one side end face of the servo motor 19 is attached to the surface of the L-shaped support 13, and penetrates through the connecting hole 14 through a group of screws to be fixedly connected with the servo motor 19. The servo motor 19 body can be embedded into the inner cavity 12 of the motor sleeve cover 10, the left side face of the motor sleeve cover 10 is just attached to the surface of the L-shaped support 13 after the motor sleeve cover is installed in place, and the motor sleeve cover can be fixedly connected with the L-shaped support 13 through a circle of peripheral fixing holes 16 by screws. The L-shaped support 13, the servo motor 19 and the motor sleeve cover 10 are connected and assembled to form a joint base mechanism 1. The L-shaped left arm 28 is fixedly connected with the flange body 30 through a left threaded hole 29, and the L-shaped right arm 24 is fixedly connected with the flange body 30 through a right threaded hole 20 respectively to form a U-shaped flange frame. The driving flange 27 is provided with a D-shaped hole 25, the driving flange 27 is fixedly connected with the L-shaped left arm 28 through a driving screw 26 group, the D-shaped hole 25 of the driving flange 27 is connected with an output shaft 17 of the servo motor 19 (the output shaft of the servo motor is the D-shaped output shaft 17), and the servo motor 19 drives the driving flange 27 and the U-shaped flange frame through the D-shaped output shaft 17. The follow-up flange 21 is provided with a follow-up shaft 23, the follow-up flange 21 is fixedly connected with the L-shaped right arm 24 through a follow-up screw 22, and the follow-up shaft 23 arranged on the follow-up flange 21 can be in interference fit with a motor sleeve cover bearing hole 32, so that the flange body 30 is movably supported, and the bearing rigidity of the flange body is improved. The flange body 30 and the L-shaped bracket 13 contain assembling threaded holes 31 with the same assembling parameters, so that the interchangeable assembling can be realized. The modularized servo motor 19 outer sleeve can rapidly realize the molding and manufacturing of the robot joint in a mode of embedding the servo motor 19. Meanwhile, the L-shaped support 13 and the flange body 30 with the exchange function can realize the rapid assembly of the robot joint, thereby greatly accelerating the research and development process of the robot. By adopting the concept of the invention, the servo motor 19 can be modified and designed according to different types to form the motor outer sleeve and the robot joint with corresponding types.
While the present invention has been described in detail with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, and various changes and modifications can be made within the knowledge of those skilled in the art.
Claims (8)
1. The utility model provides a modularization servo motor overcoat which characterized in that: the joint machine base mechanism comprises a joint machine base mechanism (1) and a U-shaped flange frame mechanism (2), wherein the joint machine base mechanism (1) is arranged in the U-shaped flange frame mechanism (2); the joint machine base mechanism (1) comprises an L-shaped support (13), a servo motor (19) and a motor cover (10), wherein the servo motor (19) and the motor cover (10) are arranged on the L-shaped support (13), the servo motor (19) is embedded in the motor cover (10), and the servo motor (19) and the motor cover (10) are respectively and fixedly connected with the L-shaped support (13); u type flange frame mechanism (2) are including U type flange frame, drive flange (27) and follow-up flange (21), U type flange frame includes flange body (30), L type left arm (28) and L type right arm (24), establish L type left arm (28) and L type right arm (24) on flange body (30), establish drive flange (27) and follow-up flange (21) on the U type flange frame, establish on L type left arm (28) drive flange (27), establish on L type right arm (24) follow-up flange (21).
2. The modular servo motor casing of claim 1, wherein: an output shaft (17) and a connecting threaded hole (18) are arranged on the servo motor (19), and an inner cavity (12), a fixing threaded hole (11) and a motor sleeve cover bearing hole (32) are arranged on the motor sleeve cover (10); establish on L type support (13) with connecting screw hole (18) assorted connecting hole (14) on servo motor (19), with motor housing cover (10) on fixed screw hole (11) assorted fixed orifices (16), dead eye (15) and assembly screw hole (31), dead eye (15) of L type support (13) can be passed in output shaft (17) of servo motor (19), make servo motor (19) a side end face and L type support (13) surface laminating to pass connecting hole (14) and servo motor (19) fixed connection through a set of screw.
3. The modular servo motor casing of claim 1, wherein: the servo motor (19) body can be embedded into the inner cavity (12) of the motor sleeve cover (10), the left side face of the motor sleeve cover (10) is just attached to the surface of the L-shaped support (13) after the servo motor sleeve cover is installed in place, and the servo motor sleeve cover is fixedly connected with the L-shaped support (13) through a peripheral circle of fixing holes (16) by screws.
4. The modular servo motor casing of claim 1, wherein: the driving flange (27) is fixedly connected with the L-shaped left arm (28) through a driving screw (26) group, a D-shaped hole (25) of the driving flange (27) is connected with a D-shaped output shaft (17) of the servo motor (19), and the servo motor (19) drives the driving flange (27) and the U-shaped flange frame through the D-shaped output shaft (17).
5. The modular servo motor casing of claim 1, wherein: follow-up flange (21) carry out fixed connection through follow-up screw (22) and L type right arm (24), follow-up flange (21) are equipped with follow-up axle (23) and can carry out interference fit with motor housing cover dead eye (32).
6. The modular servo motor casing of claim 1, wherein: the L-shaped support (13), the servo motor (19) and the motor sleeve cover (10) are connected and assembled to form a joint base mechanism (1).
7. The modular servo motor casing of claim 1, wherein: the L-shaped left arm (28) is fixedly connected with the flange body (30) through a left threaded hole (29), and the L-shaped right arm (24) is fixedly connected with the flange body (30) through a right threaded hole (20) respectively to form a U-shaped flange frame.
8. The modular servo motor casing of claim 1, wherein: the flange body (30) and the L-shaped bracket (13) comprise assembling threaded holes (31) with the same assembling parameters.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911270622.5A CN110978044A (en) | 2019-12-12 | 2019-12-12 | Modularization servo motor overcoat |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911270622.5A CN110978044A (en) | 2019-12-12 | 2019-12-12 | Modularization servo motor overcoat |
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| Publication Number | Publication Date |
|---|---|
| CN110978044A true CN110978044A (en) | 2020-04-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911270622.5A Pending CN110978044A (en) | 2019-12-12 | 2019-12-12 | Modularization servo motor overcoat |
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| Country | Link |
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| CN (1) | CN110978044A (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101288951A (en) * | 2008-03-10 | 2008-10-22 | 哈尔滨工业大学 | Double L-shaped cubic modularized self-reconstruction robot based on rotary hook hole |
| CN101664927A (en) * | 2009-09-15 | 2010-03-10 | 华南理工大学 | Modularized biomimetic climbing robot |
| CN101716765A (en) * | 2009-11-18 | 2010-06-02 | 昆山市工业技术研究院有限责任公司 | Joint module for constructing modularized robot |
| DE202011004164U1 (en) * | 2011-03-19 | 2011-09-12 | Fms Systemtechnik Gmbh | swivel module |
| CN104708638A (en) * | 2015-03-26 | 2015-06-17 | 中国人民解放军装备学院 | Space manipulator structure having momentum buffer control function |
| CN106041988A (en) * | 2015-04-02 | 2016-10-26 | 发那科株式会社 | Joint structure for robot including motor for causing arm to be swung |
| CN108262762A (en) * | 2016-12-30 | 2018-07-10 | 中国科学院沈阳自动化研究所 | A kind of main hand pitching joint structure of resistance-adjustable |
| CN208020203U (en) * | 2018-03-06 | 2018-10-30 | 深圳市宙斯机器人有限公司 | A kind of Robet for boxing joint assembly |
| CN108724242A (en) * | 2018-05-29 | 2018-11-02 | 北京电子工程总体研究所 | A kind of composable robot |
| CN108789390A (en) * | 2018-06-20 | 2018-11-13 | 上海交通大学 | The modularized joint of co-positioned arm for micro-wound operation robot |
| CN109307046A (en) * | 2018-12-10 | 2019-02-05 | 上海海压特智能科技有限公司 | Actuator module |
| CN110228081A (en) * | 2019-06-28 | 2019-09-13 | 吴芳 | A kind of robot motor directly drives speed reducer wrist |
-
2019
- 2019-12-12 CN CN201911270622.5A patent/CN110978044A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101288951A (en) * | 2008-03-10 | 2008-10-22 | 哈尔滨工业大学 | Double L-shaped cubic modularized self-reconstruction robot based on rotary hook hole |
| CN101664927A (en) * | 2009-09-15 | 2010-03-10 | 华南理工大学 | Modularized biomimetic climbing robot |
| CN101716765A (en) * | 2009-11-18 | 2010-06-02 | 昆山市工业技术研究院有限责任公司 | Joint module for constructing modularized robot |
| DE202011004164U1 (en) * | 2011-03-19 | 2011-09-12 | Fms Systemtechnik Gmbh | swivel module |
| CN104708638A (en) * | 2015-03-26 | 2015-06-17 | 中国人民解放军装备学院 | Space manipulator structure having momentum buffer control function |
| CN106041988A (en) * | 2015-04-02 | 2016-10-26 | 发那科株式会社 | Joint structure for robot including motor for causing arm to be swung |
| CN108262762A (en) * | 2016-12-30 | 2018-07-10 | 中国科学院沈阳自动化研究所 | A kind of main hand pitching joint structure of resistance-adjustable |
| CN208020203U (en) * | 2018-03-06 | 2018-10-30 | 深圳市宙斯机器人有限公司 | A kind of Robet for boxing joint assembly |
| CN108724242A (en) * | 2018-05-29 | 2018-11-02 | 北京电子工程总体研究所 | A kind of composable robot |
| CN108789390A (en) * | 2018-06-20 | 2018-11-13 | 上海交通大学 | The modularized joint of co-positioned arm for micro-wound operation robot |
| CN109307046A (en) * | 2018-12-10 | 2019-02-05 | 上海海压特智能科技有限公司 | Actuator module |
| CN110228081A (en) * | 2019-06-28 | 2019-09-13 | 吴芳 | A kind of robot motor directly drives speed reducer wrist |
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Application publication date: 20200410 |