CN206998928U - A kind of double-degree-of-freedom robot module - Google Patents
A kind of double-degree-of-freedom robot module Download PDFInfo
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- CN206998928U CN206998928U CN201720942184.2U CN201720942184U CN206998928U CN 206998928 U CN206998928 U CN 206998928U CN 201720942184 U CN201720942184 U CN 201720942184U CN 206998928 U CN206998928 U CN 206998928U
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- rotation
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- 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 abstract description 24
- 239000000428 dust Substances 0.000 claims description 10
- 230000015572 biosynthetic process Effects 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 5
- 230000005611 electricity Effects 0.000 description 3
- 239000002360 explosive Substances 0.000 description 3
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- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008439 repair process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
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- 238000013461 design Methods 0.000 description 1
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Abstract
Description
Claims (10)
- A kind of 1. double-degree-of-freedom robot module, it is characterised in that:Including revolution module and rotation module;Turning round module includes revolution casing, the first motor being fixed on revolution casing, is fixed on the output shaft of the first motor Revolution driving gear, be fixed on revolution casing on the first decelerator, the revolution quilt being fixed on the first decelerator input Moving gear, the gyroscopic output component being fixed in the first decelerator output end;Revolution driving gear is mutually nibbled with revolution driven gear Close;Rotation module is included with the relatively-stationary rotation casing of turn-around machine shell, the second motor being fixed on rotation casing, fixed Rotation driving gear on the output shaft of the second motor, the second decelerator being fixed on rotation casing, it is fixed on second and subtracts Rotation driven gear on fast device input, the drive bevel gear being fixed in the second decelerator output end, is fixed on rotation machine Rotation pedestal on shell, the output shaft being pivotally mounted on rotation pedestal, the rotation output precision being fixed on output shaft, Gu The dynamic bevel gear being scheduled on output shaft;Rotation driving gear and rotation driven gear are meshed, drive bevel gear and by mantle Gear is meshed.
- 2. according to a kind of double-degree-of-freedom robot module described in claim 1, it is characterised in that:It is in ladder barrel to turn round casing Shape, the first motor are fixed on the end plate of revolution casing, and revolution driving gear is fixed by screws in the output shaft of the first motor On, revolution driving gear is located at turn around the inside of casing;Revolution casing has been internally formed step surface, and the first decelerator is fixed on Turn round on the step surface of casing internal, revolution driven gear is fixed by screws on the input of the first decelerator, turns round quilt Moving gear is located at turn around the inside of casing.
- 3. according to a kind of double-degree-of-freedom robot module described in claim 2, it is characterised in that:Gyroscopic output component includes back Turn output shell and gyroelectric plate, gyroelectric plate is arranged on gyroscopic output shell, and gyroscopic output shell has been internally formed ring-type Projection, ring-type projection are fixed in the output end of the first decelerator, and the first decelerator is located at turn around casing and gyroscopic output shell encloses Into cavity in.
- 4. according to a kind of double-degree-of-freedom robot module described in claim 1, it is characterised in that:Rotation casing is in ladder barrel Shape, the second motor are fixed on the end plate of rotation casing, and rotation driving gear is fixed by screws in the output shaft of the second motor On, rotation driving gear is located at the inside of rotation casing;Second decelerator is fixed on the end face of rotation casing, rotation passive tooth Wheel is fixed by screws on the input of the second decelerator, and rotation driven gear is located at the inside of rotation casing.
- 5. according to a kind of double-degree-of-freedom robot module described in claim 4, it is characterised in that:The outside formation of rotation casing There is step surface, rotation pedestal is fixed on the step surface outside rotation casing;The end of rotation pedestal is provided with the be arranged symmetrically One adjutage and the second adjutage, it is arranged on the first adjutage and the second adjutage to output shaft rotation formula, drive bevel gear Between the first adjutage and the second adjutage, the second decelerator is located in the cavity that rotation casing and rotation pedestal surround.
- 6. according to a kind of double-degree-of-freedom robot module described in claim 5, it is characterised in that:Output shaft is provided with first axle Shoulder and second shaft shoulder, the first adjutage are built-in with clutch shaft bearing, and the end face of the first adjutage is provided with clutch shaft bearing end cap, first axle Bearing sleeve is on output shaft, and one end of clutch shaft bearing is close to first shaft shoulder, and the other end of clutch shaft bearing is close to clutch shaft bearing end cap; Dynamic bevel gear is fixed on output shaft by bearing pin, and the end face of dynamic bevel gear is close to second shaft shoulder, built in the second adjutage There is second bearing, the end face of the second adjutage is provided with second bearing end cap, and second bearing is close to second bearing end cap, second bearing It is sleeved on output shaft, axle sleeve is provided between second bearing and dynamic bevel gear, axle sleeve is sleeved on output shaft.
- 7. according to a kind of double-degree-of-freedom robot module described in claim 1, it is characterised in that:Rotation output precision includes pendulum Shifting circuit plate, rotating and swinging joint plate, IOB, contiguous block;Rotation circuit board is arranged on rotating and swinging joint plate, is set on rotating and swinging joint plate There are two rotating and swinging joint arms being arranged symmetrically, contiguous block is fixed on rotating and swinging joint arm, and IOB is connected with contiguous block by bolt Connect, IOB is fixed on output shaft.
- 8. according to a kind of double-degree-of-freedom robot module described in claim 1, it is characterised in that:Turn round casing and rotation casing On be equipped with slip ring in hollow form.
- 9. according to a kind of double-degree-of-freedom robot module described in claim 5, it is characterised in that:Rotation module also includes two Dust cover, two dust covers are corresponding to be arranged on the first adjutage and the second adjutage.
- 10. according to a kind of double-degree-of-freedom robot module described in claim 1, it is characterised in that:Robot module also includes Connecting cylinder, one end of connecting cylinder are fixed by screws on revolution casing, and the other end of connecting cylinder is fixed by screws in rotation On casing, the first motor and the second motor are located at the inside of connecting cylinder.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN201720942184.2U CN206998928U (en) | 2017-07-31 | 2017-07-31 | A kind of double-degree-of-freedom robot module |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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CN201720942184.2U CN206998928U (en) | 2017-07-31 | 2017-07-31 | A kind of double-degree-of-freedom robot module |
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CN206998928U true CN206998928U (en) | 2018-02-13 |
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CN201720942184.2U Active CN206998928U (en) | 2017-07-31 | 2017-07-31 | A kind of double-degree-of-freedom robot module |
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Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107344360A (en) * | 2017-07-31 | 2017-11-14 | 广州大学 | A kind of double-degree-of-freedom robot module |
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 |
CN109465814A (en) * | 2018-12-05 | 2019-03-15 | 福州大学 | Two-freedom reconfigurable modular robot cellular construction |
-
2017
- 2017-07-31 CN CN201720942184.2U patent/CN206998928U/en active Active
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107344360A (en) * | 2017-07-31 | 2017-11-14 | 广州大学 | A kind of double-degree-of-freedom robot module |
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 |
CN108789390B (en) * | 2018-06-20 | 2021-09-03 | 上海交通大学 | Modular joint for cooperating positioning arms of minimally invasive surgical robot |
CN109465814A (en) * | 2018-12-05 | 2019-03-15 | 福州大学 | Two-freedom reconfigurable modular robot cellular construction |
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Assignee: Foshan Luoshiqi Home Technology Co.,Ltd. Assignor: Guangzhou University Contract record no.: X2022440000165 Denomination of utility model: A two-degree-of-freedom robot module Granted publication date: 20180213 License type: Common License Record date: 20220921 Assignee: Foshan Shunde Sentaike Electrical Appliance Manufacturing Co.,Ltd. Assignor: Guangzhou University Contract record no.: X2022440000164 Denomination of utility model: A two-degree-of-freedom robot module Granted publication date: 20180213 License type: Common License Record date: 20220921 |
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Assignee: Guangdong xinruitong Technology Co.,Ltd. Assignor: Guangzhou University Contract record no.: X2022440000192 Denomination of utility model: A two degree of freedom robot module Granted publication date: 20180213 License type: Common License Record date: 20220927 Assignee: Shenzhen antengda Technology Co.,Ltd. Assignor: Guangzhou University Contract record no.: X2022440000191 Denomination of utility model: A two degree of freedom robot module Granted publication date: 20180213 License type: Common License Record date: 20220927 |
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Assignee: SHENZHEN RUIFENG TECHNOLOGY Co.,Ltd. Assignor: Guangzhou University Contract record no.: X2022980021674 Denomination of utility model: A two degree of freedom robot module Granted publication date: 20180213 License type: Common License Record date: 20221114 |
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Assignee: Shenzhen Yuxin IOT Technology Co.,Ltd. Assignor: Guangzhou University Contract record no.: X2022980025114 Denomination of utility model: A two degree of freedom robot module Granted publication date: 20180213 License type: Common License Record date: 20221207 Assignee: Shenzhen Jiuchang door control technology Co.,Ltd. Assignor: Guangzhou University Contract record no.: X2022980024949 Denomination of utility model: A two degree of freedom robot module Granted publication date: 20180213 License type: Common License Record date: 20221206 |
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Assignee: Guangzhou Shenzhou Lianbao Technology Co.,Ltd. Assignor: Guangzhou University Contract record no.: X2022980028930 Denomination of utility model: A robot module with two degrees of freedom Granted publication date: 20180213 License type: Common License Record date: 20230106 Assignee: Guangzhou Simao Information Technology Co.,Ltd. Assignor: Guangzhou University Contract record no.: X2022980028356 Denomination of utility model: A robot module with two degrees of freedom Granted publication date: 20180213 License type: Common License Record date: 20230105 Assignee: Foshan Ruipai Technology Co.,Ltd. Assignor: Guangzhou University Contract record no.: X2022980028512 Denomination of utility model: A robot module with two degrees of freedom Granted publication date: 20180213 License type: Common License Record date: 20230105 Assignee: Guangzhou Jufeng Audio Technology Co.,Ltd. Assignor: Guangzhou University Contract record no.: X2022980028893 Denomination of utility model: A robot module with two degrees of freedom Granted publication date: 20180213 License type: Common License Record date: 20230106 |
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Assignee: Guangdong Shibo Intelligent Equipment Technology Co.,Ltd. Assignor: Guangzhou University Contract record no.: X2023980031004 Denomination of utility model: A robot module with two degrees of freedom Granted publication date: 20180213 License type: Common License Record date: 20230129 |
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Assignee: Dongguan Guangyu Photoelectric Technology Co.,Ltd. Assignor: Guangzhou University Contract record no.: X2023980036438 Denomination of utility model: A Double Degree of Freedom Robot Module Granted publication date: 20180213 License type: Common License Record date: 20230609 |
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Assignee: Guangzhou Jinshang Intelligent Information Technology Co.,Ltd. Assignor: Guangzhou University Contract record no.: X2023980047907 Denomination of utility model: A dual degree of freedom robot module Granted publication date: 20180213 License type: Common License Record date: 20231122 |