Linear joint module and shell fixing structure thereof
By using a combined connection structure of flexible belt and PIN pin in a linear joint module, the problems of complex and insufficient stability of the housing in the prior art are solved, and the effects of stable structure, strong compressive resistance and stable connection are achieved.
Patent Information
- Application Number
- CN202421818651.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-30
- Publication Date
- 2025-05-02
- Estimated Expiration
- 2034-07-30
AI Technical Summary
The housing connection structure of the existing linear joint modules is complex, difficult to manufacture, and may be subjected to irregular stresses in multiple directions under working conditions, resulting in a decrease in connection stability.
Using a flexible belt as a connection member, the first housing and the second housing are changed from axial connection to radial connection. Through the cooperation of multiple PIN pins and through holes, the movement of the housing is achieved in a multi-directional barrier, and the connection stability is enhanced.
It realizes a shell fixed structure with a stable structure, strong mechanical compression resistance and stable connection, reducing production complexity, and maintaining connection stability under multi-directional stress.
Smart Images
Figure CN222818946U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to a robot joint motor, and more specifically, to a linear joint module and a shell fixing structure thereof. Background Art
[0002] The linear joint module can output high-thrust linear motion and is suitable for robots. As the power unit of the robot, the robot power joint is the core unit of the entire system. Humanoid robots simulate human movement modes such as walking, running, and jumping, requiring the power joint to have instantaneous high explosive force and high torque density output.
[0003] Usually, a linear joint module includes a shell and various components arranged in the shell. The shell provides installation support and protection for the various components. The existing shell is divided into two parts, including an inner shell and an outer shell. The inner and outer shells are provided with connecting holes protruding from the surface, which are connected by bolts, with a total of six holes on one side. The connecting holes protrude from the outer shell, which increases the manufacturing complexity of the shell. In addition, in the working state, the shell may be subjected to irregular forces in multiple directions, and the stability of the connection is weakened. Therefore, it is urgently necessary to propose a new shell connection structure of the linear joint module to improve the above problems. Utility Model Content
[0004] In order to solve the above technical problems, the first purpose of the utility model is to provide a shell fixing structure with a stable structure, strong mechanical pressure resistance and stable connection. The second purpose of the utility model is to provide a linear joint module.
[0005] In order to achieve the above first utility model purpose, the utility model adopts the following technical solutions:
[0006] A shell fixing structure includes a connecting piece, a first shell and a second shell, the first shell and the second shell are inserted into each other, the side walls of the first shell and the second shell are provided with through holes aligned with each other, the connecting piece is a flexible belt, a plurality of PIN needles are provided on one side of the flexible belt, the flexible belt is connected end to end into a ring shape and enclosed outside the first shell or the second shell, and the plurality of PIN needles are respectively inserted into the corresponding through holes.
[0007] As a preferred solution: step blocks are formed at both ends of the flexible belt, and when the flexible belt is enclosed in a ring shape, the two step blocks are spliced together.
[0008] As a preferred solution: the step blocks at both ends of the flexible belt are respectively provided with mutually matching positioning columns and limiting holes, and when the flexible belt is enclosed in a ring shape, the positioning columns are inserted into the limiting holes.
[0009] As a preferred solution: a circle of notches is formed at the end of the first shell or the second shell, and the flexible belt is arranged at the notches.
[0010] As a preferred solution: the number of the PIN pins is six, the number of the through holes in the first shell and the number of the through holes in the second shell are also six respectively, and the PIN pins and the through holes are arranged at equal intervals.
[0011] In order to achieve the above second utility model purpose, the utility model adopts the following technical solutions:
[0012] A linear joint module adopts any one of the above-mentioned shell fixing structures.
[0013] As a preferred solution: it also includes a stator assembly, a rotor assembly and a moving rod, the stator assembly is arranged on the inner wall of the first shell, the rotor assembly is arranged in the stator assembly, the rotor assembly includes a rotating shaft and a rotor core arranged on the rotating shaft, both ends of the rotating shaft are rotatably connected to the first shell through bearings respectively, the interior of the rotating shaft is hollow, the moving rod is arranged in the rotating shaft, and is transmission-connected to the rotating shaft through a threaded roller; a control panel assembly is also provided at one end of the rotating shaft in the first shell.
[0014] Compared with the prior art, the beneficial effects of the utility model are:
[0015] The utility model uses a flexible belt to change the axial connection of the first shell and the second shell into a radial connection. When the first shell, the second shell flexible belt and the PIN needle are assembled into one, the shell can be blocked from moving in multiple directions. The utility model has low structural complexity, is easy to process and produce, and has a stable overall structure, strong mechanical pressure resistance and stable connection. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] The drawings in the specification, which constitute a part of the present application, are used to provide a further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute a limitation on the present application.
[0017] Figure 1 It is a schematic diagram of the overall structure of the linear joint module of the utility model;
[0018] Figure 2 It is a partial exploded structural schematic diagram of the linear joint module of the utility model;
[0019] Figure 3 It is a schematic diagram of the cross-sectional structure of the linear joint module of the utility model;
[0020] Figure 4 It is a partial enlarged structural schematic diagram of the linear joint module of the utility model;
[0021] Figure 5 It is a structural schematic diagram of the flexible belt of the utility model;
[0022] Figure 6It is a schematic diagram of the cross-section structure of the flexible belt of the utility model;
[0023] The figures are marked as follows: 1. flexible belt; 2. first shell; 3. second shell; 4. through hole; 5. stator assembly; 6. rotor assembly; 7. threaded roller; 8. moving rod; 9. bearing; 10. control board assembly; 11. PIN needle; 12. positioning column; 13. limit hole. DETAILED DESCRIPTION
[0024] It should be noted that the following detailed descriptions are illustrative and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.
[0025] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.
[0026] In addition, in the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.
[0027] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, unless otherwise specified, "plurality" means two or more, unless otherwise clearly defined.
[0028] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
[0029] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.
[0030] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:
[0031] like Figures 1 to 3 A linear joint module shown in the figure includes a connecting piece, a first shell 2, a second shell 3, a stator assembly 5, a rotor assembly 6 and a moving rod 8, wherein the first shell 2 and the second shell 3 are inserted into each other, and the side walls of the first shell 2 and the second shell 3 are provided with through holes 4 aligned with each other, the connecting piece is a flexible belt 1, and a plurality of PIN needles 11 are provided on one side of the flexible belt 1, and the flexible belt 1 is connected end to end into a ring shape and enclosed outside the first shell 2 or the second shell 3, and the plurality of PIN needles 11 are respectively inserted into the corresponding through holes 4; the stator assembly 5 is arranged on the inner wall of the first shell 2, and the rotor assembly 6 is arranged in the stator assembly, and the rotor assembly 6 includes a rotating shaft and a rotor core arranged on the rotating shaft, and the two ends of the rotating shaft are respectively rotatably connected to the first shell 2 through bearings 9, and the interior of the rotating shaft is hollow, and the moving rod 8 is arranged in the rotating shaft, and the moving rod 8 is transmission-connected to the rotating shaft through a threaded roller 7; and the moving rod 8 passes through the second shell 3, and a control board assembly 10 is also provided at one end of the rotating shaft in the first shell 2.
[0032] There are six PIN pins 11, and there are six through holes in the first shell 2 and the second shell 3, respectively. The PIN pins 11 and the through holes are arranged at equal intervals. The cooperation of multiple PIN pins and through holes enables the above connection structure to block the movement of the shell in multiple directions, and the connection is more firm and stable.
[0033] The two ends of the flexible belt 1 are respectively formed with step blocks, and when the flexible belt 1 is enclosed in a ring shape, the two step blocks are spliced together, and the step-shaped splicing structure is more convenient for the installation of the flexible belt. The step blocks at both ends of the flexible belt 1 are respectively provided with mutually matching positioning columns 12 and limiting holes 13, and when the flexible belt 1 is enclosed in a ring shape, the positioning columns 12 are inserted into the limiting holes 13. The arrangement of the positioning columns 12 and the limiting holes 13 allows the flexible belt to always maintain a ring state in the working state, and the connection is stable.
[0034] A notch is formed at the end of the first shell 2 or the second shell 3, and the flexible belt 1 is arranged at the notch. The above structure makes the flexible belt flush with the outer wall of the first shell 2, reducing the physical inspection, and also makes the outer wall smoother, which is convenient for installation and use in the device.
[0035] The utility model uses a flexible belt to change the axial connection of the first shell and the second shell into a radial connection. When the first shell, the second shell flexible belt and the PIN needle are assembled into one, the shell can be blocked from moving in multiple directions. The utility model has low structural complexity, is easy to process and produce, and has a stable overall structure, strong mechanical pressure resistance and stable connection.
[0036] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.
[0037] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present invention. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present invention without departing from the principles and purpose of the present invention. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.
Claims
1. A housing fixing structure, characterized in that: The invention comprises a connecting piece, a first shell (2) and a second shell (3), wherein the first shell (2) and the second shell (3) are inserted into each other, and the side walls of the first shell (2) and the second shell (3) are provided with through holes (4) aligned with each other, and the connecting piece is a flexible belt (1), and a plurality of PIN needles (11) are provided on one side of the flexible belt (1), and the flexible belt (1) is connected end to end to form a ring and enclosed outside the first shell (2) or the second shell (3), and the plurality of PIN needles (11) are respectively inserted into corresponding through holes (4).
2. A housing fixing structure according to claim 1, characterized in that: Step blocks are formed at both ends of the flexible belt (1), and when the flexible belt (1) is enclosed in a ring shape, the two step blocks are assembled with each other.
3. A housing fixing structure according to claim 2, characterized in that: The step blocks at both ends of the flexible belt (1) are respectively provided with mutually matching positioning columns (12) and limiting holes (13); when the flexible belt (1) is enclosed in a ring shape, the positioning columns (12) are inserted into the limiting holes (13).
4. The housing fixing structure according to claim 1, characterized in that: A circle of notches is formed at the end of the first shell (2) or the second shell (3), and the flexible belt (1) is arranged at the notch.
5. The housing fixing structure according to claim 1, characterized in that: There are six PIN needles (11), and the first shell (2) and the second shell (3) also have six through holes respectively, and the PIN needles (11) and the through holes are arranged at equal intervals.
6. A linear joint module, characterized in that: The housing fixing structure according to any one of claims 1 to 5 is adopted.
7. A linear joint module according to claim 6, characterized in that: The invention also comprises a stator assembly (5), a rotor assembly (6) and a moving rod (8), wherein the stator assembly (5) is arranged on the inner wall of the first housing (2), the rotor assembly (6) is arranged inside the stator assembly, the rotor assembly (6) comprises a rotating shaft and a rotor core arranged on the rotating shaft, the two ends of the rotating shaft are rotatably connected to the first housing (2) via bearings (9), the interior of the rotating shaft is hollow, the moving rod (8) is arranged inside the rotating shaft and is transmission-connected to the rotating shaft via a threaded roller (7); a control panel assembly (10) is also arranged at one end of the rotating shaft in the first housing (2).