Patent Application
20110132118
1. Field of the Invention
The invention relates to a transmission component of a joint of a robot, and more particularly to a transmission component having a functional structure to be combined with a sensor and/or a bearing.
2. Description of the Related Art
At present, the development issues of the robot include how to increase the agility of the robot and how to broaden the application range of the robot. Thus, many miniaturized joints having more degrees of freedom have been discussed and developed.
In order to increase the agility and enlarge the movement range, a mechanism having two shafts intersecting with each other is usually adopted at the position of the joint. This mechanism includes a cruciform shaft serving as the transmission component, one end of which is connected to a link, and the other end of which is connected to a flexible component. The flexible component is connected to a belt disk or a coupler so that the power may be transmitted through the cruciform shaft to move the link.
U.S. Pat. No. 6,917,175 discloses a cruciform shaft serving as a joint member. However, this transmission mechanism needs more components, so the manufacturing cost is high. Furthermore, the more components need to satisfy the assembling and mounting methods, so the size of the component cannot be easily miniaturized.
In addition, U.S. Pat. No. 5,765,443 discloses a transmission component disposed between two links. The transmission component is a power transmission member combined with a U-shaped rotor, wherein the power transmission member is to be connected to a power source, and the U-shaped rotor serves as a swinging member for driving the links to swing or rotate.
This mechanism needs the power transmission member to be combined with the U-shaped rotor, and the U-shaped rotor additionally needs to be formed with a pin hole through which a pin passes. So, this mechanism still has many combination positions. In order to satisfy the demands of the combination and installation, the size of this mechanism cannot be easily miniaturized, and the manufacturing cost thereof is high.
It is therefore an objective of the invention to provide a transmission component, which has a functional structure and a miniaturized size, and can be easily manufactured.
Another objective of the invention is to provide a transmission component having a functional structure, wherein the transmission component may be combined with another member made of a material different from that of the transmission component so that the structure intensity thereof is sufficient while the size thereof is small.
In accordance with the present invention, there is provided a transmission component including a linear shaft body or a crossed shaft body, wherein a transmission structure extends in a radial direction of the shaft body and is integrally formed on the shaft body. Next, a sensor matching structure and a shaft matching structure are respectively formed on the shaft body so that the size can be miniaturized. Furthermore, a reinforcing rod may be inserted into the shaft body in an axial direction so that the structure intensity of the shaft body can be enhanced.
Further benefits and advantages of the present invention will become apparent after a careful reading of the detailed description with appropriate reference to the accompanying drawings.
The above and other objects of the present invention will become readily apparent by reference to the following detailed description when considered in conjunction with the accompanying drawings wherein:
Also, the finger 20 is composed of a plurality of finger units 21. As for the same finger 20, one transmission component 30 is disposed between the neighboring finger units 21.
Referring to
A sensor matching structure 36 is formed at one end of the shaft body 32. According to the special exterior shape, such as a D shape, of the sensor matching structure 36, a sensor 51 can be combined with the sensor matching structure 36 without the rotation relative to the shaft body 32. The sensor 51 may be an angle sensor or an angular velocity sensor.
A bearing matching structure 38 is formed on the shaft body 32 and is a projecting ring body. A bearing 52 is disposed on the bearing matching structure 38. Also, another bearing matching structure 39 is formed on and extends from one end of the shaft body 32 and has a projecting rod-like structure. A bearing 54 is disposed on the bearing matching structure 39.
A reinforcing rod 40 is inserted into the shaft body 32 in the axial direction. More particularly, the shaft body 32 has an axial slot 33, into which the reinforcing rod 40 may be inserted. The reinforcing rod 40 and the shaft body 32 are made of different materials, and the hardness of the reinforcing rod 40 may be greater than the hardness of the shaft body 32.
As shown in
A first transmission structure 63 extends in the radial direction of the first shaft 621 and is integrally formed on the first shaft 621. A second transmission structure 64 extends in a radial direction of the second shaft 622 and is integrally formed on the second shaft 622. Each of the first transmission structure 63 and the second transmission structure 64 is a gear with a fan-shaped structure. Each of an external first toothed portion 631 of the first transmission structure 63 and an external second toothed portion 642 of the second transmission structure 64 is connected to a torque device or system (not shown).
A first sensor matching structure 65 is formed at an end portion of the first shaft 621. A second sensor matching structure 66 is formed at an end portion of the second shaft 622.
In addition to the D-shaped structure, the first sensor matching structure 65 and the second sensor matching structure 66 may also have the rectangular, slotted or cruciform structures to match with the sensors with different shapes of assembling holes according to the teachings of
A first bearing matching structure 67 is disposed on the first shaft 621. The first bearing matching structure 67 has a first projecting ring body 671 and a first projecting cylinder 672. The first projecting ring body 671 is formed on the surface of the first shaft 621. The first projecting cylinder 672 is integrally formed on and extends from the end portion of the first shaft 621.
A second bearing matching structure 68 is disposed on the second shaft 622. The second bearing matching structure 68 has a second projecting ring body 681 and a second projecting cylinder 682. The second projecting ring body 681 is formed on the surface of the second shaft 622. The second projecting cylinder 682 is integrally formed on and extends from the end portion of the second shaft 622.
The first bearing matching structure 67 and the second bearing matching structure 68 may be respectively combined with suitable bearings.
In addition, as shown in
Thus, the transmission component 30 or 60 according to the invention has the matching structure and the transmission structure with the specific shapes on the shaft body 32 or 62. So, the size of the transmission component can be miniaturized. In addition, the sensor and the bearing may be directly disposed on the matching structure and the transmission structure with the specific shapes in the transmission component 30 or 60, and the transmission component may be connected to the torque device so that the transmission component can be conveniently manufactured and assembled. In addition, the structure intensity can be effectively enhanced according to the reinforcing rod 40 inserted into the shaft body 32 or 62. In addition, the transmission component 30 or 60 with the functional structure can be directly connected to the torque device so that the effect of direct linking-up and the effect of reducing the moving space of the mechanism can be achieved.
Although the invention has been explained in relation to its preferred embodiment(s) as mentioned above, it is to be understood that many other possible modifications and variations can be made without departing from the scope of the present invention. It is, therefore, contemplated that the appended claim or claims will cover such modifications and variations that fall within the true scope of the invention.
