CN105500367A - Robot transmission device - Google Patents
Robot transmission device Download PDFInfo
- Publication number
- CN105500367A CN105500367A CN201610030205.3A CN201610030205A CN105500367A CN 105500367 A CN105500367 A CN 105500367A CN 201610030205 A CN201610030205 A CN 201610030205A CN 105500367 A CN105500367 A CN 105500367A
- Authority
- CN
- China
- Prior art keywords
- chain
- circular arc
- gear
- arc
- double
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
-
- 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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Gears, Cams (AREA)
Abstract
The invention discloses a robot transmission device. The robot transmission device comprises a chain and a plurality of gears matched with the chain. Each gear comprises a plurality of tooth grooves, the cross sections of the tooth grooves form an irregular figure in a certain direction, and the irregular figure is in axial symmetry and is composed of nine circular arcs and two straight lines. The chain comprises a plurality of double-chain parts and a plurality of first connecting strips. Each double-chain part comprises two cylindrical chain units, two second connecting strips and one or more fixing devices. The robot transmission device is dedicated to a robot, the chain is firmer than a traditional chain, the number of the tooth grooves is small, and the robot transmission device can drive the chain to rotate when rotating in a small specific space. The fifth circular arcs are matched with the fixing devices, and therefore the purpose that the gears are better meshed with the chain can be achieved.
Description
Technical field
The present invention relates to robot field, relate generally to a kind of robot transmission field.
Background technology
Robot leans on self power and control ability to realize a kind of machine of various function, is the installations automatically performing work.It both can accept mankind commander, can run again the program of layout in advance, also can according to the principle guiding principle action of formulating with artificial intelligence technology.Its task assists or replace the work of human work, such as production industry, building industry, or the work of danger.Robot is generally made up of executing agency, drive unit, checkout gear and control system and complicated machinery etc.
Robot is run by power-jdriven gear, general robot interior, is all that chain and robot outside fix, and when rotating under the drive of chain at gear, robot makes outside corresponding motion, reaches adjustment object.Existing conventional chain and gear, cannot meet the object that robot interior is installed and used, Shortcomings.
Summary of the invention
For overcoming the above problems, the invention provides a kind of robot transmission device, it is characterized in that comprising chain, several gears, described gear and described chain match;
Described gear comprises several teeth groove, and described teeth groove cross section is in one direction irregular figure; Described irregular figure is axial symmetry, and described irregular figure is by 9 circular arcs, 2 rectilinear(-al)s; Described 9 circular arcs are respectively 2 the first circular arcs, 2 the second circular arcs, 2 three-arcs, 2 the 4th circular arcs and the 5th circular arcs, and its arrangement is followed successively by described first circular arc, described second circular arc, described three-arc, described 4th circular arc, described straight line, described 5th circular arc, described straight line, described 4th circular arc, described three-arc, the second circular arc, the first circular arc in proper order; Described second circular arc two ends are tangent with one end of described first circular arc, described three-arc respectively; The other end of described three-arc and one end of described 4th circular arc tangent; The other end of described 4th circular arc and one end of described straight line tangent;
Described chain comprises several double-strands 1, several first connection straps 3, and described double-strand 1 comprises 2 cylindrical chain links, 2,2 the second connection straps 4, one or more fixture 5; The quantity of described first connection strap 3 is the double of described double-strand 1 quantity, and namely the quantity of described first connection strap 3 is identical with described second connection strap 4 quantity; The chain link 2 described in 2 in described double-strand 1 runs through 2 described second connection straps 4; Adjacent 2 described double-strands 1 are connected by described first connection strap 3; Described fixture 5 is hollow shape, and described fixture 5 is fixed on described chain link 2; Described fixture 5 is cylindric or semi-cylindrical.
Preferably, described straight line is connected with described 5th circular arc but not tangent, and described 5th circular arc and described fixture 5 match, and are convenient to described gear and match with described chain more closely.
Preferably, the quantity of described teeth groove is 3-6, and because described chain is thicker than general, and robot interior space size is limited, so described teeth groove quantity should be not many, and the diameter of described gear should not be excessive.
Preferably, described first connection strap 3, described second connection strap 4 shape, size are identical, ensure that the spacing of all described chain links 2 is equal and parallel, when being convenient to described pinion rotation and chain link 2 described in each match.
Preferably, there is screw thread at described fixture 5 inner chamber place, is convenient to described fixture 5 and fixes with robot shells.
Preferably, described chain outer surface scribbles paint, makes, on described group of chain service life, not easily to get rusty, simultaneously also attractive in appearance.
This robot transmission device provided by the invention, for robot is special, described chain is more solid than traditional chain, and described teeth groove quantity is few, then it can meet when rotating in specific less space and drives described chain to rotate.Described 5th circular arc mates with described fixture 5, can reach the object that described gear and described chain coincide more.
Accompanying drawing explanation
Fig. 1 is chain schematic diagram;
Fig. 2 is gear schematic diagram.
Detailed description of the invention
A kind of robot transmission device as shown in Figure 1 and Figure 2, it is characterized in that comprising chain, several gears, described gear and described chain match;
Described gear comprises several teeth groove, and described teeth groove cross section is in one direction irregular figure; Described irregular figure is axial symmetry, and described irregular figure is by 9 circular arcs, 2 rectilinear(-al)s; Described 9 circular arcs are respectively 2 the first circular arcs, 2 the second circular arcs, 2 three-arcs, 2 the 4th circular arcs and the 5th circular arcs, and its arrangement is followed successively by described first circular arc, described second circular arc, described three-arc, described 4th circular arc, described straight line, described 5th circular arc, described straight line, described 4th circular arc, described three-arc, the second circular arc, the first circular arc in proper order; Described second circular arc two ends are tangent with one end of described first circular arc, described three-arc respectively; The other end of described three-arc and one end of described 4th circular arc tangent; The other end of described 4th circular arc and one end of described straight line tangent;
Described chain comprises several double-strands 1, several first connection straps 3, and described double-strand 1 comprises 2 cylindrical chain links, 2,2 the second connection straps 4, one or more fixture 5; The quantity of described first connection strap 3 is the double of described double-strand 1 quantity, and namely the quantity of described first connection strap 3 is identical with described second connection strap 4 quantity; The chain link 2 described in 2 in described double-strand 1 runs through 2 described second connection straps 4; Adjacent 2 described double-strands 1 are connected by described first connection strap 3; Described fixture 5 is hollow shape, and described fixture 5 is fixed on described chain link 2; Described fixture 5 is cylindric or semi-cylindrical.
Described straight line is connected with described 5th circular arc but not tangent, and described 5th circular arc and described fixture 5 match, and are convenient to described gear and match with described chain more closely.
The quantity of described teeth groove is 5, and because described chain is thicker than general, and robot interior space size is limited, so described teeth groove quantity should be not many, and the diameter of described gear should not be excessive.
Described first connection strap 3, described second connection strap 4 shape, size are identical, ensure that the spacing of all described chain links 2 is equal and parallel, when being convenient to described pinion rotation and chain link 2 described in each match.
There is screw thread at described fixture 5 inner chamber place, is convenient to described fixture 5 and fixes with robot shells.
Described chain outer surface scribbles paint, makes, on described group of chain service life, not easily to get rusty, simultaneously also attractive in appearance.
These are only preferred embodiment of the present invention, therefore can not limit scope of the invention process according to this, the equivalence namely done according to description of the present invention changes and decoration, all should belong in the scope of the present invention's covering.
Claims (6)
1. a robot transmission device, it is characterized in that comprising chain, several gears, described gear and described chain match; Described gear comprises several teeth groove, and described teeth groove cross section is in one direction irregular figure; Described irregular figure is axial symmetry, and described irregular figure is by 9 circular arcs, 2 rectilinear(-al)s; Described 9 circular arcs are respectively 2 the first circular arcs, 2 the second circular arcs, 2 three-arcs, 2 the 4th circular arcs and the 5th circular arcs, and its arrangement is followed successively by described first circular arc, described second circular arc, described three-arc, described 4th circular arc, described straight line, described 5th circular arc, described straight line, described 4th circular arc, described three-arc, the second circular arc, the first circular arc in proper order; Described second circular arc two ends are tangent with one end of described first circular arc, described three-arc respectively; The other end of described three-arc and one end of described 4th circular arc tangent; The other end of described 4th circular arc and one end of described straight line tangent;
Described chain comprises several double-strands, several first connection straps, and described double-strand comprises 2 cylindrical chain links, 2 the second connection straps, one or more fixtures; The quantity of described first connection strap is the double of described double-strand quantity, and namely the quantity of described first connection strap is identical with described second connection strap quantity; The chain link described in 2 in described double-strand runs through 2 described second connection straps; 2 adjacent described double-strands are connected by described first connection strap; Described fixture is hollow shape, and described fixture is fixed on described chain link; Described fixture is cylindric or semi-cylindrical.
2., according to the robot special chain described in claim 1 and gear, it is characterized in that described straight line is connected with described 5th circular arc but not tangent, described 5th circular arc and described fixture match.
3., according to the robot special chain described in claim 1 and gear, it is characterized in that the quantity of described teeth groove is 3-6.
4., according to the robot special chain described in claim 1 and gear, it is characterized in that described first connection strap, described second connection strap shape, size are identical.
5., according to the robot special chain described in claim 1 and gear, it is characterized in that there is screw thread at described fixture inner chamber place.
6., according to the robot special chain described in claim 1 and gear, it is characterized in that described chain outer surface scribbles paint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610030205.3A CN105500367A (en) | 2016-01-18 | 2016-01-18 | Robot transmission device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610030205.3A CN105500367A (en) | 2016-01-18 | 2016-01-18 | Robot transmission device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105500367A true CN105500367A (en) | 2016-04-20 |
Family
ID=55708861
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610030205.3A Pending CN105500367A (en) | 2016-01-18 | 2016-01-18 | Robot transmission device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105500367A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1621711A (en) * | 2003-11-28 | 2005-06-01 | 株式会社椿本链索 | Roller chain transmission device |
| JP2009121640A (en) * | 2007-11-16 | 2009-06-04 | Toyota Motor Corp | Roller chain, sprocket and roller chain transmission device |
| CN102927203A (en) * | 2012-11-14 | 2013-02-13 | 张应新 | Sleeve roller chain and chain wheel |
| CN202883887U (en) * | 2012-09-18 | 2013-04-17 | 罗吟吟 | Novel arc chain and chain wheel |
| CN103089972A (en) * | 2011-10-28 | 2013-05-08 | 株式会社椿本链条 | Sprocket and chain transmission |
| JP2013174305A (en) * | 2012-02-24 | 2013-09-05 | Tsubakimoto Chain Co | Roller chain and chain transmission device |
| CN104044685A (en) * | 2013-03-14 | 2014-09-17 | 大同工业株式会社 | Chain motive power transmission device and chain wheel for light-weight roller chain |
| CN204942473U (en) * | 2015-06-05 | 2016-01-06 | 中钢集团衡阳重机有限公司 | A kind of sprocket teeth for double roller chain coupling |
| CN205466202U (en) * | 2016-01-18 | 2016-08-17 | 湖州迈隆机械有限公司 | Robot transmission device |
-
2016
- 2016-01-18 CN CN201610030205.3A patent/CN105500367A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1621711A (en) * | 2003-11-28 | 2005-06-01 | 株式会社椿本链索 | Roller chain transmission device |
| JP2009121640A (en) * | 2007-11-16 | 2009-06-04 | Toyota Motor Corp | Roller chain, sprocket and roller chain transmission device |
| CN103089972A (en) * | 2011-10-28 | 2013-05-08 | 株式会社椿本链条 | Sprocket and chain transmission |
| JP2013174305A (en) * | 2012-02-24 | 2013-09-05 | Tsubakimoto Chain Co | Roller chain and chain transmission device |
| CN202883887U (en) * | 2012-09-18 | 2013-04-17 | 罗吟吟 | Novel arc chain and chain wheel |
| CN102927203A (en) * | 2012-11-14 | 2013-02-13 | 张应新 | Sleeve roller chain and chain wheel |
| CN104044685A (en) * | 2013-03-14 | 2014-09-17 | 大同工业株式会社 | Chain motive power transmission device and chain wheel for light-weight roller chain |
| CN204942473U (en) * | 2015-06-05 | 2016-01-06 | 中钢集团衡阳重机有限公司 | A kind of sprocket teeth for double roller chain coupling |
| CN205466202U (en) * | 2016-01-18 | 2016-08-17 | 湖州迈隆机械有限公司 | Robot transmission device |
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|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160420 |