CN106313015B - A kind of transmission device and robot - Google Patents
A kind of transmission device and robot Download PDFInfo
- Publication number
- CN106313015B CN106313015B CN201610973107.3A CN201610973107A CN106313015B CN 106313015 B CN106313015 B CN 106313015B CN 201610973107 A CN201610973107 A CN 201610973107A CN 106313015 B CN106313015 B CN 106313015B
- Authority
- CN
- China
- Prior art keywords
- connecting portion
- transmission device
- actuator
- drive mechanism
- connection
- 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.)
- Expired - Fee Related
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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- 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
Abstract
The present invention relates to transmission fields, it is intended to solve the problem of transmission device flexibility in the prior art and the not high cost of continuity and be difficult to produce in enormous quantities.The present invention provides a kind of transmission devices, including multiple drive mechanisms and the connecting bracket being arranged between two adjacent drive mechanisms.Drive mechanism includes actuator, first connecting portion and second connecting portion, first connecting portion and second connecting portion are rotatably coupled, actuator is fixedly installed on first connecting portion, and actuator and second connecting portion are sequentially connected to drive second connecting portion to rotate relative to first connecting portion.Connecting bracket connects adjacent drive structure.Multiple single movements are combined together by connecting bracket, improve the flexibility and continuity of transmission, solve the problems, such as not high transmission device flexibility in the prior art and continuity, high cost and are difficult to produce in enormous quantities.The invention also discloses a kind of robots.
Description
Technical field
The present invention relates to transmission fields, in particular to a kind of transmission device and robot.
Background technique
With the development of science and technology and social progress, robot are widely used to various industries, and people are to machine
The requirement of people is also higher and higher, and it is both artistic and practical not require nothing more than robot, more requires robot flexible and efficient.Transmission device is as machine
The important component of device people determines the flexibility of robot.Transmission device is that the movement of prime mover and power are transmitted to work
Make the intermediate device of mechanism.
With the continuous development of robot of China industry, the deficiency of existing transmission device also shows especially out, existing transmission
Device flexibility is not high with continuity, seriously affects the service performance of robot, higher cost and is difficult to produce in enormous quantities, cannot
Meet people to the wilderness demand of robot.
Summary of the invention
The present invention is intended to provide a kind of transmission device, to solve transmission device flexibility in the prior art and continuity not
High, high cost and it is difficult to the problem of producing in enormous quantities.
Another object of the present invention is to provide a kind of robots.
The embodiment of the present invention is achieved in that
A kind of transmission device, including multiple drive mechanisms and the connection branch being arranged between two adjacent drive mechanisms
Frame.Drive mechanism includes actuator, first connecting portion and second connecting portion.First connecting portion and second connecting portion rotationally connect
It connects, actuator is fixedly installed on first connecting portion, and actuator is sequentially connected with second connecting portion to drive second connecting portion opposite
It is rotated in first connecting portion.Connecting bracket has the first connecting end surface and second connection end face on the other side, the first connection
End face is connect with the first connecting portion of a drive mechanism, second company in second connection end face and another adjacent drive mechanism
Socket part connection.
Transmission device provided by the invention connects multiple drive mechanisms by connecting bracket, and each drive mechanism can be single
It solely realizes rotation, multiple drive mechanisms is connected by connecting bracket, by connecting bracket by multiple single movement knots
It is combined, improves the flexibility and continuity of transmission, solve transmission device flexibility in the prior art and continuity
Not high, high cost and it is difficult to the problem of producing in enormous quantities.
In one embodiment of the invention:
First connecting end surface of above-mentioned connecting bracket and the not parallel setting in second connection end face.
In one embodiment of the invention:
Above-mentioned actuator is sequentially connected by driving member and second connecting portion.
In one embodiment of the invention:
Above-mentioned actuator is motor.
In one embodiment of the invention:
Above-mentioned driving member is gear transmission structure.
In one embodiment of the invention:
Above-mentioned driving member includes intermeshing driving gear and driven gear；The output shaft of driving gear and actuator connects
It connects, driven gear is connect with second connecting portion.
In one embodiment of the invention:
Above-mentioned driving member includes intermeshing driving gear and driven ring gear；The output shaft of driving gear and actuator connects
It connects, driven ring gear is connect with second connecting portion.
In one embodiment of the invention:
Above-mentioned drive mechanism further includes shaft；Shaft is fixedly installed on second connecting portion；Shaft can turn with first connecting portion
It connects dynamicly.
In one embodiment of the invention:
Above-mentioned drive mechanism further includes the bearing for being socketed on shaft, and first connecting portion offers holding tank, and bearing fixation is set
It is placed in holding tank.
A kind of robot, including any one of the above transmission device.
The beneficial effect of the embodiment of the present invention is:
Transmission device provided by the invention connects multiple drive mechanisms by connecting bracket, and each drive mechanism can be single
It solely realizes rotation, multiple drive mechanisms is connected by connecting bracket.By connecting bracket by multiple single movement knots
It is combined, improves the flexibility and continuity of transmission, realize low cost and produce in enormous quantities.It solves in the prior art
Transmission device flexibility and continuity is high, high cost and is difficult to the problem of producing in enormous quantities.
Robot provided by the invention, including above-mentioned transmission device, therefore also have flexibility and continuity it is high and low at
The beneficial effect of this and mass production.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is overall structure diagram of the transmission device that provides of the embodiment of the present invention 1 under the first visual angle；
Fig. 2 is overall structure diagram of the transmission device that provides of the embodiment of the present invention 1 under the second visual angle；
Fig. 3 is the cross-sectional view of III-III in Fig. 2；
Fig. 4 is the structural schematic diagram of the motor for the transmission device that the embodiment of the present invention 1 provides；
Fig. 5 is the structural schematic diagram of the first connecting portion for the transmission device that the embodiment of the present invention 1 provides；
Fig. 6 is the structural schematic diagram of the second connecting portion for the transmission device that the embodiment of the present invention 1 provides；
Fig. 7 is the structural schematic diagram of the driving member for the transmission device that the embodiment of the present invention 1 provides；
Fig. 8 is the structural schematic diagram of the shaft for the transmission device that the embodiment of the present invention 1 provides；
Fig. 9 is the structural schematic diagram of the connecting bracket for the transmission device that the embodiment of the present invention 1 provides.
Icon: 10- transmission device；100- drive mechanism；110- motor；112- motor driving part；114- electric machine casing；
116- first motor location hole；120- first connecting portion；The first groove of 122-；123- the second motor location hole；124- first
Frame location hole；130- second connecting portion；The second groove of 132-；133- first rotating shaft location hole；134- second support location hole；
The driven ring gear location hole of 136- first；140- driving member；142- driving gear；143- gear center hole；The driven ring gear of 146-；
The driven ring gear location hole of 147- second；150- shaft；152- bearing；154- the second shaft location hole；200- connecting bracket；210-
First connecting end surface；212- third connecting bracket location hole；220- second connection end face；The 4th connecting bracket location hole of 222-.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without making creative work belongs to the model that the present invention protects
It encloses.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, it should be noted that if there is the orientation of the instructions such as term " center ", "inner", "outside"
Or positional relationship be based on the orientation or positional relationship shown in the drawings or the invention product using when the orientation usually put
Or positional relationship, it is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning
It must have a particular orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.In addition,
If occurring term " first ", " second " etc. in description of the invention to be only used for distinguishing description, it is not understood to indicate or imply
Relative importance.
If being not offered as requiring component absolute in addition, occurring the terms such as term "horizontal", "vertical" in description of the invention
Horizontal or pendency, but can be slightly tilted.If "horizontal" only refers to that its direction is more horizontal with respect to for "vertical", not
It is to indicate that the structure is had to fully horizontally, but can be slightly tilted.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, if there is term
" setting ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally connect
It connects；It can be mechanical connection；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The connection in portion.For the ordinary skill in the art, the tool of above-mentioned term in the present invention can be understood with concrete condition
Body meaning.
Embodiment 1:
Please refer to Fig. 1, the present embodiment provides a kind of transmission device 10, including three drive mechanisms being stacked 100 with
And the connecting bracket 200 between two adjacent drive mechanisms 100 is set.
Referring to figure 2. and Fig. 3 is combined, drive mechanism 100 includes motor 110, first connecting portion 120, second connecting portion
130, driving member 140 and shaft 150.
Referring to figure 4., motor 110 has motor driving part 112 and electric machine casing 114, close to motor driving part 112
End face on be provided with multiple first motor location holes 116.
Referring to figure 5., first connecting portion 120 is discoid, and it is recessed to be provided centrally with circular first in first connecting portion 120
Slot 122 and the second motor location hole 123 are provided with multiple in the first groove 122 and 123 two sides of the second motor location hole
One rack positioning hole 124.
Please refer to Fig. 6, second connecting portion 130 be it is discoid, 130 center of second connecting portion is provided with the second groove
132, it is internally provided with first rotating shaft location hole 133 in the second groove 132, is provided with second support around the second groove 132
Location hole 134 and the first driven ring gear location hole 136.
Fig. 7 is please referred to, driving member 140 includes driving gear 142 and driven ring gear 146.Driving gear 142 has gear
Centre bore 143, driven 146 periphery of ring gear are provided with the second driven ring gear location hole 147.
Please refer to Fig. 8, shaft 150 be it is cylindric, matched bearing 152 is equipped in 150 outer sheath of shaft, in shaft
Multiple second shaft location holes 154 are provided on 150 end face.
Please refer to Fig. 9, connecting bracket 200 is with certain thickness plate structure, and connecting bracket 200 has the first connection
End face 210 and second connection end face 220 on the other side, the first connecting end surface 210 with second connection end face 220 is not parallel sets
It sets.It is provided with third connecting bracket location hole 212 on the first connecting end surface 210, is provided on second connection end face 220
Four connecting bracket location holes 222.
Referring once again to Fig. 2 and Fig. 3 is combined, first connecting portion 120 and the second connecting portion 130 of drive mechanism 100 pass through
Shaft 150 is rotatably connected.150 outer sheath of shaft is equipped with bearing 152, and it is first recessed to be connected to first connecting portion 120 for bearing 152
In slot 122 (being shown in FIG. 5).One end face of shaft 150 is provided with the second shaft location hole 154 (being shown in FIG. 9), should
End face is placed in the second groove 132 (being shown in FIG. 6) of second connecting portion 130, and is positioned by the second shaft of shaft 150
Hole 154 (being shown in FIG. 9) and the first rotating shaft location hole 133 (being shown in FIG. 6) of second connecting portion 130 are bolted
Connection.Motor 110 is fixedly connected with first connecting portion 120, is provided on the electric machine casing 114 (being shown in FIG. 4) of motor 110
First motor location hole 116 (is shown in FIG. 4), first motor location hole 116 (being shown in FIG. 4) and first connecting portion 120
On the second motor location hole 123 (being shown in FIG. 5) be bolted to connection.Motor 110 and second connecting portion 130 are driven
Connection, to drive second connecting portion 130 to rotate relative to first connecting portion 120.The motor driving part 112 of motor 110 is (in Fig. 4
In show) output shaft on the outside of fixing sleeve be equipped with driving gear 142, driving gear 142 by gear center hole 143 (in Fig. 7
Show) it is fixedly connected on the outside of motor driving part 112 (being shown in FIG. 4).Driving gear 142 is meshed with driven ring gear 146
To drive driven ring gear 146 to rotate, it is provided with the second driven ring gear location hole 147 (being shown in FIG. 7) on driven ring gear 146,
The second driven ring gear location hole 147 (being shown in FIG. 7), the first driven ring gear location hole 136 are provided in second connecting portion 130
(being shown in FIG. 6) is bolted to connection with the second driven ring gear location hole 147 (being shown in FIG. 7).To realize electricity
Machine 110 and second connecting portion 130 are sequentially connected to drive second connecting portion 130 to rotate relative to first connecting portion 120.In this reality
The transmission device 10 applied in example connects three drive mechanisms 100 by two groups of connecting brackets 200.Two neighboring drive mechanism 100
Between be symmetrical arranged two connecting brackets 200, the of the first connecting end surface 210 of connecting bracket 200 and drive mechanism 100
One interconnecting piece 120 is fixedly connected, and the of the second connection end face 220 of connecting bracket 200 and another adjacent drive mechanism 100
Two interconnecting pieces 130 are fixedly connected.
Transmission device 10 is connected three drive mechanisms 100 by two groups of connecting brackets 200.Drive mechanism 100 exists
Under the driving of motor 110, by the transmission of driving gear 142 and driven ring gear 146, drive second connecting portion 130 relative to the
The rotation of one interconnecting piece 120.The connecting bracket 200 being fixedly connected in second connecting portion 130 simultaneously is also with 130 turns of second connecting portion
Dynamic, the rotation of connecting bracket 200 will drive another drive mechanism 100 of connection fixed thereto to rotate.Movement is successively transmitted,
Multiple single movements are combined together, the flexibility and continuity of transmission are improved, realize that inexpensive and high-volume is raw
It produces.Solve transmission mechanism flexibility in the prior art with continuity not high, high cost and be difficult to produce in enormous quantities ask
Topic.
It should be noted that in the present embodiment, driving gear 142 and driven ring gear 146 collectively form and have gear biography
The driving member 140 of dynamic structure.Driving gear 142 is connected by way of internal messing with driven ring gear 146.It should be understood that from
Movable tooth ring 146 can be replaced by driven gear, to be connect by way of external toothing with driving gear 142.Also need
Bright, other than gear transmission structure, driving member 140 can also be realized using other structures, such as belt transmission structure, chain
Drive mechanism, frictional drive structure etc..It is in fact possible to according to the different needs of the user, each transmission of transmission device 10
The driving member 140 of structure 100 can use different drive mechanisms.For example, positioned at the drive mechanism 100 of bottom in Fig. 1
Driving member 140 uses gear transmission structure, is located in the middle the driving member 140 of drive mechanism 100 using chain drive structure, position
Belt drive structure is used in the driving member 140 of the drive mechanism 100 of the top.Which kind of drive mechanism driving member 140 uses, can be with
It is according to the load bearing situation of drive mechanism 100, factors are selected the case where working environment etc..In addition, if motor 110
Output shaft be connected directly to second connecting portion 130, in this case, driving member 140 can not also be used.
It should be noted that in the present embodiment, it can be decelerating motor, stepper motor that actuator, which is motor 110,
Deng.It should be understood that actuator can also be using the drivings such as hydraulic motor, hydraulic cylinder dress in other specific embodiments
It sets.
It should be noted that in the present embodiment, motor 110 and first connecting portion 120, shaft 150 and second connecting portion
130, being fixedly connected between second connecting portion 130 and driven ring gear 146, connecting bracket 200 and drive mechanism 100 is provided with
Positioning pin or positioning screw, it is possible to understand that, using welding or it the modes such as can also be wholely set and connect.
It should be noted that in the present embodiment, connecting bracket 200 has the first connecting end surface 210 and second connection end
Face 220, the first connecting end surface 210 and the not parallel setting in second connection end face 220.It is of course also possible to the need different according to user
It asks, is arranged in parallel using the first connecting end surface 210 with second connection end face 220.
In the present embodiment, transmission device 10 is connected three drive mechanisms 100 by two groups of connecting brackets 200.
It should be understood that the quantity of drive mechanism 100 is not limited to three, user can be according to actual use situation to drive mechanism 100
Quantity be increased and decreased.
In the present embodiment, first connecting portion 120 and second connecting portion 130 are rotatably connected, and pass through shaft 150 and axis
152 cooperation is held to realize.In other specific embodiments, it can also realize that rotation connects using bulb connection type
It connects.
In the present embodiment, be arranged bearing 152 on the outside of shaft 150, can also according to the demand of user, shaft 150 with
Shaft end circlip is set between bearing 152 to reinforce the connection of shaft 150 Yu bearing 152.
In the present embodiment, the bearing 152 in 150 outside of shaft is connected in the first groove 122 of first connecting portion 120,
Nose end circlip can also be set on the outside of bearing 152 to reinforce shaft 150 and first connecting portion 120 according to the demand of client
Connection.
In the present embodiment, the bearing 152 being arranged on the outside of shaft 150 is standard rolling bearing or sliding bearing.Using
Standard rolling bearing helps to reduce cost, and realizes standardization, produces in enormous quantities.
Transmission device 10 provided in this embodiment can be installed on the joint of robot, so that the joint motion of robot
It is more flexible and continuity.
These are only the preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of transmission device, it is characterised in that: the transmission device includes multiple drive mechanisms and is arranged in adjacent two
Connecting bracket between a drive mechanism；
The drive mechanism includes actuator, first connecting portion and second connecting portion；The first connecting portion and described second connects
Socket part is rotatably coupled；The actuator is fixedly installed on the first connecting portion；The actuator is connect with described second
Portion is sequentially connected to drive the second connecting portion to rotate relative to the first connecting portion；
The connecting bracket has the first connecting end surface and second connection end face on the other side；First connecting end surface with
The first connecting portion connection of one drive mechanism；The second connection end face and another adjacent described transmission are tied
The second connecting portion of structure connects；First connecting end surface of the connecting bracket and the second connection end face are not parallel
Setting；The connecting bracket is that two are symmetrical arranged between the two neighboring drive mechanism with certain thickness plate structure
A connecting bracket.
2. transmission device according to claim 1, it is characterised in that: the actuator is connected by driving member and described second
Socket part transmission connection.
3. transmission device according to claim 2, it is characterised in that: the actuator is motor.
4. transmission device according to claim 3, it is characterised in that: the driving member is gear transmission structure.
5. transmission device according to claim 4, it is characterised in that: the driving member includes intermeshing driving gear
And driven gear；The output axis connection of the driving gear and the actuator, the driven gear and the second connecting portion
Connection.
6. transmission device according to claim 4, it is characterised in that: the driving member includes intermeshing driving gear
With driven ring gear；The output axis connection of the driving gear and the actuator, the driven ring gear and the second connecting portion
Connection.
7. transmission device as claimed in any of claims 1 to 6, it is characterised in that: the drive mechanism further includes
Shaft；The shaft is fixedly installed on the second connecting portion；The shaft is rotatably coupled with the first connecting portion.
8. transmission device according to claim 7, it is characterised in that: the drive mechanism further includes being socketed on the shaft
Bearing, the first connecting portion offers holding tank, and the bearing is fixedly installed in the holding tank.
9. robot, it is characterised in that: the robot includes transmission device as claimed in any of claims 1 to 8 in one of claims.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610973107.3A CN106313015B (en) | 2016-11-04 | 2016-11-04 | A kind of transmission device and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610973107.3A CN106313015B (en) | 2016-11-04 | 2016-11-04 | A kind of transmission device and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106313015A CN106313015A (en) | 2017-01-11 |
| CN106313015B true CN106313015B (en) | 2019-01-01 |
Family
ID=57816642
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610973107.3A Expired - Fee Related CN106313015B (en) | 2016-11-04 | 2016-11-04 | A kind of transmission device and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106313015B (en) |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9987743B2 (en) * | 2014-03-13 | 2018-06-05 | Brain Corporation | Trainable modular robotic apparatus and methods |
| CN105364916B (en) * | 2015-12-17 | 2017-06-09 | 成都英博格科技有限公司 | Robot architecture |
| CN105364933B (en) * | 2015-12-17 | 2017-10-27 | 成都英博格科技有限公司 | Intelligent robot |
| CN105904454A (en) * | 2016-06-12 | 2016-08-31 | 浙江工业大学 | Grabbing manipulator |
| CN106002960B (en) * | 2016-07-18 | 2018-06-15 | 台州风达机器人科技有限公司 | It is a kind of to be equipped with the all-purpose robot for swinging adjutage |
| CN206123649U (en) * | 2016-11-04 | 2017-04-26 | 成都英博格科技有限公司 | Transmission and robot |
-
2016
- 2016-11-04 CN CN201610973107.3A patent/CN106313015B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN106313015A (en) | 2017-01-11 |
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Granted publication date: 20190101 Termination date: 20201104 |