CN106335055A - Robot steering engine assembly and robot - Google Patents
Robot steering engine assembly and robot Download PDFInfo
- Publication number
- CN106335055A CN106335055A CN201610928552.8A CN201610928552A CN106335055A CN 106335055 A CN106335055 A CN 106335055A CN 201610928552 A CN201610928552 A CN 201610928552A CN 106335055 A CN106335055 A CN 106335055A
- Authority
- CN
- China
- Prior art keywords
- steering wheel
- robot
- bearing
- shell
- steering engine
- 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
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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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Mounting Of Bearings Or Others (AREA)
Abstract
The invention discloses a robot steering engine assembly and a robot. The robot steering engine assembly comprises a shell, a steering engine and a driving motor, wherein the steering engine and the driving motor are contained in the shell; a driving gear is fixed to an output shaft of the driving motor; a driven gear is fixed to an outer shell of the steering engine; and the driven gear is engaged with the driving gear. The robot steering engine assembly is characterized in that the outer shell of the steering engine is further sleeved with a bearing; the bearing and the inner side of the shell are matched for positioning; and the bearing is located at the end, away from the driven gear, of the outer shell of the steering engine. Compared with the prior art, the robot steering engine assembly further comprises the bearing arranged on the outer shell of the steering engine in a sleeving mode, the bearing achieves supporting and limiting functions on the steering engine, the effect that the end, away from the driven gear, of the steering engine does not swing in the working process of the steering engine is ensured, motion deviation of the steering engine is reduced, and the coaxiality, the accuracy and the flexibility of motion of the steering engine are improved.
Description
Technical field
The present invention relates to robotics, more particularly, to a kind of robot steering wheel assembly and robot.
Background technology
Robot is a kind of machine of automation, except that this machine possesses intelligence as some and people or biofacies
Energy ability, such as perception, planning ability, Motor ability and cooperative ability, are a kind of automation machines with high degree of flexibility
Device.
With the intensification to Robotics intelligent essence understanding for the people, Robotics starts continuously to people
The every field infiltration of class activity.In conjunction with the application characteristic in these fields, people have been developed and miscellaneous have been had perception, certainly
The specialized robot of plan, action and interaction capabilities and various intelligence machine, such as mobile robot, Micro-Robot, underwater robot,
Medical robot, military robot, aerial robot for space, amusement robot etc..
Steering wheel is one of most crucial parts in robot.Steering wheel is a kind of simple servomotor, is by direct current
Machine, a set of automatic control system of train of reduction gears, sensor and control circuit composition, are applied on ship earliest to realize it
Turning function, is a kind of big deck machinery, and steering wheel has compact conformation, debugging easy to install, controls simple, high-torque, cost relatively
Low feature.Because steering wheel can give crank degree information by electric signal, go to specified angle, and can be at specified angle
Degree keeps, bears certain moment of face, thus is widely used in all kinds of joints of intelligent robot.
In the prior art, it is applied on the steering wheel at joint of robot be fixed with driven gear, driven gear and fixation
Driving gear engagement in driving motor output shaft, drives steering wheel rotation by gear drive.Only have yet with steering wheel
Driven gear can lead to steering wheel in rotation process as the support member of steering wheel, and the one end away from travelling gear swings sternly
Weight, thus reducing the flexibility ratio of steering wheel and the precision of motion, even resulting in steering wheel cannot normal work.
Content of the invention
The first object of the present invention is to propose a kind of robot steering wheel assembly, and this robot steering wheel assembly is in rotation process
In there is not swing, improve precision and the flexibility ratio of steering wheel motion, so that steering wheel can preferably work.
For reaching this purpose, the present invention employs the following technical solutions:
A kind of robot steering wheel assembly, including housing and be placed in the steering wheel in described housing and motor, described
Driving gear is fixed with the output shaft of motor, the shell of described steering wheel is fixed with driven gear, described driven gear
Engage with described driving gear it is characterised in that being also arranged with bearing on the shell of described steering wheel, described bearing and described housing
Fit inside positioning, described bearing be located at described steering wheel shell on away from described driven gear one end.
Wherein, described bearing is located at the end of the shell of described steering wheel.
Wherein, also include with the shell of described steering wheel relatively-stationary angle measurement unit.
Wherein, described bearing integrated forms the support shaft being directed away from described driven gear, and described support shaft is arranged
There is described angle measurement unit.
Wherein, described driven gear is equal with the external diameter of described bearing, and is all higher than the external diameter of the shell of described steering wheel.
Wherein, described bearing and described driven gear are made by pom plastic material.
Wherein, described bearing is sliding bearing.
Wherein, described bearing and the shell of described steering wheel are fixed by screw.
The second object of the present invention is to propose a kind of robot, and this robot motion's precision is high, reliable and stable.
For reaching this purpose, the present invention employs the following technical solutions:
A kind of robot, including a kind of robot steering wheel assembly using features described above.
Beneficial effect: the present invention provides a kind of robot steering wheel assembly and robot.Robot steering wheel assembly includes housing
And it is placed in the steering wheel in described housing and motor, the output shaft of described motor is fixed with driving gear, institute
State and be fixed with driven gear on the shell of steering wheel, described driven gear engages with described driving gear it is characterised in that described rudder
Bearing is also arranged with the shell of machine, described bearing is positioned with the fit inside of described housing, and described bearing is located at described steering wheel
Shell on away from described driven gear one end.This robot steering wheel assembly also includes being sheathed on steering wheel with respect to prior art
Shell on bearing, bearing steering wheel is played support and spacing effect it is ensured that steering wheel work during away from driven
One end of gear does not swing, and bearing is coordinated with driven gear, spacing at the two ends of steering wheel shell, and the motion reducing steering wheel is inclined
Difference, improves axiality, precision and the flexibility of steering wheel motion.
Brief description
Fig. 1 is the front view of the robot steering wheel assembly that the embodiment of the present invention 1 provides；
Fig. 2 is the upward view of Fig. 1；
Fig. 3 be in Fig. 2 a-a to partial sectional view；
Fig. 4 is the structural representation of the steering wheel that the embodiment of the present invention 1 provides；
Fig. 5 is the structural representation of the robot steering wheel assembly that the embodiment of the present invention 1 provides；
Wherein:
1st, housing；2nd, steering wheel；3rd, motor；4th, driving gear；5th, driven gear；6th, bearing；61st, support shaft.
Specific embodiment
For make present invention solves the technical problem that, the technical scheme that adopts and the technique effect that reaches clearer, below
Further illustrate technical scheme in conjunction with accompanying drawing and by specific embodiment.
Embodiment 1
The present embodiment provides a kind of robot steering wheel assembly, as Figure 1-Figure 5, including housing 1 and be placed in housing 1
Interior steering wheel 2 and motor 3, the output shaft of motor 3 is fixed with driving gear 4, the shell of steering wheel 2 is fixed with from
Moving gear 5, driven gear 5 is engaged with driving gear 4, and the shell of steering wheel 2 is also arranged with bearing 6, and bearing 6 is interior with housing 1
Side cooperation positioning, bearing 6 is located at the one end on the shell of steering wheel 2 away from driven gear 5.
In the prior art, the shell of steering wheel 2 is only fixed with and engages driven gear 5 with driving gear 4, by driving electricity
Driven gear 5 on the shell of machine 3 and driving gear 4 drive steering wheel 2, so that steering wheel 2 rotates.Because steering wheel 2 is in rotation
During, only driven gear 5 as support, the vibration that produces in motion process make steering wheel 2 away from driven gear 5 one end because
Lack support and swing, thus affecting the axiality of steering wheel 2 motion, precision and flexibility ratio, if swinging serious, or even
May lead to the steering wheel 2 cannot normal work.
For the problems referred to above, on the shell that robot steering wheel assembly that the present embodiment provides also includes be sheathed on steering wheel 2
Bearing 6, bearing 6 can be sliding bearing, not only stable movement, reliability, and high precision；It can also be rolling bearing.Bearing 6
Can fix with crossing screw with the shell of steering wheel 2.The fit inside positioning of bearing 6 and housing 1, can be to being relatively distant from driven tooth
One end of wheel 5 is played and is supported and spacing effect, prevents steering wheel 2 from the phenomenon swinging during rotating, bearing 6 with from
Moving gear 5 coordinates, spacing at the two ends of the shell of steering wheel 2, improves axiality, precision and the flexibility ratio of steering wheel 2 motion, thus
Steering wheel 2 is enable preferably to work.
For more preferably preventing one end away from driven gear 5 on steering wheel 2 from swinging when steering wheel 2 moves, bearing 6 can be arranged
The end away from driven gear 5 on the shell of steering wheel 2, is conducive to steering wheel 2 is played supporting and spacing effect, thus improving
The axiality of steering wheel 2 work, precision and flexibility ratio.
On this basis, the robot steering wheel assembly that the present embodiment provides also includes angle measurement unit, such as potentiometer, volume
Code device etc., the angle that the steering wheel 2 for obtaining measurement rotates is converted into electric signal, and electric signal is sent to control device,
Thus whether correctly to judge the anglec of rotation of steering wheel 2, be conducive to increasing the precision of robot steering wheel component movement.Angular surveying
Device can be relatively fixed on the shell of steering wheel 2 support shaft 61 it is also possible to be fixed on bearing 6.
Support shaft 61 is directed away from the direction of driven gear 5, and is integrally formed with bearing 6.Support shaft 61 1 aspect can
To coordinate with housing 1, realize the axially position of steering wheel 2；On the other hand fixed angle measurement apparatus are facilitated, thus improving robot
The precision of steering wheel component movement, angle measurement unit is directly anchored on bearing 6, you can realize the phase with the shell of steering wheel 2
To fixation, structure is simple.
In the present embodiment, driven gear 5 is equal with the external diameter of bearing 6, and the steering wheel 2 desirably preventing in housing 1 is being moved through
The phenomenon swinging occurs in journey；Meanwhile, the external diameter of driven gear 5 and bearing 6 is more than the external diameter of the shell of steering wheel 2, can avoid
Friction between the shell of steering wheel 2 and housing 1, makes robot steering wheel assembly operating more smooth reliable and stable.
Additionally, for the service life improving driven gear 5 and bearing 6, the two is by having high rigidity, high rigidity, high resistance to
The pom plastic material of mill property is made.
Embodiment 2
The present embodiment provides a kind of robot, including the robot steering wheel assembly providing in embodiment 1.This robot steering wheel
Assembly includes the bearing 6 being sheathed on the shell of steering wheel 2, and bearing 6 is positioned with the fit inside of housing 1, can to steering wheel 2 relatively
Support and spacing effect are played in one end away from driven gear 5, prevent steering wheel 2 from showing of swing during rotating
As bearing 6 is coordinated with driven gear 5, spacing at the two ends of the shell of steering wheel 2, improves axiality, the precision of steering wheel 2 motion
And flexibility ratio, so that the kinematic accuracy of the robot of the present embodiment offer is high, reliable and stable.
Above content is only presently preferred embodiments of the present invention, for those of ordinary skill in the art, according to the present invention's
Thought, all will change in specific embodiments and applications, and this specification content should not be construed as to the present invention
Restriction.
Claims (9)
1. a kind of robot steering wheel assembly, including housing (1) and be placed in steering wheel (2) in described housing (1) and drive electricity
Machine (3), the output shaft of described motor (3) is fixed with driving gear (4), the shell of described steering wheel (2) is fixed with from
Moving gear (5), described driven gear (5) is engaged it is characterised in that on the shell of described steering wheel (2) with described driving gear (4)
Also it is arranged with bearing (6), described bearing (6) is positioned with the fit inside of described housing (1), and described bearing (6) is located at described rudder
Away from one end of described driven gear (5) on the shell of machine (2).
2. as claimed in claim 1 a kind of robot steering wheel assembly it is characterised in that described bearing (6) be located at described steering wheel
(2) end of shell.
3. a kind of robot steering wheel assembly as described in any one of claim 1-2 is it is characterised in that also include and described steering wheel
(2) the relatively-stationary angle measurement unit of shell.
4. as claimed in claim 3 a kind of robot steering wheel assembly it is characterised in that described bearing (6) is integrally formed with court
To the support shaft (61) away from described driven gear (5), described support shaft (61) is provided with described angle measurement unit.
5. a kind of robot steering wheel assembly as described in any one of claim 1-2 is it is characterised in that described driven gear (5)
Equal with the external diameter of described bearing (6), and it is all higher than the external diameter of the shell of described steering wheel (2).
6. as claimed in claim 5 a kind of robot steering wheel assembly it is characterised in that described bearing (6) and described driven tooth
Wheel (5) is made by pom plastic material.
7. as claimed in claim 6 a kind of robot steering wheel assembly it is characterised in that described bearing (6) be sliding bearing.
8. as claimed in claim 7 a kind of robot steering wheel assembly it is characterised in that described bearing (6) and described steering wheel (2)
Shell fixed by screw.
9. a kind of robot is it is characterised in that include the robot steering wheel assembly as described in any one of claim 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610928552.8A CN106335055A (en) | 2016-10-31 | 2016-10-31 | Robot steering engine assembly and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610928552.8A CN106335055A (en) | 2016-10-31 | 2016-10-31 | Robot steering engine assembly and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106335055A true CN106335055A (en) | 2017-01-18 |
Family
ID=57840547
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610928552.8A Pending CN106335055A (en) | 2016-10-31 | 2016-10-31 | Robot steering engine assembly and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106335055A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107344365A (en) * | 2017-07-03 | 2017-11-14 | 深圳市优必选科技有限公司 | Robot joint driving structure and robot |
| CN113172612A (en) * | 2021-04-21 | 2021-07-27 | 上海宇航系统工程研究所 | Large mechanical arm for underwater operation training |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4651591A (en) * | 1984-11-12 | 1987-03-24 | FISW Forschungs und Ingenieurgesellschaft fur Steuerungstechnik der Werkzeugmaschinen und Fertigungseinrichtungen GmbH | Articulated drive, more particularly for industrial robots |
| CN101028786A (en) * | 2006-03-01 | 2007-09-05 | 北京航空航天大学 | Two-purpose robot mechanism with water and land functions |
| CN101134500A (en) * | 2007-04-30 | 2008-03-05 | 哈尔滨工程大学 | Bionic underwater chelonian robot |
| CN201300421Y (en) * | 2008-11-18 | 2009-09-02 | 华南理工大学 | I-shaped joint module of a single degree-of-freedom robot |
| CN106003008A (en) * | 2016-06-15 | 2016-10-12 | 上海未来伙伴机器人有限公司 | Intelligent motor device of humanoid robot |
| CN206140508U (en) * | 2016-10-31 | 2017-05-03 | 上海未来伙伴机器人有限公司 | Robot steering wheel subassembly and robot |
-
2016
- 2016-10-31 CN CN201610928552.8A patent/CN106335055A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4651591A (en) * | 1984-11-12 | 1987-03-24 | FISW Forschungs und Ingenieurgesellschaft fur Steuerungstechnik der Werkzeugmaschinen und Fertigungseinrichtungen GmbH | Articulated drive, more particularly for industrial robots |
| CN101028786A (en) * | 2006-03-01 | 2007-09-05 | 北京航空航天大学 | Two-purpose robot mechanism with water and land functions |
| CN101134500A (en) * | 2007-04-30 | 2008-03-05 | 哈尔滨工程大学 | Bionic underwater chelonian robot |
| CN201300421Y (en) * | 2008-11-18 | 2009-09-02 | 华南理工大学 | I-shaped joint module of a single degree-of-freedom robot |
| CN106003008A (en) * | 2016-06-15 | 2016-10-12 | 上海未来伙伴机器人有限公司 | Intelligent motor device of humanoid robot |
| CN206140508U (en) * | 2016-10-31 | 2017-05-03 | 上海未来伙伴机器人有限公司 | Robot steering wheel subassembly and robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107344365A (en) * | 2017-07-03 | 2017-11-14 | 深圳市优必选科技有限公司 | Robot joint driving structure and robot |
| CN107344365B (en) * | 2017-07-03 | 2024-04-19 | 深圳市优必选科技有限公司 | Robot joint driving structure and robot |
| CN113172612A (en) * | 2021-04-21 | 2021-07-27 | 上海宇航系统工程研究所 | Large mechanical arm for underwater operation training |
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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: 20170118 |