CN106625579B

CN106625579B - Robot motion structure with single motor driving multiple joints

Info

Publication number: CN106625579B
Application number: CN201611030004.XA
Authority: CN
Inventors: 张凤洲
Original assignee: Shenzhen Qianhai Yongyida Robot Co ltd
Current assignee: Shenzhen Qianhai Yongyida Robot Co ltd
Priority date: 2016-11-15
Filing date: 2016-11-15
Publication date: 2023-06-27
Anticipated expiration: 2036-11-15
Also published as: CN106625579A

Abstract

The invention relates to a motion structure of a robot, in particular to a motion structure of a robot with a single motor for driving a plurality of joints, which comprises a machine body, wherein a gearbox upper cover is arranged in the machine body, a motor bracket, a driving gear, a driven gear, a middle gear and a final gear are arranged on the gearbox upper cover, a motor is arranged on the motor bracket, an elliptical orbit groove is arranged on the final gear, a main linkage shaft is arranged in the elliptical orbit groove, a vertical long hole is arranged on a main linkage rod, and the vertical long hole is hung on the main linkage shaft; two foot linkage pieces are arranged in the machine body, the top ends of the foot linkage pieces are provided with transverse long holes, and the transverse long holes are connected with connecting rod rotating shafts on two sides of the main connecting rod; two sides of the machine body are respectively hinged with an arm, and the inner sides of the arms are connected with the foot linkage parts through linkage springs. The invention can control the movement of a plurality of joints through one motor, can save the cost of robot products, save the space inside the whole robot, and lead the robot to be more practical and simplified.

Description

Robot motion structure with single motor driving multiple joints

Technical Field

The invention relates to a motion structure of a robot, in particular to a motion structure of a robot with a single motor driving a plurality of joints.

Background

The joints of the robot are driven by motors, the motors are meshed by gears with different sizes of gearboxes to drive the joints to move, and then various actions of the robot simulating a person are realized according to software. At present, most of robots on the market are motors for driving one joint to move, the joints are required to have the same number of motors, the motors occupy the internal space of the whole robot, the robots are bulky, the control difficulty is improved, and the cost of robot products is increased.

Disclosure of Invention

The invention aims to overcome the defect that an existing robot only drives one joint by one motor, and discloses a robot motion structure with multiple joints driven by a single motor.

The object of the invention is achieved in the following way: the single motor drives the robot motion structure of a plurality of joints, and the robot motion structure comprises a machine body, wherein a gearbox upper cover is arranged in the machine body, a motor bracket, a driving gear, a driven gear, an intermediate gear and a final gear are arranged on the gearbox upper cover, a motor is arranged on the motor bracket, the motor is connected with a gear transmission shaft on the driving gear through a motor transmission shaft and a belt pulley, the driving gear is meshed with the driven gear, the driven gear is meshed with the intermediate gear, the intermediate gear is meshed with the final gear, an elliptical track groove is arranged on the final gear, a driving connecting shaft is arranged in the elliptical track groove, a vertical long hole is arranged on a driving connecting rod, and the vertical long hole is hung on the driving connecting shaft; two foot linkage pieces are arranged in the machine body, the top ends of the foot linkage pieces are provided with transverse long holes, and the transverse long holes are connected with connecting rod rotating shafts on two sides of the main connecting rod; two sides of the machine body are respectively hinged with an arm, and the inner sides of the arms are connected with the foot linkage parts through linkage springs.

The invention has the following positive effects: the invention can control the movement of a plurality of joints through one motor, can save the cost of robot products, save the space inside the whole robot, and lead the robot to be more practical and simplified.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:

FIG. 1 is a front view block diagram of the present invention

FIG. 2 is a rear view block diagram of FIG. 1

FIG. 3 is a perspective exploded view of the present invention

FIG. 4 is a front view of the present invention

FIG. 5 is a side view of the present invention

In the figure: 1 machine body 2 gear box upper cover 3 motor support

4 driving gear 5 driven gear 6 intermediate gear

7 final stage gear 8 motor 9 motor drive shaft

10 belt pulley 11 gear transmission shaft 12 elliptic orbit groove

13 main linkage shaft 14 main connecting rod 15 vertical long hole

Connecting rod rotary shaft of transverse long hole 18 of 16-foot linkage piece 17

19 arm 20 linkage spring

Detailed Description

The invention will be described in detail hereinafter with reference to the drawings in conjunction with embodiments. It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.

Example 1

The embodiment provides a robot motion structure with a plurality of joints driven by a single motor, as shown in fig. 1, 2 and 3, comprising a machine body 1, wherein a gearbox upper cover 2 is arranged in the machine body 1, a motor bracket 3, a driving gear 4, a driven gear 5, an intermediate gear 6 and a final gear 7 are arranged on the gearbox upper cover 2, a motor 8 is arranged on the motor bracket 3, the motor 8 is connected with a gear transmission shaft 11 on the driving gear 4 through a motor transmission shaft 9 and a belt pulley 10, the driving gear 4 is meshed with the driven gear 5, the driven gear 5 is meshed with the intermediate gear 6, the intermediate gear 6 is meshed with the final gear 7, an elliptical orbit groove 12 is arranged on the final gear 7, a driving connecting shaft 13 is arranged in the elliptical orbit groove 12, a vertical long hole 15 is arranged on a main connecting rod 14 in a hanging manner on the driving connecting shaft 13, and when the final gear 7 rotates, the driving connecting shaft 13 can move up and down through the elliptical orbit groove 12 and the vertical long hole 15, and then the driving connecting shaft 14 is driven to move up and down; two foot linkage pieces 16 are arranged in the machine body 1, the top ends of the foot linkage pieces 16 are provided with transverse long holes 17, and the transverse long holes 17 are connected with connecting rod rotating shafts 18 at two sides of the main connecting rod 14; two sides of the machine body 1 are respectively hinged with an arm 19, the inner side of the arm 19 is connected with the foot linkage piece 16 through a linkage spring 20, and when the main connecting rod 14 moves up and down, the arm 19 and the foot linkage piece 16 are driven to move. Fig. 4 and 5 are front and side views of the present invention.

The present invention relates to a robot motion structure with multiple degrees of freedom of joints driven by one motor, which is used for driving the joints of the robot, and has the requirements of maximum power mass ratio and torque inertia ratio, high starting torque, low inertia and wider and smooth speed regulation range. Through the gearbox, the rotation speed is increased or reduced through the meshing of gears with different sizes, and then the simulation of various movement speeds and rotation movements of the robot is realized according to a software algorithm.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. The utility model provides a single motor drives robot motion structure of a plurality of joints, includes the organism, is equipped with a gearbox upper cover in the organism, its characterized in that: the upper cover of the gearbox is provided with a motor bracket, a driving gear, a driven gear, an intermediate gear and a final gear, the motor bracket is provided with a motor, the motor is connected with a gear transmission shaft on the driving gear through a motor transmission shaft and a belt pulley, the driving gear is meshed with the driven gear, the driven gear is meshed with the intermediate gear, the intermediate gear is meshed with the final gear, the final gear is provided with an elliptical orbit groove, a main connecting shaft is arranged in the elliptical orbit groove, a vertical long hole is arranged on a main connecting rod and is hung on the main connecting shaft, and when the final gear rotates, the main connecting shaft drives the main connecting rod to move up and down through the elliptical orbit groove and the vertical long hole; two foot linkage pieces are arranged in the machine body, the top ends of the foot linkage pieces are provided with transverse long holes, and the transverse long holes are connected with connecting rod rotating shafts on two sides of the main connecting rod; the two sides of the machine body are respectively hinged with an arm, the inner side of the arm is connected with the foot linkage piece through the linkage spring, and when the main connecting rod moves up and down, the arm and the foot linkage piece are driven to move.