CN106808998A - A kind of robot driving device - Google Patents
A kind of robot driving device Download PDFInfo
- Publication number
- CN106808998A CN106808998A CN201710243259.2A CN201710243259A CN106808998A CN 106808998 A CN106808998 A CN 106808998A CN 201710243259 A CN201710243259 A CN 201710243259A CN 106808998 A CN106808998 A CN 106808998A
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- China
- Prior art keywords
- spur gear
- drive link
- wheel group
- drive
- gear
- Prior art date
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- 239000004020 conductor Substances 0.000 claims abstract description 13
- 230000008859 change Effects 0.000 claims description 23
- 230000005540 biological transmission Effects 0.000 claims description 17
- 239000000523 sample Substances 0.000 claims description 15
- 229910001285 shape-memory alloy Inorganic materials 0.000 claims description 14
- 229910000521 B alloy Inorganic materials 0.000 claims 1
- 229910045601 alloy Inorganic materials 0.000 abstract description 10
- 239000000956 alloy Substances 0.000 abstract description 10
- 230000000694 effects Effects 0.000 abstract description 5
- 238000006073 displacement reaction Methods 0.000 description 7
- 238000001514 detection method Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K8/00—Arrangement or mounting of propulsion units not provided for in one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/06—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing
- B60K17/08—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing of mechanical type
Abstract
A kind of robot driving device of disclosure, including shell, chassis, the first wheel group, the second wheel group and electric conductor, the shell are arranged at the edge on chassis, and the side wall of the shell is disposed with the first wheel group and the second wheel group；The chassis inwall is provided with time switch, the time switch is located at the first wheel group side of the chassis inwall, the side wall of the time switch is disposed with controller, region is provided with drive device between the first wheel group and the shell vehicle rostral wall, the drive device is welded in the inwall on chassis, and the drive device is connected by the electric conductor with the time switch.The memorial alloy temperature distortion of the application, memorial alloy after deformation drives gearbox to be driven wheel group, reduce the volume of drive device, alleviate the weight of drive device, realize drive device can in small space the movement of drive belt mobile robot effect.
Description
Technical field
The application is related to robotically-driven technical field, more particularly to a kind of robot driving device.
Background technology
Robot driving device is power source of the robot during traveling, and hydraulic-driven, air pressure drive, direct current drive
Machine drives and stepping motor drives isotype, drive device to provide power, and robot interior is provided with the running gears such as wheel,
Wheel driven device drive belt mobile robot is moved, and joint of robot is driven and lifting heavy can be all used to drive device.
It is driven using electric power more than existing drive device, requirement of such type of drive to battery is very high, is stored
Battery needs that electric energy could be provided for running gear containing larger electricity, and existing robot driving device includes robot master
Body 17, the bottom of robot body 17 is connected in robot chassis 18, and the He of servomotor 16 is installed on the surface on robot chassis 18
Running gear 20 is installed in prior art power supply 15, the bottom on robot chassis 5, passes through between running gear 20 and servomotor 16
Drive mechanism 19 is connected, and the weight of servomotor of the prior art 16, drive mechanism 19 and running gear 20 is all very heavy, so
Very big resistance can be caused to hoofing part.
Existing robot driving device, weight is larger, and robot also needs to increase many structures in addition to self structure,
Hoofing part could be completed, the volume of structure is also very big, and causing the volume of existing robot cannot adapt to narrow space, existing
Robot components involve great expense, the drive device of the application can carry out device interior detection by detecting devices such as micro-cameras
The detection mission of small space, such as GIS device pipe detection, underground cables pipeline inside task, more particularly to power equipment
Detection etc., the drive device of the application solves the problems, such as that robot cannot be moved in small space.
The content of the invention
The application provides a kind of robot driving device, to solve the problems, such as that robot cannot be moved in small space.
The embodiment of the present application provides a kind of robot driving device, including shell, chassis, the first wheel group, the second wheel
Group and electric conductor, the shell are arranged at the edge on chassis；
The side wall of the shell is disposed with the first wheel group and the second wheel group；
The chassis inwall is provided with time switch, and the time switch is located at the first wheel group of the chassis inwall
Side, the side wall of the time switch is disposed with controller；
Region is provided with drive device, the drive device weldering between the first wheel group and the shell vehicle rostral wall
The inwall on chassis is connected to, the drive device is connected by the electric conductor with the time switch；
The inwall on the chassis is provided centrally with gearbox；
One end of the second wheel group is provided with speed probe, and the second wheel group sets positioned at speed probe side
It is equipped with the 4th bevel gear；
Bevel Gear Transmission group is engaged between 4th bevel gear and the gearbox；
The drive device includes drive device main body, end cap, slip lid, fastening bolt, guide rail, base and memorial alloy
Silk；
The drive device main body is spirally connected by the fastening bolt with the base, one end of the drive device main body
The end cap is provided with, memory alloy wire, the inwall of the drive device main body are provided between the end cap and the slip lid
Guide rail is provided with, the other end of the drive device main body slidably connects the slip lid；
The outer wall of the slip lid is provided with bent axle connecting rod, and the bent axle connecting rod is connected with the gearbox；
The controller is electrically connected with the time switch and the speed probe successively.
With reference to the embodiment of the present application, in the embodiment of the present application in the first possible implementation, the gearbox includes
Speed change box main body, crank rod, bent axle connection neck, the first spur gear, the 5th spur gear, the first drive link, the second spur gear, the 3rd
Spur gear, the second drive link, the 4th spur gear, vast scale spur gear, the 3rd drive link and first bevel gear；
The gearbox body interior is provided with the crank rod positioned at the first wheel group side, and the crank rod connects with bent axle
Extension bar relative position is provided with the bent axle connection neck, and the termination of the crank rod is provided with the first spur gear；
The gearbox body interior is provided with the 3rd drive link, the one of the 3rd drive link positioned at the second wheel group side
End is provided with vast scale spur gear, and the other end of the 3rd drive link is provided with the first bevel gear；
The region that the gearbox body interior is located between the 3rd drive link and bent axle connection neck is provided with the first transmission
Bar, one end of first drive link is provided with second spur gear, and the other end of first drive link is provided with the 5th
Spur gear, first spur gear is engaged with the 5th spur gear；
The second drive link, one end of second drive link are provided between second spur gear and vast scale spur gear
The 3rd spur gear is provided with, the other end of second drive link is provided with the 4th spur gear, the 4th spur gear and big ratio
Example spur gear engagement, the 3rd spur gear is engaged with the second spur gear.
The first possible implementation with reference to the embodiment of the present application, in second possible realization side of the embodiment of the present application
In formula, the Bevel Gear Transmission group includes the 4th drive link, second bevel gear and third hand tap gear；
One end of 4th drive link is provided with the second bevel gear, and the other end of the 4th drive link is provided with
The third hand tap gear.
The first possible implementation with reference to the embodiment of the present application, the third possible realization side in the embodiment of the present application
In formula, the third hand tap gear is engaged with the 4th bevel gear, and the second bevel gear is engaged with the first bevel gear.
With reference to second possible implementation of the embodiment of the present application, in the 4th kind of possible realization side of the embodiment of the present application
In formula, the position relationship between the crank rod, first drive link, second drive link and the 3rd drive link is
It is parallel.
With reference to second possible implementation of the embodiment of the present application, in the 5th kind of possible realization side of the embodiment of the present application
In formula, the diameter with diameter greater than the 4th spur gear of the vast scale spur gear.
A kind of robot driving device provided from above technical scheme, the embodiment of the present application, including shell, bottom
Disk, the first wheel group, the second wheel group and electric conductor, the shell are arranged at the edge on chassis, the side wall of the shell
It is disposed with the first wheel group and the second wheel group；The chassis inwall is provided with time switch, the timing
Switch is disposed with controller positioned at the first wheel group side of the chassis inwall, the side wall of the time switch；Described
Region is provided with drive device between one wheel group and the shell vehicle rostral wall, and the drive device is welded in the interior of chassis
Wall, the drive device is connected by the electric conductor with the time switch；The inwall on the chassis is provided centrally with speed change
Case；One end of the second wheel group is provided with speed probe, and the second wheel group is provided with positioned at speed probe side
4th bevel gear, the application uses memorial alloy temperature distortion, and the memorial alloy drive gearbox after deformation is carried out to wheel group
Drive, reduce the volume of drive device, alleviate the weight of drive device, realizing drive device can drive in small space
The dynamic effect with mobile robot movement.
Brief description of the drawings
To be illustrated more clearly that the technical scheme of the application, will make simple to the accompanying drawing to be used needed for embodiment below
Introduce on ground, it should be apparent that, for those of ordinary skills, without having to pay creative labor, also
Other accompanying drawings can be obtained according to these accompanying drawings.
The cross-sectional view in the vertical view face that Fig. 1 is provided for the embodiment of the present application；
The cross-sectional view in the vertical view face of the drive device that Fig. 2 is provided for the embodiment of the present application；
The cross-sectional view of the side elevation view of the drive device that Fig. 3 is provided for the embodiment of the present application；
Structural representation in Fig. 1 that Fig. 4 is provided for the embodiment of the present application at a；
Structural representation in the prior art that Fig. 5 is provided for the embodiment of the present application.
Brief description of the drawings：1- shells, 2- time switches, 3- controllers, 4- power supplys, 5- drive devices, 501- drive device masters
Body, 502- end caps, 503- slip lids, 504- threaded connection holes, 505- guide rails, 506- bases, 507- memory alloy wires, 6- bent axles connect
Extension bar, 7- the first wheel groups, the bevel gears of 8- the 4th, 9- electric conductors, 10- the second wheel groups, 11- speed probes, 12- speed changes
Case, 1201- speed change box main bodies, 1202- crank rods, 1203- bent axles connection neck, the spur gears of 1204- first, the straight-tooth of 1205- the 5th
Wheel, the 1206, first drive link, the spur gears of 1207- second, the spur gears of 1208- the 3rd, the drive links of 1209- second, 1210- the 4th
Spur gear, 1211- vast scale spur gears, the drive links of 1212- the 3rd, 1213- first bevel gears, 13- base plates, 14- bevel gears pass
Dynamic group, the drive links of 1401- the 4th, 1402- second bevel gears, 1403- third hand tap gears, 15, prior art power supply, 16, servo
Motor, 17, robot body, 18, robot chassis, 19, drive mechanism, 20, running gear.
Specific embodiment
It is a kind of robot driving device that the embodiment of the present application is provided refering to Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5, including
Shell 1, chassis 13, the first wheel group 7, the second wheel group 10 and electric conductor 9, the shell 1 are arranged at the surrounding on chassis 13
Edge, the edge on chassis 13 is connected to shell 1, and shell 1 integrally plays fixed effect to device, by shell 1 and chassis
13 connections, form closed space, and drive device and transmission device can be installed in confined space；
The side wall of the shell 1 is disposed with the first wheel group 7 and the second wheel group 10, the first wheel group
7 and the second wheel group 10 through shell 1 side wall, 5 pairs of the second wheel groups 10 of drive device are driven, the second wheel
10 pairs of the first wheel groups 7 of group are promoted, and complete the displacement of robot；
The inwall of the chassis 13 is provided with time switch 2, and the power frequency of 2 pairs of supply drive devices 5 of time switch is carried out
Control, the time switch 2 is located at the side of the first wheel group 7 of the inwall of the chassis 13, and the side wall of the time switch 2 sets successively
Controller 3 is equipped with, by the data transfer of speed probe 11 to time switch 2, time switch 2 is according to transmission for controller 3
Rotary speed data controls the energization frequency with drive device 5；
Region is provided with drive device 5 between the first wheel group 7 and the headstock side wall of the shell 1, described to drive dress
5 inwalls for being welded in chassis 13 are put, the drive device 5 is connected by the electric conductor 9 with the time switch 2；
The inwall on the chassis 13 is provided centrally with gearbox 12, and the ability that be transmitted across for drive device 5 by gearbox 12 turns
Change to the second wheel group 10, pushing meanss global displacement after the rotation of the second wheel group 10；
One end of the second wheel group 10 is provided with speed probe 11, and the second wheel group 10 is located at revolution speed sensing
The side of device 11 is provided with the 4th bevel gear 8, and the rotating speed of 11 pairs of the second wheel groups 10 of speed probe carries out data acquisition, the number of collection
Data message is provided according to for time switch 2, time switch 2 adjusts the driving frequency with drive device 5 according to rotary speed data, so that
Play the effect of control device actuating speed；
Bevel Gear Transmission group 14, the 4th bevel gear 8 and change are engaged between 4th bevel gear 8 and the gearbox 12
Connected by the transition in the middle of Bevel Gear Transmission group 14 between fast case 12, the gear train in gearbox 12 is rotated, gearbox 12
Bevel Gear Transmission group 14 is driven to rotate, Bevel Gear Transmission group 14 drives the 4th bevel gear 8 to rotate after rotating, the 4th 8 turns of bevel gear
It is dynamic to drive the second wheel group 10 to rotate, complete to drive；
Fig. 2 and Fig. 3 is referred to, the drive device 5 includes drive device main body 501, end cap 502, slip lid 503, fastening
Bolt 504, guide rail 505, base 506 and memory alloy wire 507；
The drive device main body 501 is spirally connected by the fastening bolt 504 with the base 506, is driven during use
Structure in dynamic apparatus main body 501 occurs failure, is attached using fastening bolt 504, can quick-detach soon, be easy to tie up
Repair, fastening bolt 504 is threaded itself, the through hole through at end cap 502, internal diameter and mutual of the fastening bolt 504 of through hole
Match somebody with somebody, one end of the drive device main body 501 is provided with the end cap 502, is set between the end cap 502 and the slip lid 503
Memory alloy wire 507 is equipped with, time switch 2 is powered to memorial alloy 507, after electric current passes through memory alloy wire 507, memorial alloy
Silk 507 can generate heat, and produce the change of shape, and the memory alloy wire 507 after change in shape promotes slip lid 503, the drive device
The inwall of main body 501 is provided with guide rail 505, and slip lid 503 enters line slip by guide rail 505, and guide rail 505 is welded on drive device master
In body 501, the other end of the drive device main body 501 slidably connects the slip lid 503, and slip lid 503 receives memorial alloy
The deformation power of silk 507, gearbox is delivered to by deformation power；
The outer wall of the slip lid 503 is provided with bent axle connecting rod 6, and bent axle connecting rod 6 is connected with slip lid 503, the quilt of slip lid 503
After memory alloy wire 507 is promoted, slip lid 503 is rotated with dynamic crankshaft connecting rod 6, the bent axle connecting rod 6 and the gearbox 12
Connection, the structure inside gearbox 12 is connected with bent axle connecting rod 6, and bent axle connecting rod 6 drives gearbox 12 to operate, so as to drive
Robot is subjected to displacement；
The controller 3 is electrically connected with the time switch 2 and the speed probe 11 successively, and speed probe 11 is adopted
The data of collection pass data to time switch 2 by controller 3, and time switch 2 is according to the rotary speed data control for transmitting
With the conduction time of memory alloy wire 507.
Fig. 1 and Fig. 4 is referred to, the gearbox 12 includes speed change box main body 1201, crank rod 1202, bent axle connection neck
1203rd, the first spur gear 1204, the second spur gear 1205, the first drive link 1206, the second spur gear 1207, the 3rd spur gear
1208th, the second drive link 1209, the 4th spur gear 1210, vast scale spur gear 1211, the 3rd drive link 1212 and the first cone tooth
Wheel 1213；
The speed change box main body 1201 is internally located at the side of the first wheel group 7 and is provided with the crank rod 1202, crank rod
1202 positions of the bottom near left side for being arranged on speed change box main body 1201, crank rod 1202 is bolted in gearbox master
On body 1201, the crank rod 1202 is provided with the bent axle and is connected neck 1203, bent axle connection with the relative position of bent axle connecting rod 6
Neck 1203 is located between the crank rod 1202 and bent axle connecting rod 6, and bent axle connection one end of neck 1203 connects with bent axle connecting rod 6
Connect, the other end of bent axle connection neck 1203 is connected with crank rod 1202, and the termination of the crank rod 1202 is provided with the first straight-tooth
Wheel 1204, crank rod 1202 drives the first spur gear 1204 to rotate during rotating；
Slip lid 503 is promoted to move after the temperature distortion of memory alloy wire 507, band dynamic crankshaft is connected after slip lid 503 is subjected to displacement
Bar 6 is subjected to displacement, and bent axle connecting rod 6 is rotated with dynamic crankshaft connection neck 1203, and bent axle connection neck 1203 drives during rotating
Crank rod 1202 is rotated, and crank rod 1202 drives the first spur gear 1204 to rotate during rotating；
The speed change box main body 1201 is internally located at the side of the second wheel group 10 and is provided with the 3rd drive link 1212, the 3rd transmission
Bar 1212 is located at the right side of speed change box main body 1201, and the 3rd drive link 1212 is bolted on speed change box main body 1201,
One end of 3rd drive link 1212 is provided with vast scale spur gear 1211, the gear ratio of vast scale spur gear 1211 compared with
Greatly, change original gear-driven power, increase the velocity of displacement of robot, the other end of the 3rd drive link 1212 sets
The first bevel gear 1213 is equipped with, the 3rd drive link 1212 drives first bevel gear 1213 to rotate during rotating；
The region that the speed change box main body 1201 is internally located between the 3rd drive link 1212 and bent axle connection neck 1203 sets
The first drive link 1206 is equipped with, one end of first drive link 1206 is provided with second spur gear 1207, described first
The other end of drive link 1206 is provided with the 5th spur gear 1205, and the first drive link 1206 drives the 5th spur gear 1205 and second
Spur gear 1207 is rotated, and middle part and the speed change box main body 1201 of the first drive link 1206 are bolted, the first drive link
1206 rotations drive the 5th spur gear 1205 and the second spur gear 1207 to rotate, and first spur gear 1204 is straight with the described 5th
Gear 1205 is engaged, and the first spur gear 1204 is engaged during rotating with the 5th spur gear 1205, the band of the first spur gear 1204
Dynamic 5th spur gear 1205 is rotated；
The second drive link 1209, described second are provided between second spur gear 1207 and vast scale spur gear 1211
One end of drive link 1209 is provided with the 3rd spur gear 1208, and the second drive link 1209 drives the 4th spur gear during rotating
1210 and the 3rd spur gear 1208 rotate, the other end of second drive link 1209 is provided with the 4th spur gear 1210, described
4th spur gear 1210 is engaged with vast scale spur gear 1211, and the diameter of vast scale spur gear 1211 is big, changes original biography
Dynamic speed, the 3rd spur gear 1208 is engaged with the second spur gear 1207, and drive second is straight after the 3rd spur gear 1208 is rotated
Gear 1207 is rotated.
The Bevel Gear Transmission group 14 includes the 4th drive link 1401, second bevel gear 1402 and third hand tap gear 1403；
One end of 4th drive link 1401 is provided with the second bevel gear 1402, the 4th drive link 1401
The other end is provided with the third hand tap gear 1403, and the driving force that Bevel Gear Transmission group 14 passes out gearbox 12 is delivered to
In second wheel group 10.
The third hand tap gear 1403 is engaged with the 4th bevel gear 8, the second bevel gear 1402 and described first
Bevel gear 1213 engages, and third hand tap gear 1403 drives the 4th bevel gear 8 to rotate after rotating, and biography can be reduced using angular wheel
Lever length, reduces the volume of robot driving device.
The crank rod 1202, first drive link 1206, second drive link 1209 and the 3rd drive link
Position relationship between 1212 be it is parallel, it is arranged in parallel to have ensured drive connection stable each other, prevent in transmission process
In due to gear occur deviation cause plant failure.
The diameter with diameter greater than the 4th spur gear 1210 of the vast scale spur gear 1211, vast scale spur gear
1211 change original gear drive speed, accelerate the velocity of displacement of robot.
After time switch 2 is powered with memory alloy wire 507, the heating of memory alloy wire 507, the memory alloy wire after being heated
507 deform upon, and the memory alloy wire 507 after deformation promotes slip lid 503 to move, band dynamic crankshaft during the movement of slip lid 503
Connecting rod 6 is moved, and bent axle connecting rod 6 drives the bent axle connection neck 1203 in gearbox 12 to rotate, and bent axle connection neck 1203 drives
Crank rod 1202 is rotated, and crank rod 1202 drives the first spur gear 1204 to rotate, and the first spur gear 1204 drives the 5th spur gear
1205 rotate, and the 5th spur gear 1205 drives the second spur gear 1207 to rotate by the first drive link 1206, the second spur gear
1207 the 3rd spur gears 1208 of drive are rotated, and the 3rd spur gear 1208 drives the 4th spur gear 1210 by the second drive link 1209
Rotate, the 4th spur gear 1210 drives the second drive link 1211, the second drive link 1211 to change original transmission speed, accelerate
Transmission speed, the second drive link 1211 drives the 3rd drive link 1212 to rotate, and the 3rd drive link 1212 drives first to bore after rotating
Gear 1213 is rotated, and first bevel gear 1213 drives second bevel gear 1402 to rotate after rotating, after second bevel gear 1402 is rotated
The 4th drive link 1401 is driven to rotate, the 4th drive link 1401 drives third hand tap gear 1403 to rotate after rotating, third hand tap gear
The 4th bevel gear 8 is driven to rotate after 1403 rotations, the 4th bevel gear 8 drives the second wheel group 10 to rotate during rotating, the
Two wheel group 10 promotes robot movement.
A kind of robot driving device provided from above technical scheme, the embodiment of the present application, including shell, bottom
Disk, the first wheel group, the second wheel group and electric conductor, the shell are arranged at the edge on chassis, the side wall of the shell
It is disposed with the first wheel group and the second wheel group；The chassis inwall is provided with time switch, the timing
Positioned at the first wheel group side of the chassis inwall, the side wall of the time switch is disposed with controller to switch, and described the
Region is provided with drive device between one wheel group and the shell vehicle rostral wall, and the drive device is welded in the interior of chassis
Wall, the drive device is connected by the electric conductor with the time switch, and the inwall on the chassis is provided centrally with speed change
Case, one end of the second wheel group is provided with speed probe, and the second wheel group is provided with positioned at speed probe side
4th bevel gear, the application uses memorial alloy temperature distortion, and the memorial alloy drive gearbox after deformation is carried out to wheel group
Drive, reduce the volume of drive device, alleviate the weight of drive device, realizing drive device can drive in small space
The dynamic effect with mobile robot movement.
Above-described the application implementation method does not constitute the restriction to the application protection domain.
Claims (6)
1. a kind of robot driving device, including shell (1), chassis (13), the first wheel group (7), the second wheel group (10) and
Electric conductor (9), it is characterised in that the shell (1) is arranged at the edge of chassis (13)；
The side wall of the shell (1) is disposed with the first wheel group (7) and the second wheel group (10)；
Chassis (13) inwall is provided with time switch (2), the time switch (2) positioned at the chassis (13) inwall
One wheel group (7) side, the side wall of the time switch (2) is disposed with controller (3)；
Region is provided with drive device (5), the driving between the first wheel group (7) and the shell (1) headstock side wall
Device (5) is welded in the inwall of chassis (13), and the drive device (5) is by the electric conductor (9) and the time switch (2)
Connection；
The inwall of the chassis (13) is provided centrally with gearbox (12)；
One end of the second wheel group (10) is provided with speed probe (11), and the second wheel group (10) passes positioned at rotating speed
Sensor (11) side is provided with the 4th bevel gear (8)；
Bevel Gear Transmission group (14) is engaged between 4th bevel gear (8) and the gearbox (12)；
The drive device (5) including drive device main body (501), end cap (502), slip lid (503), fastening bolt (504), lead
Rail (505), base (506) and memory alloy wire (507)；
The drive device main body (501) is spirally connected by the fastening bolt (504) with the base (506), described to drive dress
The one end for putting main body (501) is provided with the end cap (502), and note is provided between the end cap (502) and the slip lid (503)
Recall B alloy wire (507), the inwall of the drive device main body (501) is provided with guide rail (505), the drive device main body
(501) the other end slidably connects the slip lid (503)；
The outer wall of the slip lid (503) is provided with bent axle connecting rod (6), the bent axle connecting rod (6) and the gearbox (12)
Connection；
The controller (3) electrically connects with the time switch (2) and the speed probe (11) successively.
2. a kind of robot driving device according to claim 1, it is characterised in that the gearbox (12) is including speed change
Box main body (1201), crank rod (1202), bent axle connect neck (1203), the first spur gear (1204), the 5th spur gear (1205),
First drive link (1206), the second spur gear (1207), the 3rd spur gear (1208), the second drive link (1209), the 4th straight-tooth
Wheel (1210), vast scale spur gear (1211), the 3rd drive link (1212) and first bevel gear (1213)；
The speed change box main body (1201) is internally located at first wheel group (7) side and is provided with the crank rod (1202), the song
Axostylus axostyle (1202) is provided with the bent axle and is connected neck (1203), the crank rod (1202) with bent axle connecting rod (6) relative position
Termination be provided with the first spur gear (1204)；
The speed change box main body (1201) is internally located at second wheel group (10) side and is provided with the 3rd drive link (1212), described
One end of three drive links (1212) is provided with vast scale spur gear (1211), and the other end of the 3rd drive link (1212) is set
There is the first bevel gear (1213)；
The speed change box main body (1201) is internally located at the region that the 3rd drive link (1212) is connected between neck (1203) with bent axle
The first drive link (1206) is provided with, one end of first drive link (1206) is provided with second spur gear (1207),
The other end of first drive link (1206) is provided with the 5th spur gear (1205), first spur gear (1204) with it is described
5th spur gear (1205) is engaged；
The second drive link (1209), described are provided between second spur gear (1207) and vast scale spur gear (1211)
One end of two drive links (1209) is provided with the 3rd spur gear (1208), and the other end of second drive link (1209) is provided with
4th spur gear (1210), the 4th spur gear (1210) is engaged with vast scale spur gear (1211), the 3rd spur gear
(1208) engaged with the second spur gear (1207).
3. a kind of robot driving device according to claim 1, it is characterised in that Bevel Gear Transmission group (14) bag
Include the 4th drive link (1401), second bevel gear (1402) and third hand tap gear (1403)；
One end of 4th drive link (1401) is provided with the second bevel gear (1402), the 4th drive link (1401)
The other end be provided with the third hand tap gear (1403).
4. a kind of robot driving device as claimed in any of claims 1 to 3, it is characterised in that the described 3rd
Bevel gear (1403) engages with the 4th bevel gear (8), the second bevel gear (1402) and the first bevel gear
(1213) engage.
5. a kind of robot driving device according to claim 2, it is characterised in that the crank rod (1202), described
Position relationship between first drive link (1206), second drive link (1209) and the 3rd drive link (1212) is flat
OK.
6. a kind of robot driving device according to claim 2, it is characterised in that the vast scale spur gear (1211)
The diameter with diameter greater than the 4th spur gear (1210).
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Application publication date: 20170609 |