CN107044513B - A kind of motor multistep speed regulation transmission mechanism for fruit picking robot - Google Patents
A kind of motor multistep speed regulation transmission mechanism for fruit picking robot Download PDFInfo
- Publication number
- CN107044513B CN107044513B CN201710243056.3A CN201710243056A CN107044513B CN 107044513 B CN107044513 B CN 107044513B CN 201710243056 A CN201710243056 A CN 201710243056A CN 107044513 B CN107044513 B CN 107044513B
- Authority
- CN
- China
- Prior art keywords
- fixed
- gears
- motor
- shafts
- transmission mechanism
- 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.)
- Active
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H3/00—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion
- F16H3/02—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion without gears having orbital motion
- F16H3/20—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion without gears having orbital motion exclusively or essentially using gears that can be moved out of gear
- F16H3/22—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion without gears having orbital motion exclusively or essentially using gears that can be moved out of gear with gears shiftable only axially
- F16H3/30—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion without gears having orbital motion exclusively or essentially using gears that can be moved out of gear with gears shiftable only axially with driving and driven shafts not coaxial
- F16H3/32—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion without gears having orbital motion exclusively or essentially using gears that can be moved out of gear with gears shiftable only axially with driving and driven shafts not coaxial and an additional shaft
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to motor device field, specifically a kind of motor multistep speed regulation transmission mechanism for fruit picking robot, including the fixed lid of motor housing, No.1, No. two fixed lids, transmission mechanism and No. three fixed lids.The motor housing is mounted on No.1 fixation and covers, the No.1 fixation is covered equipped with linking arm, No.1 fixed screw and No. two fixed screws, and No. two fixations are covered equipped with No.1 mounting groove, No.1 fixed disk, No. two fixed disks, turntable, No. three fixed disks and No.1 mounting hole；The present invention provides a kind of motor multistep speed regulation transmission mechanism for fruit picking robot, less gear quantity, simplify drive mechanism, it devises two groups of fixed disks and mounting groove comes the position of adjustment gear and shaft, it is in this way driving with motor, may be implemented to slow down using the transmission mechanism, the function of constant speed and speedup, and the structure of conventional transmissions is enormously simplified, reduce production cost.
Description
Technical field
The present invention relates to motor device fields, in particular to robot motor's transmission mechanism technical field, specifically
A kind of motor multistep speed regulation transmission mechanism for fruit picking robot.
Background technique
In we live, the fruit such as apple, pears, orange, orange are seen everywhere, since consumer is to the demand of fruit
Increasing, the people to grow fruit is more and more, and in order to accelerate the efficiency of fruit picking, most of application family is all used
Fruit picking robot replaces artificial picking, substantially increases picking efficiency, improves plantation income, but existing fruit
Picking robot is all more expensive, the main reason is that the transmission mechanism number that fruit picking robot drives each joint motor to use
Measure more, cost is more expensive, therefore how to effectively reduce motor transmission mechanism production cost is electromechanical producer vast at present
Always in the direction of research and development.
The design comparison of existing some motor transmission mechanisms is complicated, such as some speed changers, and gear structure inside is very
Complexity due to excessive gear drive, causes the conversion ratio of mechanical energy to decline, and due to this while realizing its function
The program that a little complicated mechanisms install processing is complicated, causes production cost higher.The present invention provides one kind and adopts for fruit
Pluck the motor multistep speed regulation transmission mechanism of robot, less gear quantity simplifies drive mechanism, devise two groups of fixed disks and
Mounting groove comes the position of adjustment gear and shaft, is in this way driving with motor, may be implemented to slow down using the transmission mechanism, constant speed
With the function of speedup, and the structure of conventional transmissions is enormously simplified, reduces production cost, while adopting not reducing fruit
The cost at application family is reduced in the case where plucking efficiency.
Summary of the invention
It is solving the above problems for prior art device, but is being still to there are many problem and shortage needs to continue to improve,
The present invention provides a kind of motor multistep speed regulation transmission mechanism for fruit picking robot, and less gear quantity simplifies biography
Dynamic structure, devises two groups of fixed disks and mounting groove comes the position of adjustment gear and shaft, is in this way driving with motor, utilizes this
Transmission mechanism may be implemented to slow down, the function of constant speed and speedup, and enormously simplify the structure of conventional transmissions, reduce life
Cost is produced, while reducing the cost at application family in the case where not reducing fruit picking efficiency.
The technical solution adopted by the present invention to solve the technical problems is: a kind of motor for fruit picking robot is more
Grade speed regulating mechanism, including the fixed lid of motor housing, No.1, No. two fixed lids, transmission mechanism and No. three fixed lids.
The motor housing is mounted on No.1 fixation and covers, and motor is equipped in motor housing, motor is as driving force, motor
Control device is equipped in case, for controlling the operating of motor；The No.1 fixation is covered equipped with linking arm, No.1 fixed screw
With No. two fixed screws；The linking arm is connected between the fixed lid of No.1 and No. two fixed lids；The fixed lid of the No.1
It is fixed between No. two fixed lids by No.1 fixed screw；Pass through No. two fixations between the motor housing and the fixed lid of No.1
Screw is fixed；The fixed lid of No.1 mainly plays fixed function.
No. two fixations are covered equipped with No.1 mounting groove, No.1 fixed disk, No. two fixed disks, turntable, No. three fixations
Disk, No.1 chuck, No. four fixed disks, No. two mounting grooves and No.1 mounting hole；The fixed disk shape of the No.1 is disc；Institute
No. two fixed disks stated are mounted on No.1 mounting hole；The No.1 chuck is equipped with No. two mounting holes and card slot；Described
No. four fixed disks are mounted in card slot, and the lower end of No. four fixed disks is rectangle, and upper part is divided into cylinder；No. two fixed lids and one
Number fixed lid matches, and main function is for fixed conveyor mechanism.
The transmission mechanism is equipped with No.1 gear, No. two gears, No. three gears, No.1 shaft, No. two shafts, No. four
Gear, No. five gears, No. three shafts and No. four shafts；The No.1 gear is meshed with No. two gears, No.1 gear and electricity
Machine is connected；No. two gears and No. three gears are separately mounted to No.1 shaft, and the ruler of No. three gears of No. two gear ratios
It is very little big；The No.1 shaft is mounted on No.1 fixation and covers；No. two shafts are mounted on No. two fixations and cover, and No. two solid
Price fixing is mounted in No. two shafts；No. four gears are mounted in No. two shafts；No. five gears are mounted on No. three
In shaft, No. five gears are meshed with No. three gears；No. three shafts are mounted on No. two fixations and cover, and set in No. three shafts
There are No. six gears；No. four shafts are equipped with No. seven gears, and No. four shafts are mounted in No. four fixed disks；The No.1
The transmission ratio of gear and No. two gears is 1/2；The transmission ratio of No. two gears and No. four gears is 4/1；Described No. three
The transmission ratio of gear and No. five gears is 1/2；The transmission ratio of No. five gears and No. four gears is 2/1；Described No. seven
The transmission ratio of gear and No. six gears is 2/1, and the transmission ratio of No. seven gears and No. five gears is 1/4.
The effect of No.1 mounting groove is to allow No. two shafts that can change position in it in the present invention, the two of No.1 mounting groove
End is semicircle, and No. two shafts are installing different both ends, and No. four gears are respectively corresponded mutually to be nibbled with No. two gears and No. five gears
It closes, wherein No.1 gear, which is connected to the motor, connects, and the transmission ratio of No.1 gear and No. two gears is 1/2, No. two gears and No. four teeth
The transmission ratio of wheel is 4/1, and the transmission ratio of No. three gears and No. five gears is 1/2, and the transmission ratio of No. five gears and No. four gears is
2/1, when No. four gears are meshed with No. two gears, calculate it is found that the revolving speed of No. four gears is twice of motor speed；When four
When number gear is meshed with No. five gears, calculate it is found that the revolving speed of No. four gears is the half of motor speed.No. two mounting grooves
Structure is identical as No.1 mounting groove, and the effect of No. two mounting grooves is to allow No. four shafts that can change position in it, makes No. seven teeth
Wheel is meshed with No. five gears and No. six gears respectively, changes the revolving speed of No. four shafts with this.No. four shafts are mounted on No. four
In fixed disk, No. four fixed disks can in the card slot of No.1 chuck adjusting position, when adjusting to suitable position, No. two installations
Screw is installed to fix the position of No. four fixed disks in hole.
The fixed lid of described No. three is mounted on No.1 fixation and covers, and No. three fixations are covered equipped with No. two chucks and No. five fixations
Disk；The structure of No. two chucks is identical with No.1 chuck.No. five fixed disk effects are that No. four fixed disks of auxiliary are adjusted
The position of No. four shafts.
Preferably, the quantity of the No.1 mounting hole is eight, and eight No.1 mounting holes are divided into two groups, are respectively provided at
The both ends of No.1 mounting groove are to facilitate to adjust No. two fixed disks to change position of No. two shafts in No.1 mounting groove in this way.
Preferably, the No.1 mounting groove both ends are semicircle, and intermediate portion is divided into rectangle, are to facilitate No. two to turn in this way
Axis changes position in No.1 mounting groove.
Preferably, the No.1 fixed disk and No. three fixed disks are separately mounted in No. three shafts, and wherein No.1 is fixed
Disk is mounted on the outside of No. two fixed lids, and No. three fixed disks are mounted on the inside of No. two fixed lids, due to five in No. three shafts
Number gear size is larger, in order to guarantee that stability when its operating, the present invention install fixation using internal and external disk.
When in use, motor driven No.1 gear rotates, and No.1 gear drives No. two gear rotations, and No. two gears then drive
The rotation of No.1 shaft, No.1 shaft then drive the rotation of No. three gears, and No. three gears drive No. five gear movements, No. five gears then band
No. three pivots are moved, according to gear ratio calculation it is found that the revolving speed of No. three shafts is the 1/4 of motor speed, realize the function of deceleration
Energy；Change position of No. two shafts in No.1 mounting groove by adjusting No. two fixed disks, allow No. four gears respectively with
No. two gears and No. five gears are meshed, when No. four gears are meshed with No. two gears, by gear ratio calculation it is found that No. four teeth
The revolving speed of wheel is twice of motor speed, and the revolving speed of No. two shafts is twice of motor speed, realizes acceleration function；When No. four teeth
When wheel is meshed with No. five gears, by gear ratio calculation it is found that the revolving speed of No. four gears is the half of motor speed, No. two shafts
Revolving speed be motor speed half, realize deceleration；Change No. four shafts by No. four fixed disks in No. two mounting grooves
Interior position allows No. seven gears to be meshed respectively with No. six gears and No. five gears, when No. seven gears and No. six gear phases
When engagement, by gear ratio calculation it is found that the revolving speed of No. seven gears is the 1/8 of motor speed, the revolving speed of No. four shafts turns for motor
Deceleration is realized in the 1/8 of speed；When No. seven gears are meshed with No. five gears, by gear ratio calculation it is found that No. four gears
Revolving speed is that motor speed is identical, and the revolving speed of No. four shafts is that motor speed is identical, realizes synchronous constant speed drive；Finally by No. two
Shaft, No. three shafts and No. four shafts pass out power to other mechanisms, realize the function of speed change.
The beneficial effects of the present invention are: the present invention provides a kind of motor multistep speed regulation transmission for fruit picking robot
Mechanism, less gear quantity, simplifies drive mechanism, devises two groups of fixed disks and mounting groove comes the position of adjustment gear and shaft
It sets, is in this way driving with motor, may be implemented to slow down using the transmission mechanism, the function of constant speed and speedup, and greatly simplify
The structure of conventional transmissions, reduces production cost, while reducing fruit in the case where not reducing fruit picking efficiency
The cost of farmer.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1, Fig. 2, Fig. 3 are structural schematic diagrams of the invention；
Fig. 4 is front view of the invention；
Fig. 5 is the structural schematic diagram after the fixed lid of present invention removal two；
Fig. 6 is side view of the invention；
In figure: the fixed lid (2) of motor housing (1), No.1, No. two fixed lids (3), transmission mechanism (4), No. three fixed lids (5),
Linking arm (21), No.1 fixed screw (22), No. two fixed screws (23), No.1 mounting groove (31), No.1 fixed disk (32), two
Number fixed disk (33), turntable (34), No. three fixed disks (35), No.1 chuck (36), No. four fixed disks (37), No. two mounting grooves
(38), No.1 mounting hole (39), No.1 gear (41), No. two gears (42), No. three gears (43), No.1 shaft (44), No. two
Shaft (45), No. four gears (46), No. five gears (47), No. three shafts (48), No. four shafts (49), No. two mounting holes (361),
Card slot (362), No. six gears (481), No. seven gears (491).
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below
Specific embodiment is closed, the present invention is further explained.
As shown in Figures 1 to 6, a kind of motor multistep speed regulation transmission mechanism for fruit picking robot, including motor
The fixed lid 3 of the fixed lid 2, two of case 1, No.1, transmission mechanism 4 and No. three fixed lids 5.
The motor housing 1 is mounted on the fixed lid 2 of No.1, is equipped with motor in motor housing 1, motor as driving force,
Control device is equipped in motor housing 1, for controlling the operating of motor；The fixed lid 2 of the No.1 is equipped with linking arm 21, No.1
Fixed screw 22 and No. two fixed screws 23；The linking arm 21 is connected between the fixed lid 2 of No.1 and No. two fixed lids 3；
It is fixed by No.1 fixed screw 22 between the fixed lid 2 of the No.1 and No. two fixed lids 3；The motor housing 1 and No.1
It is fixed by No. two fixed screws 23 between fixed lid 2；The fixed lid 2 of No.1 mainly plays fixed function.
The fixed lid 3 of described No. two be equipped with No.1 mounting groove 31,32, No. two fixed disks 33 of No.1 fixed disk, turntable 34,
No. three fixed disks 35, the mounting groove 38 of fixed disk 37, two of No.1 chuck 36, four and No.1 mounting hole 39；The No.1 is solid
32 shape of price fixing is disc；No. two fixed disks 33 are mounted on No.1 mounting hole 39；On the No.1 chuck 36
Equipped with No. two mounting holes 361 and card slot 362；No. four fixed disks 37 are mounted in card slot 362, under No. four fixed disks 37
End is rectangle, and upper part is divided into cylinder；No. two fixed lids 3 and the fixed lid 2 of No.1 match, and main function is passed for fixed
Motivation structure 4.
The transmission mechanism 4 is equipped with the gear 42, three of No.1 gear 41, two gear 43, No.1 shaft 44, two
47, No. three shafts 48 of the gear of gear 46, five of shaft 45, four and No. four shafts 49；The No.1 gear 41 and No. two teeth
Wheel 42 is meshed, and No.1 gear 41, which is connected to the motor, to be connect；No. two gears 42 and No. three gears 43 are separately mounted to No.1
Shaft 44, and the size of 42 to No. three gears of No. two gears 43 is big；The No.1 shaft 44 is mounted on the fixed lid 2 of No.1；
No. two shafts 45 are mounted on No. two fixed lids 3, and No. two fixed disks 33 are mounted in No. two shafts 45；Described No. four
Gear 46 is mounted in No. two shafts 45；No. five gears 47 are mounted in No. three shafts 48, No. five gears 47 and No. three
Gear 43 is meshed；No. three shafts 48 are mounted on No. two fixed lids 3, and No. three shafts 48 are equipped with No. six gears 481；
No. four shafts 49 are equipped with No. seven gears 491, and No. four shafts 49 are mounted in No. four fixed disks 37；The No.1 tooth
The transmission ratio of wheel 41 and No. two gears 42 is 1/2；The transmission ratio of No. two gears 42 and No. four gears 46 is 4/1；It is described
No. three gears 43 and No. five gears 47 transmission ratio be 1/2；The transmission ratio of No. five gears 47 and No. four gears 46 is
2/1；The transmission ratio of No. seven gears 491 and No. six gears 481 is 2/1, the transmission of No. seven gears 491 and No. five gears 47
Than being 1/4.
The effect of No.1 mounting groove 31 is to allow No. two shafts 45 that can change position, No.1 mounting groove in it in the present invention
31 both ends are semicircle, and No. two shafts 45 are installing different both ends, No. four gears 46 respectively correspond with No. two gears 42 and
No. five gears 47 are meshed, and wherein No.1 gear 41, which is connected to the motor, connects, and No.1 gear 41 and the transmission ratio of No. two gears 42 are
1/2, the transmission ratio of No. two gears 42 and No. four gears 46 is 4/1, and the transmission ratio of No. three gears 43 and No. five gears 47 is 1/2,
The transmission ratio of No. five gears 47 and No. four gears 46 is 2/1, and when No. four gears 46 are meshed with No. two gears 42, calculating can
Know, the revolving speed of No. four gears 46 is twice of motor speed；When No. four gears 46 are meshed with No. five gears 47, calculating can
Know, the revolving speed of No. four gears 46 is the half of motor speed.The structure of No. two mounting grooves 38 is identical as No.1 mounting groove 31, and No. two
The effect of mounting groove 38 is to allow No. four shafts 49 that can change position in it, make No. seven gears 491 respectively with No. five gears 47
It is meshed with No. six gears 481, changes the revolving speed of No. four shafts 49 with this.No. four shafts 49 are mounted on No. four fixed disks 37
It is interior, No. four fixed disks 37 can in the card slot 362 of No.1 chuck 36 adjusting position, when adjusting to suitable position, No. two peaces
Dress hole 361 can install screw to fix the position of No. four fixed disks 37.
The fixed lid 5 of described No. three is mounted on the fixed lid 2 of No.1, and No. three fixed lids 5 are equipped with No. two chucks 51 and five
Number fixed disk 52；The structure of No. two chucks 51 is identical with No.1 chuck 36.No. five effects of fixed disk 52 are auxiliary
No. four fixed disks 37 adjust the position of No. four shafts 49.
The quantity of the No.1 mounting hole 39 is eight, and it is two groups that eight No.1 mounting holes 39, which are divided to, is respectively provided at one
The both ends of number mounting groove 31 facilitate adjust No. two fixed disks 33 to change No. two shafts 45 in No.1 mounting groove 31 in this way
Position.
31 both ends of No.1 mounting groove are semicircle, and it is to facilitate No. two shafts 45 in this way that intermediate portion, which is divided into rectangle,
Change position in No.1 mounting groove 31.
The No.1 fixed disk 32 and No. three fixed disks 35 are separately mounted in No. three shafts 48, wherein No.1 fixed disk
32 are mounted on the outside of No. two fixed lids 3, and No. three fixed disks 35 are mounted on the inside of No. two fixed lids 3, due to No. three shafts 48
On No. five 47 sizes of gear it is larger, in order to guarantee stability when its operating, the present invention is installed solid using this internal and external disk
It is fixed.
A kind of motor multistep speed regulation transmission mechanism for fruit picking robot of the present embodiment when in use, motor driven
No.1 gear 41 rotates, and No.1 gear 41 drives No. two gears 42 to rotate, and No. two gears 42 then drive No.1 shaft 44 to rotate, and one
Number shaft 44 then drives No. three gears 43 to rotate, and No. three gears 43 drive No. five gears 47 to move, and No. five gears 47 then drive three
Number shaft 48 moves, and according to gear ratio calculation it is found that the revolving speed of No. three shafts 48 is the 1/4 of motor speed, realizes the function of deceleration
Energy；Change position of No. two shafts 45 in No.1 mounting groove 31 by adjusting No. two fixed disks 33, makes No. four gears 46 can
To be meshed respectively with No. two gears 42 and No. five gears 47, when No. four gears 46 are meshed with No. two gears 42, by being driven
Than calculating it is found that the revolving speed of No. four gears 46 is twice of motor speed, the revolving speed of No. two shafts 45 is twice of motor speed,
Realize acceleration function；When No. four gears 46 are meshed with No. five gears 47, by gear ratio calculation it is found that turn of No. four gears 46
Speed is the half of motor speed, and the revolving speed of No. two shafts 45 is the half of motor speed, realizes deceleration；Pass through No. four fixations
Disk 37 changes position of No. four shafts 49 in No. two mounting grooves 38, allow No. seven gears 491 respectively with No. six gears 481
It is meshed with No. five gears 47, when No. seven gears 491 are meshed with No. six gears 481, by gear ratio calculation it is found that No. seven teeth
The revolving speed of wheel 491 is the 1/8 of motor speed, and the revolving speed of No. four shafts 49 is the 1/8 of motor speed, realizes deceleration；When seven
When number gear 491 is meshed with No. five gears 47, by gear ratio calculation it is found that the revolving speed of No. four gears 46 is motor speed phase
Together, the revolving speed of No. four shafts 49 is that motor speed is identical, realizes synchronous constant speed drive.Turn finally by No. two shaft 45, three
Axis 48 and No. four shafts 49 pass out power to other mechanisms, realize the function of speed change.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the description in above embodiment and specification only illustrates the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these variation and
Improvement is both fallen in the scope of protection of present invention.The claimed scope of the invention is by appended claims and its equivalent
Object defines.
Claims (6)
1. a kind of motor multistep speed regulation transmission mechanism for fruit picking robot, including the fixed lid of motor housing (1), No.1
(2), No. two fixed lids (3), transmission mechanism (4) and No. three fixed lids (5), it is characterised in that:
The motor housing (1) is mounted on the fixed lid (2) of No.1, is equipped with motor in motor housing (1)；The No.1 is fixed
It covers (2) and is equipped with linking arm (21), No.1 fixed screw (22) and No. two fixed screws (23)；Linking arm (21) connection
Between the fixed lid (2) of No.1 and No. two fixed lids (3)；Pass through between the fixed lid (2) of the No.1 and No. two fixed lids (3)
No.1 fixed screw (22) is fixed；It is solid by No. two fixed screws (23) between the motor housing (1) and the fixed lid (2) of No.1
It is fixed；
The fixed lid (3) of described No. two is equipped with No.1 mounting groove (31), No.1 fixed disk (32), No. two fixed disks (33), turns
Disk (34), No. three fixed disks (35), No.1 chuck (36), No. four fixed disks (37), No. two mounting grooves (38) and No.1 mounting hole
(39)；No.1 fixed disk (32) shape is disc；No. two fixed disks (33) are mounted on No.1 mounting hole
(39) on；The No.1 chuck (36) is equipped with No. two mounting holes (361) and card slot (362)；No. four fixed disks
(37) it is mounted in card slot (362), the lower end of No. four fixed disks (37) is rectangle, and upper part is divided into cylinder；
The transmission mechanism (4) is equipped with No.1 gear (41), No. two gears (42), No. three gears (43), No.1 shafts
(44), No. two shafts (45), No. four gears (46), No. five gears (47), No. three shafts (48) and No. four shafts (49)；Described
No.1 gear (41) is meshed with No. two gears (42), and No.1 gear (41), which is connected to the motor, to be connect；No. two gears (42)
It is separately mounted to No.1 shaft (44) with No. three gears (43), and the size of than No. three gears (43) of No. two gears (42) is big；Institute
The No.1 shaft (44) stated is mounted on the fixed lid (2) of No.1；No. two shafts (45) are mounted on No. two fixed lids (3)
On, No. two fixed disks (33) are mounted on No. two shafts (45)；No. four gears (46) are mounted on No. two shafts (45)；
No. five gears (47) are mounted on No. three shafts (48), and No. five gears (47) are meshed with No. three gears (43)；It is described
No. three shafts (48) be mounted on No. two fixed lids (3), No. three shafts (48) are equipped with No. six gears (481)；Described four
Number shaft (49) is equipped with No. seven gears (491), and No. four shafts (49) are mounted in No. four fixed disks (37)；The No.1 tooth
The transmission ratio for taking turns (41) and No. two gears (42) is 1/2；The transmission ratio of No. two gears (42) and No. four gears (46) is
4/1；The transmission ratio of No. three gears (43) and No. five gears (47) is 1/2；No. five gears (47) and No. four teeth
The transmission ratio for taking turns (46) is 2/1；
The fixed lid (5) of described No. three is mounted on the fixed lid (2) of No.1, and No. three fixed lids (5) are equipped with No. two chucks (51)
With No. five fixed disks (52)；The structure of No. two chucks (51) is identical with No.1 chuck (36).
2. a kind of motor multistep speed regulation transmission mechanism for fruit picking robot according to claim 1, feature
Be: the transmission ratio of No. seven gears (491) and No. six gears (481) is 2/1.
3. a kind of motor multistep speed regulation transmission mechanism for fruit picking robot according to claim 1, feature
Be: the transmission ratio of No. seven gears (491) and No. five gears (47) is 1/4.
4. a kind of motor multistep speed regulation transmission mechanism for fruit picking robot according to claim 1, feature
Be: the quantity of the No.1 mounting hole (39) is eight, and eight No.1 mounting holes (39) are divided into two groups, are respectively provided at one
The both ends of number mounting groove (31).
5. a kind of motor multistep speed regulation transmission mechanism for fruit picking robot according to claim 1, feature
Be: No.1 mounting groove (31) both ends are semicircle, and intermediate portion is divided into rectangle.
6. a kind of motor multistep speed regulation transmission mechanism for fruit picking robot according to claim 1, feature
Be: the No.1 fixed disk (32) and No. three fixed disks (35) is separately mounted on No. three shafts (48), and wherein No.1 is solid
Price fixing (32) is mounted on the outside of No. two fixed lids (3), and No. three fixed disks (35) are mounted on the inside of No. two fixed lids (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710243056.3A CN107044513B (en) | 2017-04-14 | 2017-04-14 | A kind of motor multistep speed regulation transmission mechanism for fruit picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710243056.3A CN107044513B (en) | 2017-04-14 | 2017-04-14 | A kind of motor multistep speed regulation transmission mechanism for fruit picking robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107044513A CN107044513A (en) | 2017-08-15 |
| CN107044513B true CN107044513B (en) | 2019-06-14 |
Family
ID=59545726
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710243056.3A Active CN107044513B (en) | 2017-04-14 | 2017-04-14 | A kind of motor multistep speed regulation transmission mechanism for fruit picking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107044513B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107877504B (en) * | 2017-11-22 | 2024-05-28 | 深圳市越疆科技股份有限公司 | Modular speed reducer and planar multi-joint robot |
| CN107877503B (en) * | 2017-11-22 | 2024-05-28 | 深圳市越疆科技股份有限公司 | Variable speed reducer and planar multi-joint robot |
| CN108356793B (en) * | 2017-11-22 | 2024-05-28 | 深圳市越疆科技股份有限公司 | Eccentric speed reducer and planar multi-joint robot |
| CN108402418A (en) * | 2018-03-12 | 2018-08-17 | 干鑫驰 | A kind of shot-blasting machine of fruit particle |
| CN110723051B (en) * | 2018-06-20 | 2020-12-04 | 玉环览众科技有限公司 | Novel tipping device for rear door of dump truck |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101803511B (en) * | 2009-12-29 | 2012-01-18 | 浙江工业大学 | Flexible end effector for cone picking robot |
| CN106953461B (en) * | 2012-06-26 | 2019-08-30 | 株式会社电装 | Motor driver |
| CN102962713A (en) * | 2012-11-27 | 2013-03-13 | 桂林机床股份有限公司 | Transmission mechanism for high-torque stepless speed regulating milling spindle box |
| CN103899711B (en) * | 2012-12-28 | 2016-12-28 | 中山市云创知识产权服务有限公司 | Back gear |
| CN104838809B (en) * | 2015-04-10 | 2016-12-07 | 江苏大学 | A kind of drive lacking three refers to hands formula fruit and vegerable flexibility picker |
-
2017
- 2017-04-14 CN CN201710243056.3A patent/CN107044513B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN107044513A (en) | 2017-08-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107044513B (en) | A kind of motor multistep speed regulation transmission mechanism for fruit picking robot | |
| CN208979841U (en) | A kind of efficient digital cuttings grabbing device | |
| CN201227280Y (en) | Full automatic C type arm X ray machine C type arm biaxial rotation structure | |
| CN107046939B (en) | A kind of motor transmission mechanism for fruit picking robot | |
| CN102146892B (en) | Variable-speed ratio wind power speed increasing box | |
| CN202106697U (en) | Seal actuating mechanism and seal using machine provided with same | |
| CN209105045U (en) | A kind of new energy wind-power electricity generation power cabinet | |
| CN103343799A (en) | Gear transmission mechanism of X-ray machine | |
| CN1214145C (en) | Drum type washing machine | |
| KR101016239B1 (en) | Vertical Axis Wind Turbine Using Centrifugal Force for Opening and Closing Door-Wings | |
| CN110459874A (en) | A kind of large scale array electric regulation antenna phase shifter transmission mechanism | |
| CN209180458U (en) | A kind of executive module synchronizing electronic execution controller | |
| CN206092825U (en) | Drive unit | |
| CN105720735A (en) | Speed reduction mechanism for motor | |
| CN108678903A (en) | A kind of wind turbine special power regulating device | |
| CN107394958A (en) | Fan-type Asynchronous Frequency-variable buncher | |
| CN208749483U (en) | A kind of blower special power regulating device | |
| CN204909746U (en) | Bionical hand thumb of electronic two dimension | |
| CN201820941U (en) | Rotary socket of digital device | |
| CN110056275A (en) | Segment pace type electric losing self-locking linkage | |
| CN201571333U (en) | Seed-metering speed change mechanism of seed-metering device | |
| CN208276933U (en) | A kind of carpometacarpal mechanism of variable configuration | |
| CN206555808U (en) | Aggregate motion spotlight | |
| CN107591954A (en) | A kind of active feedback reducing motor | |
| CN2693011Y (en) | Transmitting-gear of electric tea frying machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190521 Address after: 325002 Jinxiu Road, Lucheng District, Wenzhou City, Zhejiang Province South Zhejiang Agricultural and By-product Center Market (Four Districts) 8 Floors of Wenzhou High-quality Agricultural Products Exhibition and Marketing Center Building Applicant after: Wenzhou Qianhan Energy Saving Technology Co., Ltd. Address before: 213314 No. 19-1, West Village Bridge, West Village Bridge, upper Yellow Town Bridge, Liyang, Changzhou, Jiangsu Applicant before: Gao Ya |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200904 Address after: No.32, group 3, Fuzi village, Donghai Town, Qidong City, Nantong City, Jiangsu Province Patentee after: Qidong Shiji crop cooperatives Address before: 325002 Jinxiu Road, Lucheng District, Wenzhou City, Zhejiang Province South Zhejiang Agricultural and By-product Center Market (Four Districts) 8 Floors of Wenzhou High-quality Agricultural Products Exhibition and Marketing Center Building Patentee before: WENZHOU QIANHAN ENERGY SAVING TECHNOLOGY Co.,Ltd. |