CN107053163A - Robot leg motor flexible drive structure - Google Patents

Robot leg motor flexible drive structure Download PDF

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Publication number
CN107053163A
CN107053163A CN201710424578.3A CN201710424578A CN107053163A CN 107053163 A CN107053163 A CN 107053163A CN 201710424578 A CN201710424578 A CN 201710424578A CN 107053163 A CN107053163 A CN 107053163A
Authority
CN
China
Prior art keywords
spring
motor
output
leading screw
nut
Prior art date
Application number
CN201710424578.3A
Other languages
Chinese (zh)
Inventor
林建宝
Original Assignee
佛山市建金建电子科技有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 佛山市建金建电子科技有限公司 filed Critical 佛山市建金建电子科技有限公司
Priority to CN201710424578.3A priority Critical patent/CN107053163A/en
Publication of CN107053163A publication Critical patent/CN107053163A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12Programme-controlled manipulators characterised by positioning means for manipulator elements electric

Abstract

Robot leg motor flexible drive structure, it is related to Industrial Robot Technology field;It includes motor, motor cabinet, shaft coupling, bearing, leading screw, the first nut, spring stop, the first spring, second spring, driving cylinder, output end cap, the second nut;Described motor is fixed on motor cabinet, the output shaft of motor is connected with leading screw by shaft coupling, and one end of leading screw is provided with bearing, and the right part of leading screw is provided with spring stop, the side of spring stop is disposed with the first spring and second spring, and one end of second spring is also equipped with spring stop;The output end of described motor is arranged on the inside of driving cylinder, and one end of driving cylinder is connected with output end cap;Described spring stop is connected by the first nut with output end cap;The second nut is connected with described leading screw.Robot leg motor flexible drive structure of the present invention, simple and stable structure can preferably realize stable and balance, with pooling feature.

Description

Robot leg motor flexible drive structure

Technical field

The present invention relates to Industrial Robot Technology field, and in particular to robot leg motor flexible drive structure.

Background technology

According to incompletely statistics, about nearly the industrial robot of half is used for respectively in the in-service industrial robot in the whole world The production and processing field of the form of kind.Production robot described in us is exactly to replace manually being engaged in life in production production field in fact The industrial robot of production task.Have plenty of what is specially designed for certain mode of production in these production robots, and it is most It is exactly that general industrial robot is loaded onto certain tool of production and constituted in fact to produce robot.In multitask environment, one Platform robot can even complete to grab the multiple-tasks such as thing, carrying, installation, production, discharging including production, therefore, from For in some sense, the developing history of industrial robot is exactly to produce machine man-based development history.

It is well known that on the one hand production and processing requires that workman will have skilled operative skill, abundant practical experience, stably The level of production;On the other hand, some production environment working conditions are poor, flue dust is more, heat radiation is big, dangerous high work.Work The appearance of industry robot makes people expect being replaced the manual production of people first naturally with it, mitigates the labor intensity of workman, Simultaneously it is also ensured that the quality of production and raising production efficiency.

However, how robot leg is on the move preferably realizes stable and balance, energy is realized more satisfactoryly Supply, the leg elastic drive system with pooling feature is always puzzlement numerous robot research personnel and machine in the world The problem of people fan.

The content of the invention

In view of the defects and deficiencies of the prior art, the present invention intends to provide one kind is simple in construction, reasonable in design, make With convenient robot leg motor flexible drive structure.

To achieve the above object, the technical solution adopted by the present invention is:It comprising motor, motor cabinet, shaft coupling, bearing, Leading screw, the first nut, spring stop, the first spring, second spring, driving cylinder, output end cap, the second nut;Described motor It is fixed on motor cabinet, the output shaft of motor is connected with leading screw by shaft coupling, one end of leading screw is provided with bearing, the right side of leading screw Portion is provided with spring stop, and the side of spring stop is disposed with the first spring and second spring, one end of second spring It is provided with spring stop;The output end of described motor is arranged on the inside of driving cylinder, and one end of driving cylinder is connected with output end Lid;Described spring stop is connected by the first nut with output end cap;The second nut is connected with described leading screw.

Preferably, the right-hand member of described leading screw is connected with sliding block by jump ring.

Preferably, one end of described output end cap is connected with shell.

Preferably, described motor cabinet is fixedly connected with the bearing seat.

Preferably, the two ends of described output end cap pass through pipe screw thread and driving cylinder and cage connection respectively.

During present invention operation, motor produces rotary motion, and rotary motion is passed to leading screw, leading screw band by shaft coupling Rotary motion, is converted into linear motion by dynamic second nut motion, the first spring of the mobile promotion series connection of the second nut and the Two springs, cause the deformation of serial spring, and driving force is delivered on respective spring stop by the first spring and second spring, by Output end is fixedly mounted in spring stop to cover, driving force is delivered to output end and covered by spring stop, and then by driving force It is delivered on driving cylinder, same rigid body is formed with driving cylinder;Energy again while described sliding block and jump ring makes leading screw smooth rotation It is smoothed out the slip of straight line.

After said structure, what the present invention was produced has the beneficial effect that:Robot leg motor elasticity of the present invention Driving structure, simple and stable structure can preferably realize stable and balance, with pooling feature, adapt to significantly change load Worked under lotus and mal-condition, the present invention have the advantages that it is simple in construction, reasonable, low manufacture cost is set.

Brief description of the drawings

Fig. 1 is the structure chart of the present invention;

Fig. 2 is present embodiment operating diagram.

Description of reference numerals:

Motor 1, motor cabinet 2, shaft coupling 3, bearing 4, leading screw 5, the first nut 6, spring stop 7, the first spring 8, second spring 9th, driving cylinder 10, output end cap 11, the second nut 12, shell 13, bearing block 14, sliding block 15, jump ring 16.

Embodiment

In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also To obtain other accompanying drawings according to these accompanying drawings.

Referring to such as Fig. 1 --- shown in Fig. 2, present embodiment is adopted the following technical scheme that:It includes motor 1, motor Seat 2, shaft coupling 3, bearing 4, leading screw 5, the first nut 6, spring stop 7, the first spring 8, second spring 9, driving cylinder 10, output End cap 11, the second nut 12;Described motor 1 is fixed on motor cabinet 2, and output shaft and the leading screw 5 of motor 1 pass through shaft coupling 3 Connection, one end of leading screw 5 is provided with bearing 4, and the right part of leading screw 5 is provided with spring stop 7, and the side of spring stop 7 is set successively The first spring 8 and second spring 9 are equipped with, one end of second spring 9 is also equipped with spring stop 7;The output end of described motor 1 Installed in the inside of driving cylinder 10, one end of driving cylinder 10 is connected with output end cap 11;Described spring stop 7 passes through the first spiral shell Mother 6 is connected with output end cap 11;The second nut 12 is connected with described leading screw 5.

Preferably, the right-hand member of described leading screw 5 is connected with sliding block 15 by jump ring 16.

Preferably, one end of described output end cap 11 is connected with shell 13.

Preferably, described motor cabinet 2 is fixedly connected with bearing block 14.

Preferably, the two ends of described output end cap 11 are connected by pipe screw thread with driving cylinder 10 and shell 13 respectively.

When present embodiment is operated, motor 1 produces rotary motion, and rotary motion is passed to by shaft coupling 3 Leading screw 5, leading screw 5 drives the second nut 12 to move, and rotary motion is converted into linear motion, the mobile promotion string of the second nut 12 The first spring 8 and second spring 9 of connection, cause the deformation of serial spring, the first spring 8 and second spring 9 transmit driving force Onto respective spring stop 7, because spring stop 7 is fixedly mounted on output end cap 11, spring stop 7 transmits driving force It is delivered to onto output end cap 11, and then by driving force on driving cylinder 10, same rigid body is formed with driving cylinder 10;Described sliding block 15 and jump ring 16 make that the slip of straight line can be smoothed out while 5 smooth rotation of leading screw again.

After said structure, what present embodiment was produced has the beneficial effect that:Machine described in present embodiment Device people's thigh motor flexible drive structure, simple and stable structure can preferably realize stable and balance, with pooling feature, Adapt to work under significantly live load and mal-condition, present embodiment have it is simple in construction, set rationally, make Low cost and other advantages.

The general principle and principal character and advantages of the present invention of the present invention has been shown and described above.The skill of the industry Art personnel are it should be appreciated that the present invention is not limited to the above embodiments, and described in above-described embodiment and specification is explanation The principle of the present invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these Changes and improvements all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and Its equivalent thereof.

Claims (5)

1. robot leg motor flexible drive structure, it is characterised in that:It includes motor, motor cabinet, shaft coupling, bearing, silk Thick stick, the first nut, spring stop, the first spring, second spring, driving cylinder, output end cap, the second nut;Described motor is consolidated It is scheduled on motor cabinet, the output shaft of motor is connected with leading screw by shaft coupling, one end of leading screw is provided with bearing, the right part of leading screw Spring stop is provided with, the side of spring stop is disposed with the first spring and second spring, and one end of second spring is also set It is equipped with spring stop;The output end of described motor is arranged on the inside of driving cylinder, and one end of driving cylinder is connected with output end cap; Described spring stop is connected by the first nut with output end cap;The second nut is connected with described leading screw.
2. robot leg motor flexible drive structure according to claim 1, it is characterised in that:The right side of described leading screw End is connected with sliding block by jump ring.
3. robot leg motor flexible drive structure according to claim 1, it is characterised in that:Described output end cap One end be connected with shell.
4. robot leg motor flexible drive structure according to claim 1, it is characterised in that:Described motor cabinet with Bearing block is fixedly connected.
5. robot leg motor flexible drive structure according to claim 1, it is characterised in that:Described output end cap Two ends pass through pipe screw thread and driving cylinder and cage connection respectively.
CN201710424578.3A 2017-06-07 2017-06-07 Robot leg motor flexible drive structure CN107053163A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710424578.3A CN107053163A (en) 2017-06-07 2017-06-07 Robot leg motor flexible drive structure

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710424578.3A CN107053163A (en) 2017-06-07 2017-06-07 Robot leg motor flexible drive structure

Publications (1)

Publication Number Publication Date
CN107053163A true CN107053163A (en) 2017-08-18

Family

ID=59616551

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710424578.3A CN107053163A (en) 2017-06-07 2017-06-07 Robot leg motor flexible drive structure

Country Status (1)

Country Link
CN (1) CN107053163A (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011054562A1 (en) * 2009-11-04 2011-05-12 Robert Bosch Gmbh Pedal travel transducer and pedal unit
CN102211622A (en) * 2011-04-22 2011-10-12 哈尔滨工程大学 Cylinder series connection elastic driver
CN102285390A (en) * 2011-06-03 2011-12-21 哈尔滨工程大学 Elastically driven walking leg in hybrid connection for walking robot
CN104015202A (en) * 2014-06-20 2014-09-03 北京航空航天大学 Hydraulic tandem elastic driver
CN105082172A (en) * 2015-06-17 2015-11-25 北京交通大学 Parallel three-freedom-degree flexible mechanical wrist based on series elastic actuators

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011054562A1 (en) * 2009-11-04 2011-05-12 Robert Bosch Gmbh Pedal travel transducer and pedal unit
CN102211622A (en) * 2011-04-22 2011-10-12 哈尔滨工程大学 Cylinder series connection elastic driver
CN102285390A (en) * 2011-06-03 2011-12-21 哈尔滨工程大学 Elastically driven walking leg in hybrid connection for walking robot
CN104015202A (en) * 2014-06-20 2014-09-03 北京航空航天大学 Hydraulic tandem elastic driver
CN105082172A (en) * 2015-06-17 2015-11-25 北京交通大学 Parallel three-freedom-degree flexible mechanical wrist based on series elastic actuators

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Application publication date: 20170818