CN107053163A - Robot leg motor flexible drive structure - Google Patents
Robot leg motor flexible drive structure Download PDFInfo
- 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
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- CN
- China
- Prior art keywords
- spring
- motor
- leading screw
- output end
- nut
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- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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
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.
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 Pending CN107053163A (en) | 2017-06-07 | 2017-06-07 | Robot leg motor flexible drive structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107053163A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110406608A (en) * | 2019-07-29 | 2019-11-05 | 南京工程学院 | Multi-mode elastic driver towards walking robot |
Citations (5)
| 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 |
-
2017
- 2017-06-07 CN CN201710424578.3A patent/CN107053163A/en active Pending
Patent Citations (5)
| 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 |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110406608A (en) * | 2019-07-29 | 2019-11-05 | 南京工程学院 | Multi-mode elastic driver towards walking robot |
| CN110406608B (en) * | 2019-07-29 | 2021-03-30 | 南京工程学院 | Multi-mode elastic driver for walking robot |
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|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170818 |
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| WD01 | Invention patent application deemed withdrawn after publication |