CN107380288A - The flexible damping gear train of robot - Google Patents
The flexible damping gear train of robot Download PDFInfo
- Publication number
- CN107380288A CN107380288A CN201710567951.0A CN201710567951A CN107380288A CN 107380288 A CN107380288 A CN 107380288A CN 201710567951 A CN201710567951 A CN 201710567951A CN 107380288 A CN107380288 A CN 107380288A
- Authority
- CN
- China
- Prior art keywords
- spur gear
- rotating shaft
- sleeve
- gear
- socketed
- 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.)
- Pending
Links
- 238000013016 damping Methods 0.000 title claims abstract description 13
- 230000001360 synchronised effect Effects 0.000 claims abstract description 3
- 230000008602 contraction Effects 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 3
- 241000592274 Polypodium vulgare Species 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses the flexible damping gear train of robot,It includes sleeve,Sleeve inner is socketed with rotating shaft,The outside of rotating shaft is also socketed with the spur gear a for being installed on sleeve ends,Offer in rotating shaft and matched along the keyway and spur gear a of its center axis direction extension by key with being arranged at the keyway of rotating shaft,Sleeve can promote spur gear a is synchronous to be moved along the axis direction of rotating shaft,Rotating shaft upper end is connected with fixture and rotating shaft can be around own axis,The outside of rotating shaft is socketed with one end connection fixture,Other end connection spur gear a torsion spring,Spur gear b is socketed on the outside of splined shaft and can slided along the central axial direction of splined shaft,And revolving force can be transferred to spur gear b by splined shaft 70,Spur gear c is fixedly installed on the driving end of splined shaft,Spur gear b engages with above-mentioned spur gear a,And damper gear group also includes being used to ensure spur gear b,Spur gear a is in the locating part of engagement all the time.
Description
Technical field
The present invention relates to a kind of gear damping, more particularly to a kind of flexible damping gear that can be applied to robot
Group.
Background technology
Polypody robot relies on its powerful environmental suitability ability, can be achieved to be handed over the ground environment of complexity
Mutually, the superior stability of polypody robot makes it in various fields possess to be widely applied；But the foot of robot
When portion contacts with rigid object, caused instantaneous force conducts each joint to limbs and robot through foot so that
The stability of robot cannot ensure that existing stabilitrak is still deposited in terms of overcoming vibration and improving stability
In larger deficiency.
The content of the invention
To solve the deficiencies in the prior art, it is an object of the invention to provide a kind of flexibility for improving robot stabilization to subtract
Gear train is shaken, it is mainly used in robot foot section and limbs joint junction, realizes flexible damping effect.
To realize above-mentioned technical purpose, the technical solution adopted in the present invention is as follows.
The flexible damping gear train of robot, it includes sleeve, sleeve inner is socketed with rotating shaft, and sleeve can be along rotating shaft
Heart axis direction moves, and the outside of rotating shaft is also socketed with the spur gear a for being installed on sleeve ends, offered in rotating shaft along its center
Axis direction extension keyway and spur gear a matched by key with being arranged at the keyway of rotating shaft, sleeve can promote spur gear a and
Its synchronization is moved along the axis direction of rotating shaft, and rotating shaft upper end is connected with fixture and rotating shaft can be around own axis, rotating shaft
Outside be socketed with one end connection fixture, other end connection spur gear a torsion spring, damper gear group also includes splined shaft, straight
Gear b, spur gear c, spur gear b is socketed on the outside of splined shaft and can slided along the central axial direction of splined shaft, and spline
Revolving force can be transferred to spur gear b by axle 70, and spur gear c is fixedly installed on the driving end of splined shaft, spur gear b with it is above-mentioned
Spur gear a is engaged, and damper gear group also includes being used to ensure that spur gear b, spur gear a are spacing in engagement all the time
Part.
The foot of robot is additionally provided with for receiving external action and applied external force being transferred into damper gear group
Power supply part, the power output member of described power supply part include power output member one, power output member
Two, the active force of robot foot section is transferred to sleeve and realizes sleeve along shaft axis direction pushing button by power output member one
The active force of robot foot section is changed into revolving force and realizes spur gear c rotation by the contraction of spring, power output member two.
Above-mentioned locating part is the both sides of the limiting plate for being arranged at above-mentioned spur gear a both sides, limiting plate and above-mentioned spur gear b
Face fits；When sleeve promotes spur gear a to move in the axial direction, can ensure to promote spur gear b synchronously to transport using limiting plate
It is dynamic, and remain engagement.
Of the invention to be contrasted with damping of the prior art, the progress of acquirement and advantage are, the present invention is using certainly
Adaptability adjusts torsion, can be automatically adjusted for robot foot section stress difference, and the clever structure used, relative to
Existing damping, it is more in configuration aspects simplification, and stability is stronger.
Brief description of the drawings
In order to illustrate the embodiments of the present invention more clearly, the required accompanying drawing used in embodiment will be done simply below
Introduce, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for ordinary skill people
For member, on the premise of not paying creative work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation that the present invention is under extended configuration.
Fig. 2 is the structural representation that the present invention is under contraction state.
Fig. 3 is the structural representation of the present invention.
Fig. 4 is the structural representation of the present invention.
Fig. 5 is the structural representation of mounting seat.
Fig. 6 is the structural representation that sleeve matches with rotating shaft, torsion spring.
Fig. 7 is the structural representation that sleeve matches with spur gear a, spur gear b.
Fig. 8 is the structural representation that splined shaft matches with spur gear b, spur gear c.
It is denoted as in figure：
10th, fixed plate；110th, sliding sleeve；20th, sleeve；30th, rotating shaft；310th, bearing；40th, torsion spring；50th, mounting seat；510th, mounting hole；
60th, spur gear a；70th, splined shaft；80th, spur gear b；90th, spur gear c.
Embodiment
With reference to the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.Based on this hair
Embodiment in bright, those of ordinary skill in the art are not under the premise of creative work is made, the every other reality that is obtained
Example is applied, belongs to the scope of the present invention.
As Figure 1-4, the flexible damping gear train of robot, it includes sleeve 20, is socketed with rotating shaft inside sleeve 20
30, sleeve 20 can move along the central axial direction of rotating shaft 30, and the outside of rotating shaft 30, which is also socketed with, is installed on the end of sleeve 20
Spur gear a60, offer in rotating shaft 30 and turned along the keyway and spur gear a60 of its center axis direction extension by key and being arranged at
The keyway of axle 30 matches, and the upper end of rotating shaft 30 is connected with fixture and rotating shaft 30 can be outside own axis, rotating shaft 30
Portion is socketed with one end connection fixture, other end connection spur gear a60 torsion spring 40, damper gear group also include splined shaft 70,
Spur gear b80, spur gear c90, spur gear b80 are socketed on the outside of splined shaft 70 and can be along the central axial directions of splined shaft 70
Slide, and revolving force can be transferred to splined shaft 70 by spur gear b80, spur gear c90 is fixedly installed on the drive end of splined shaft 70
Portion, particularly importantly, spur gear b80 are engaged with above-mentioned spur gear a60, and damper gear group also includes being used to ensure spur gear
B80, spur gear a60 are in the locating part of engagement all the time.
The active force that robot foot section is applied by hard objects, and realize that power supply mechanism is entered to above-mentioned damper gear group
The supply of action edge, the power output member of the power supply mechanism are divided to two modules：Power output member one, power output structure
The active force of robot foot section is transferred to sleeve 20 and realizes sleeve 20 along the axis side of rotating shaft 30 by part two, power output member one
To the contraction for promoting torsion spring 40, the active force of robot foot section is changed into revolving force and realizes spur gear by power output member two
Revolving force can be transferred to splined shaft 70, spur gear b80, spur gear a60 by c90 rotation, spur gear c90 rotation, due to turning round
Contraction distortion on axis direction occurs for spring 40, final to realize, though the active force of spur gear a60 torsion robot foot section is adaptive
The change of answering property, regulation.
As shown in Fig. 1-4,7, above-mentioned locating part is the limiting plate for being arranged at above-mentioned spur gear a60 both sides, limiting plate with
Above-mentioned spur gear b80 two sides fit；When sleeve 20 promotes spur gear a60 to move in the axial direction, limiting plate is utilized
It can ensure to promote spur gear b80 to be synchronized with the movement, and remain engagement.
Above-mentioned locating part can also be the stage clip for being socketed on above-mentioned splined shaft 70（It is not shown in figure）, and spur gear
Ends of the b80 all the time with sleeve 20 is bonded, and the active force that stage clip applies, spur gear b80 can be promoted to be moved towards the direction of sleeve 20,
And apply the active force towards fixture to spur gear b80 using sleeve ends, it is ensured that spur gear a60, spur gear b80 are all the time
In engagement.
As shown in figure 5, above-mentioned fixture is mounting seat 50, it is installed with mounting seat 50 for installing bearing 310
Mounting hole 510, the anchor portion of rotating shaft 30 is connected to the inner ring of bearing 310 and realization can be around the rotation of own axes.
Referring to accompanying drawing 1-8, for the structure and operation principle of the preferably signal present invention, above-mentioned sleeve 20, mounting seat
50th, the parts such as splined shaft 70 are mounted in fixed plate 10, be additionally provided with fixed plate 10 be socketed on the outside of sleeve 20 and
The sliding sleeve 110 moved for guide sleeve 20 along own axes direction.
The foregoing description of the disclosed embodiments, professional and technical personnel in the field are enable to realize or using the present invention；
A variety of modifications to these embodiments will be apparent for those skilled in the art, defined in the present invention
General Principle can not depart from the present invention spirit or scope in the case of, realize in other embodiments.Therefore, originally
Invention will not be defined to the embodiments shown herein, and be to fit to and principles disclosed herein and features of novelty
Consistent most wide scope.
Claims (3)
1. the flexible damping gear train of robot, it is characterised in that it includes sleeve, sleeve inner is socketed with rotating shaft, and sleeve can
Moved along the central axial direction of rotating shaft, the outside of rotating shaft is also socketed with the spur gear a for being installed on sleeve ends, is opened up in rotating shaft
Have along the keyway and spur gear a of its center axis direction extension and matched by key with being arranged at the keyway of rotating shaft, sleeve can push away
Dynamic spur gear a is synchronous to move along the axis direction of rotating shaft, and rotating shaft upper end is connected with fixture and rotating shaft can be around itself axle
Line rotates, and the outside of rotating shaft is socketed with one end connection fixture, other end connection spur gear a torsion spring, and damper gear group is also wrapped
Splined shaft, spur gear b, spur gear c are included, spur gear b is socketed on the outside of splined shaft and can be along the central axial direction of splined shaft
Slide, and revolving force can be transferred to spur gear b by splined shaft 70, spur gear c is fixedly installed on the driving end of splined shaft, straight-tooth
Wheel b engages with above-mentioned spur gear a, and damper gear group also includes being used to ensure spur gear b, spur gear a all the time in engagement
The locating part of state.
2. the flexible damping gear train of robot according to claim 1, it is characterised in that the foot of robot is also set up
Have for receiving external action and applied external force being transferred to the power supply part of damper gear group, described power supply
The power output member of part includes power output member one, power output member two, and power output member one is by robot foot
The active force in portion is transferred to sleeve and realizes that sleeve promotes the contraction of torsion spring along shaft axis direction, and power output member two is by machine
The active force of device people's foot changes into revolving force and realizes spur gear c rotation.
3. the flexible damping gear train of robot according to claim 1 or 2, it is characterised in that above-mentioned locating part is
The limiting plate of above-mentioned spur gear a both sides is arranged at, the two sides of limiting plate and above-mentioned spur gear b fit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710567951.0A CN107380288A (en) | 2017-07-13 | 2017-07-13 | The flexible damping gear train of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710567951.0A CN107380288A (en) | 2017-07-13 | 2017-07-13 | The flexible damping gear train of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107380288A true CN107380288A (en) | 2017-11-24 |
Family
ID=60340631
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710567951.0A Pending CN107380288A (en) | 2017-07-13 | 2017-07-13 | The flexible damping gear train of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107380288A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112911425A (en) * | 2021-01-20 | 2021-06-04 | 深圳市华灏机电有限公司 | Optical transmission network equipment |
| CN112963999A (en) * | 2021-03-01 | 2021-06-15 | 福建省喜德汇科技有限公司 | Multifunctional vertical refrigerator |
| CN113047675A (en) * | 2021-03-23 | 2021-06-29 | 苏醒 | Simple transmission machine room on public green land of government |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050221941A1 (en) * | 2004-02-13 | 2005-10-06 | Fanuc Ltd | Joint structure for industrial robot |
| CN103375563A (en) * | 2012-04-15 | 2013-10-30 | 蔡旭阳 | Two-way buffering transmission gear |
| CN104385294A (en) * | 2014-11-17 | 2015-03-04 | 河北工业大学 | Flexible joint for joint robot |
| CN205415627U (en) * | 2016-02-02 | 2016-08-03 | 湖南人工智能科技有限公司 | Robot hand |
| CN207292185U (en) * | 2017-07-13 | 2018-05-01 | 安徽国防科技职业学院 | The flexible damping gear set of robot |
-
2017
- 2017-07-13 CN CN201710567951.0A patent/CN107380288A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050221941A1 (en) * | 2004-02-13 | 2005-10-06 | Fanuc Ltd | Joint structure for industrial robot |
| CN103375563A (en) * | 2012-04-15 | 2013-10-30 | 蔡旭阳 | Two-way buffering transmission gear |
| CN104385294A (en) * | 2014-11-17 | 2015-03-04 | 河北工业大学 | Flexible joint for joint robot |
| CN205415627U (en) * | 2016-02-02 | 2016-08-03 | 湖南人工智能科技有限公司 | Robot hand |
| CN207292185U (en) * | 2017-07-13 | 2018-05-01 | 安徽国防科技职业学院 | The flexible damping gear set of robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112911425A (en) * | 2021-01-20 | 2021-06-04 | 深圳市华灏机电有限公司 | Optical transmission network equipment |
| CN112963999A (en) * | 2021-03-01 | 2021-06-15 | 福建省喜德汇科技有限公司 | Multifunctional vertical refrigerator |
| CN112963999B (en) * | 2021-03-01 | 2022-11-15 | 福建省喜德汇科技有限公司 | Multifunctional vertical refrigerator |
| CN113047675A (en) * | 2021-03-23 | 2021-06-29 | 苏醒 | Simple transmission machine room on public green land of government |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107380288A (en) | The flexible damping gear train of robot | |
| NZ529381A (en) | Frictional damper for damping movement of structures | |
| CN103573911B (en) | Apparatus for damping flywheel | |
| CN105899330B (en) | Hand held grinder | |
| WO2006055610A3 (en) | Variable stiffness flexible joint | |
| WO2007053795A3 (en) | Converting rotational motion into radial motion | |
| FR2938030B1 (en) | TORQUE TRANSMISSION DEVICE. | |
| CN112894780B (en) | Rope-driven wrist module based on three-degree-of-freedom serial-parallel mechanism and application method thereof | |
| TW200637677A (en) | Rotary apparatus | |
| TW200622121A (en) | Torque transfer system and method of using the same | |
| DE50200487D1 (en) | planetary gear | |
| EP1375976A3 (en) | Variable belt transmission for utility machinery | |
| CN207292185U (en) | The flexible damping gear set of robot | |
| WO2005091775A3 (en) | Damper support assembly for a supercritical drive shaft | |
| CN107289823A (en) | Positional servosystem in a kind of Low rigidity performs device and bullet | |
| WO2009105848A3 (en) | Device for transformation of wind energy | |
| CN103352973B (en) | Unidirectional belt pulley subjected to friction clutch by spring | |
| CN110386200A (en) | A kind of insulator chain climbing mechanism | |
| CN106142129A (en) | A kind of synchronous belt drive structure for electronic-controlled power steering | |
| CN105798898A (en) | Driven decoupling mechanism aimed at rope kinematic coupling and decoupling method thereof | |
| CN206296934U (en) | Robot two-freedom degree joint structure | |
| CN108425219A (en) | Automatic rotary hanger for sun clothes and its control method | |
| TW200517264A (en) | A sheet-feeding apparatus | |
| CN105798900A (en) | Rope drive decoupling mechanism based on gear train and decoupling method thereof | |
| CN203363075U (en) | One-way belt pulley using spring friction for clutch |
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 | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20171124 |