CN107856054B - Steering engine transmission structure, robot skeleton texture and robot - Google Patents
Steering engine transmission structure, robot skeleton texture and robot Download PDFInfo
- Publication number
- CN107856054B CN107856054B CN201711213160.4A CN201711213160A CN107856054B CN 107856054 B CN107856054 B CN 107856054B CN 201711213160 A CN201711213160 A CN 201711213160A CN 107856054 B CN107856054 B CN 107856054B
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- steering engine
- shaft
- engine body
- skeleton
- framework
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 3
- 210000002414 leg Anatomy 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 2
- 210000000689 upper leg Anatomy 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- 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
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Steering Controls (AREA)
Abstract
The invention belongs to the technical field of intelligent robot structures, and provides a steering engine transmission structure, a robot skeleton structure and a robot, which comprise a steering engine body, a connecting rod piece, an inner skeleton and an outer skeleton, wherein the connecting rod piece is arranged side by side with the steering engine body; the design can solve the problems of complex assembly process, high part precision requirement and higher cost expenditure of the transmission structure of the existing robot.
Description
Technical Field
The invention belongs to the technical field of intelligent robot structures, and particularly relates to a steering engine transmission structure, a robot framework structure and a robot.
Background
The conventional robot leg moves and drives gears to rotate through steering gears, and then transmission is realized through meshing among the gears, so that the leg bends and moves. However, the existing transmission structure is complex in assembly process and has high requirements on the precision of parts; in addition, the precision requirement for the molded mold is high, so that the cost expenditure is high.
Disclosure of Invention
The invention aims to provide a steering engine transmission structure, and aims to solve the problems that the assembly process of the transmission structure of the existing robot is complex, the precision requirement of parts is high, and further the cost expenditure is high.
The invention solves the problems as follows: the utility model provides a steering wheel transmission structure, includes the steering wheel body, with link spare, spacing the connection that the steering wheel body set up side by side are in the inner skeleton of steering wheel body one side and spacing connection are in the outer skeleton of steering wheel body opposite side, the connecting axle still wears to be equipped with in the lower part of link spare, the connecting axle both ends are connected respectively on the inner skeleton with on the outer skeleton, the upper portion of steering wheel body with the upper portion of link spare is through a gear assembly parallel connection, and makes the steering wheel body with be parallelogram connection between the link spare.
Further, the inner framework and the outer framework are connected to the lower portion of the steering engine body, the inner framework and the outer framework are connected to form an integral mechanism in a matched mode, and the steering engine body and the connecting rod piece are located between the inner framework and the outer framework.
Further, steering wheel body lower part orientation still is equipped with the output shaft, the output shaft is used for the drive the inner frame rotates, steering wheel body lower part still corresponds orientation the outer skeleton extends has the back shaft that is convenient for outer skeleton connection, outer skeleton with still be connected with the bearing piece between the back shaft.
Further, the end part of the output shaft is further provided with a first connecting hole in an inward concave manner, a first opening is formed in the inner framework corresponding to the first connecting hole, a first screw member is further connected to the inner framework, and the first screw member penetrates through the first opening to be connected into the first connecting hole and connect the inner framework to the steering engine body.
Further, the gear assembly comprises a gear part and a connecting part connected with the gear part, the connecting part comprises a first moving shaft and a second moving shaft which are parallel to each other, the gear part can adjust the relative positions of the first moving shaft and the second moving shaft, the first moving shaft is connected with the upper part of the steering engine body, and the second moving shaft is connected with the upper part of the connecting rod piece.
Further, a second opening through which the connecting shaft can pass is formed in the lower portion of the connecting rod member, a third opening through which the second moving shaft can pass is further formed in the upper portion of the connecting rod member, and a fourth opening through which the first moving shaft can pass is formed in the upper portion of the steering engine body.
Further, the steering engine body comprises a steering engine part connected with the inner framework and the outer framework and a steering engine fixing support connected with the upper portion of the steering engine part, the steering engine fixing support is connected to the steering engine part through a plurality of second screw members, and the fourth hole is formed in the steering engine fixing support.
Further, the output shaft and the support shaft are positioned on the same straight line, and the connecting shaft is parallel to the output shaft.
The invention also provides a robot framework structure which comprises the steering engine transmission structure.
The invention also provides a robot, which comprises the robot framework structure.
Compared with the prior art, the steering engine transmission structure, the robot framework structure and the robot provided by the invention have the technical effects that: through the setting of steering wheel body and link spare to with this steering wheel body and link spare through the cooperation setting of inner skeleton, outer skeleton and gear assembly be parallelogram connection, and then when this steering wheel body drive inner skeleton or outer skeleton rotate, can realize the transmission and the reduction of turning force through the link spare, and then can reduce the cooperation degree of difficulty of whole structure; in addition, the inner framework and the outer framework are connected to the connecting rod piece through a connecting shaft, so that driving force on the inner framework or the outer framework can be better transmitted to the connecting rod piece, and the inner framework, the outer framework and the connecting rod piece are matched through shaft holes, so that the matching precision is relatively low, the precision requirement on parts is low, and the processing cost is relatively reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is an exploded view of a robotic leg structure provided by an embodiment of the invention.
The steering engine comprises a steering engine body 10, a steering engine part 11, an output shaft 111, a steering engine fixing support 12, a fourth hole 121, a second screw member 122, a first connecting hole 112, a supporting shaft 113, a bearing member 114, a connecting rod member 20, a second hole 21, a third hole 22, a connecting shaft 23, an inner skeleton 30, a first hole 31, a first screw member 32, a first connecting groove 33, a first matching groove 34, a positioning hole 35, an outer skeleton 40, a second connecting groove 41, a second matching groove 42, a positioning shaft 43, a gear assembly 50, a gear portion 51, a first moving shaft 52 and a second moving shaft 53.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
Referring to fig. 1, in an embodiment of the present invention, a steering engine transmission structure is provided, which includes a steering engine body 10, a link member 20, an inner skeleton 30, and an outer skeleton 40. The connecting rod piece 20 is positioned on the side surface of the steering engine body 10, and the connecting rod piece 20 and the steering engine body 10 are arranged in parallel and side by side; the inner skeleton 30 is in limited connection with one side of the steering engine body 10, the inner skeleton 30 can be driven by the steering engine body 10 to rotate relative to the steering engine body 10, the outer skeleton 40 is in limited connection with the other side of the steering engine body 10, the inner skeleton 30 and the outer skeleton 40 are oppositely arranged, an integral body is formed after the inner skeleton 30 and the outer skeleton 40 are connected, and the outer skeleton 40 is driven to rotate simultaneously when the inner skeleton 30 is driven. The link member 20 is simultaneously restrained between the inner frame 30 and the outer frame 40 when they are coupled. The lower part of the connecting rod 20 is also provided with a connecting shaft 23 in a penetrating way, and two ends of the connecting shaft 23 are respectively connected to the inner framework 30 and the outer framework 40, so that the connecting rod 20 can be driven to move when the inner framework 30 rotates. The upper part of the steering engine body 10 and the upper part of the connecting rod piece 20 are connected in parallel through a gear assembly 50, and the steering engine body 10 and the connecting rod piece 20 are connected in a parallelogram; namely, the steering engine body 10 and the connecting rod piece 20 which are arranged in parallel are connected at the upper ends through a gear assembly 50; the lower ends of the two are connected with the outer framework 40 in a matching way through the connecting shaft 23 and the inner framework 30, and finally form a parallelogram connection.
According to the steering engine transmission structure, through the arrangement of the steering engine body 10 and the connecting rod piece 20, the steering engine body 10 and the connecting rod piece 20 are connected in a parallelogram through the matching arrangement of the inner framework 30, the outer framework 40 and the gear assembly 50, and when the steering engine body 10 drives the inner framework 30 or the outer framework 40 to rotate, the transmission and the resetting of the rotating force can be realized through the connecting rod piece 20, so that the matching difficulty of the whole structure can be reduced; in addition, the inner framework 30 and the outer framework 40 are connected with the connecting rod piece 20 through a connecting shaft 23, so that the driving force on the inner framework 30 or the outer framework 40 can be better transmitted to the connecting rod piece 20, and the inner framework 30, the outer framework 40 and the connecting rod piece 20 are matched through shaft holes, so that the matching precision is relatively low, the precision requirement on parts is low, and the processing cost is relatively low.
Specifically, as shown in fig. 1, in the embodiment of the present invention, the inner frame 30 and the outer frame 40 are connected to the lower portion of the steering engine body 10, and at the same time, the inner frame 30 and the outer frame 40 are cooperatively connected to an integral mechanism, and the steering engine body 10 and the link member 20 are located between the inner frame 30 and the outer frame 40.
In this embodiment, the inner frame 30 is provided with a plurality of positioning holes 35, the outer frame 40 is outwardly extended with a plurality of positioning shafts 43, and the positioning shafts 43 are connected to the positioning holes 35, and the end surfaces of the inner frame 30 and the outer frame 40 are abutted, so as to achieve the bonding connection between the inner frame 30 and the outer frame 40. In addition, a first connecting groove 33 is formed in the side end face of the inner frame 30 corresponding to the connecting rod 20, a second connecting groove 41 is formed in the side end face of the outer frame 40 corresponding to the connecting rod 20, the shapes of the first connecting groove 33 and the second connecting groove 41 are the same, and the cross-sectional dimension of the first connecting groove 33 and the second connecting groove 41 are exactly equal to the cross-sectional area of the connecting rod 20. Meanwhile, a first matching groove 34 is further formed in the side end face of the inner framework 30 corresponding to the steering engine body 10, a second matching groove 42 is correspondingly formed in the outer framework 40, and when the inner framework 30 and the outer framework 40 are connected, the first matching groove 34 and the second matching groove 42 are attached to the outer wall of the steering engine body 10.
Specifically, as shown in fig. 1, in the embodiment of the present invention, an output shaft 111 is further disposed at the lower portion of the steering engine body 10 towards the inner skeleton 30, the output shaft 111 is used for driving the inner skeleton 30 to rotate, a supporting shaft 113 that is convenient for connecting the outer skeleton 40 extends towards the outer skeleton 40 correspondingly at the lower portion of the steering engine body 10, and a bearing member 114 is further connected between the outer skeleton 40 and the supporting shaft 113.
In this embodiment, the output shaft 111 is preferably a camshaft, and the output shaft 111 and the support shaft 113 are respectively disposed on two sides of the steering engine body 10, and the axis of the output shaft 111 and the axis of the support shaft 113 are also on the same straight line, and the connecting shaft 23 passing through the link member 20 is also parallel to the output shaft 111, so that the design can ensure the stability of the parallelogram connection.
Specifically, as shown in fig. 1, in the embodiment of the present invention, a first connecting hole 112 is further concavely formed at an end of the output shaft 111, a first opening 31 is formed on the inner frame 30 corresponding to the first connecting hole 112, a first screw member 32 is further connected to the inner frame 30, and the first screw member 32 passes through the first opening 31 to be connected to the first connecting hole 112 and connects the inner frame 30 to the steering engine body 10. The nut portion of the first screw member 32 abuts against the upper outer side wall of the inner frame 30, so that the stability of the connection between the output shaft 111 and the inner frame 30 can be ensured, and the stability of the output shaft 111 to the output of the inner frame 30 can be ensured.
Specifically, as shown in fig. 1, in the embodiment of the present invention, the gear assembly 50 includes a gear part 51 and a connection part connected to the gear part 51, the connection part includes a first moving shaft 52 and a second moving shaft 53 parallel to each other, the gear part 51 can adjust the relative positions of the first moving shaft 52 and the second moving shaft 53, the first moving shaft 52 is connected to the upper part of the steering engine body 10, and the second moving shaft 53 is connected to the upper part of the link member 20.
In the present embodiment, the gear portion 51 includes a plurality of gear members that mesh with each other, and the plurality of gear members mesh with each other so that the relative movement of the first moving shaft 52 and the second moving shaft 53 can be achieved, and further, the versatility thereof can be increased. The ends of the first moving shaft 52 and the second moving shaft 53 are respectively locked on the steering engine body 10 and the link member 20 through screw members, thereby ensuring structural stability.
Specifically, as shown in fig. 1, in the embodiment of the present invention, the lower portion of the link member 20 is provided with a second opening 21 through which the connecting shaft 23 passes, the upper portion of the link member 20 is further provided with a third opening 22 through which the second moving shaft 53 passes, and the upper portion of the steering engine body 10 is provided with a fourth opening 121 through which the first moving shaft 52 passes.
In the embodiment of the present invention, the steering engine body 10 includes a steering engine member 11 connected to the inner frame 30 and the outer frame 40, and a steering engine fixing bracket 12 connected to the upper portion of the steering engine member 11, where the steering engine fixing bracket 12 is connected to the steering engine member 11 through a plurality of second screw members 122, and the fourth hole 121 is disposed on the steering engine fixing bracket 12.
The invention also provides a robot framework structure, which comprises the steering engine transmission structure, wherein the inner framework 30 is preferably a thigh inner framework 30, the outer framework 40 is preferably a thigh outer framework 40, and the inner framework 30 and the outer framework 40 are matched to form a leg structure of the robot. The robot framework structure designed in this way is simple to assemble, the leg is driven to move through the transmission of the connecting rod piece 20, the requirement on the matching precision of the whole structure is low, and further the production cost is low.
The invention also provides a robot, which comprises the robot framework structure. The robot transmission structure with the design is simple in matching and low in production cost.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (7)
1. The utility model provides a steering wheel transmission structure which characterized in that: the steering engine comprises a steering engine body, a connecting rod piece, a limit connection, an inner skeleton and an outer skeleton, wherein the connecting rod piece is arranged side by side with the steering engine body, the inner skeleton and the limit connection are arranged on one side of the steering engine body, the outer skeleton is arranged on the other side of the steering engine body in a penetrating mode, connecting shafts are respectively connected to the two ends of the connecting shafts, the upper portion of the steering engine body and the upper portion of the connecting rod piece are connected in parallel through a gear assembly, the steering engine body and the connecting rod piece are enabled to be connected in a parallelogram mode, the lower portion of the steering engine body faces the inner skeleton and is further provided with an output shaft, the output shaft is used for driving the inner skeleton to rotate, the lower portion of the steering engine body is correspondingly provided with a supporting shaft which is convenient for the outer skeleton to connect, a bearing piece is further connected between the outer skeleton and the supporting shaft, a first connecting hole is formed in an inwards concave mode at the end portion of the output shaft, a first opening is further connected to the inner skeleton through a first screw, the first connecting member is connected to the inner skeleton through a first opening, the first screw penetrates through the first opening and is connected to the gear assembly, the first screw is arranged on the first connecting shaft and the first connecting shaft, the first screw is connected to the first connecting shaft and the first connecting shaft is connected to the first shaft portion of the first connecting shaft, and the first screw moving portion of the first screw is arranged on the first connecting shaft and the first connecting shaft, and the first screw moving portion of the first screw is connected to the first shaft and the first screw moving portion.
2. The steering engine transmission structure of claim 1, wherein: the inner framework and the outer framework are connected to the lower portion of the steering engine body, the inner framework and the outer framework are connected to form an integral mechanism in a matched mode, and the steering engine body and the connecting rod piece are located between the inner framework and the outer framework.
3. The steering engine transmission structure of claim 1, wherein: the lower part of the link member is provided with a second opening through which the connecting shaft can pass, the upper part of the link member is also provided with a third opening through which the second movable shaft can pass, and the upper part of the steering engine body is provided with a fourth opening through which the first movable shaft can pass.
4. A steering engine transmission as in claim 3, wherein: the steering engine body comprises a steering engine part connected with the inner framework and the outer framework and a steering engine fixing support connected with the upper portion of the steering engine part, the steering engine fixing support is connected to the steering engine part through a plurality of second screw members, and the fourth hole is formed in the steering engine fixing support.
5. The steering engine transmission structure as in any one of claims 1-4, wherein: the output shaft and the supporting shaft are positioned on the same straight line, and the connecting shaft is parallel to the output shaft.
6. The utility model provides a robot skeleton texture which characterized in that: comprising a steering engine transmission according to any one of claims 1-5.
7. A robot, characterized in that: comprising the robot skeletal structure of claim 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711213160.4A CN107856054B (en) | 2017-11-28 | 2017-11-28 | Steering engine transmission structure, robot skeleton texture and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711213160.4A CN107856054B (en) | 2017-11-28 | 2017-11-28 | Steering engine transmission structure, robot skeleton texture and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107856054A CN107856054A (en) | 2018-03-30 |
| CN107856054B true CN107856054B (en) | 2023-08-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711213160.4A Active CN107856054B (en) | 2017-11-28 | 2017-11-28 | Steering engine transmission structure, robot skeleton texture and robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN107856054B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108527355A (en) * | 2018-06-29 | 2018-09-14 | 上海与德通讯技术有限公司 | A kind of steering engine component and a kind of robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU5202373A (en) * | 1972-02-10 | 1974-11-21 | Aktiebolaget Svenska Kullagerfabriken | Improvements in steering assemblies |
| CN102699928A (en) * | 2012-06-19 | 2012-10-03 | 杭州电子科技大学 | Robot steering engine with flexible characteristic |
| CN204935649U (en) * | 2015-09-15 | 2016-01-06 | 上海太敬投资集团有限公司 | A kind of Humanoid intelligent robot |
| CN106737585A (en) * | 2016-12-29 | 2017-05-31 | 深圳市优必选科技有限公司 | Waist structure and anthropomorphic robot |
| CN106826771A (en) * | 2017-03-23 | 2017-06-13 | 江苏安格尔机器人有限公司 | It is a kind of to drive external line to drive Dextrous Hand |
| CN107246461A (en) * | 2016-12-29 | 2017-10-13 | 深圳市优必选科技有限公司 | Servo steering wheel and robot |
| CN107309907A (en) * | 2017-07-03 | 2017-11-03 | 深圳市优必选科技有限公司 | Robot joint limit structure and robot |
-
2017
- 2017-11-28 CN CN201711213160.4A patent/CN107856054B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU5202373A (en) * | 1972-02-10 | 1974-11-21 | Aktiebolaget Svenska Kullagerfabriken | Improvements in steering assemblies |
| CN102699928A (en) * | 2012-06-19 | 2012-10-03 | 杭州电子科技大学 | Robot steering engine with flexible characteristic |
| CN204935649U (en) * | 2015-09-15 | 2016-01-06 | 上海太敬投资集团有限公司 | A kind of Humanoid intelligent robot |
| CN106737585A (en) * | 2016-12-29 | 2017-05-31 | 深圳市优必选科技有限公司 | Waist structure and anthropomorphic robot |
| CN107246461A (en) * | 2016-12-29 | 2017-10-13 | 深圳市优必选科技有限公司 | Servo steering wheel and robot |
| CN106826771A (en) * | 2017-03-23 | 2017-06-13 | 江苏安格尔机器人有限公司 | It is a kind of to drive external line to drive Dextrous Hand |
| CN107309907A (en) * | 2017-07-03 | 2017-11-03 | 深圳市优必选科技有限公司 | Robot joint limit structure and robot |
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| CN107856054A (en) | 2018-03-30 |
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Effective date of registration: 20231129 Address after: Room 601, 6th Floor, Building 13, No. 3 Jinghai Fifth Road, Beijing Economic and Technological Development Zone (Tongzhou), Tongzhou District, Beijing, 100176 Patentee after: Beijing Youbixuan Intelligent Robot Co.,Ltd. Address before: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen UBTECH Technology Co.,Ltd. |
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