CN108673487A - A kind of transmission component for packing robot - Google Patents
A kind of transmission component for packing robot Download PDFInfo
- Publication number
- CN108673487A CN108673487A CN201810570498.3A CN201810570498A CN108673487A CN 108673487 A CN108673487 A CN 108673487A CN 201810570498 A CN201810570498 A CN 201810570498A CN 108673487 A CN108673487 A CN 108673487A
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- Prior art keywords
- gear
- transmission component
- circular shaft
- shaft
- torque
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 60
- 238000012856 packing Methods 0.000 title claims abstract description 18
- 230000007704 transition Effects 0.000 claims abstract description 18
- 230000001360 synchronised effect Effects 0.000 claims abstract description 15
- 230000008859 change Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- 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
Abstract
The invention discloses a kind of transmission components for packing robot, including motor, piston cylinder, main transmission component and auxiliary transmission component, main transmission component includes the first circular shaft, the second circular shaft, synchronous ring, transition axis, first gear and second gear, transition axis includes projecting shaft, lower concave ring, body shaft and limit groove bar, body shaft is flexibly connected adjustment frame by lower concave ring, the side of synchronous ring is equipped with second gear, second gear is connected with auxiliary transmission component, and auxiliary transmission component includes third gear, the 4th gear and third circular shaft；The proposed by the present invention transmission component for packing robot, when needing to increase torque, starting piston cylinder makes piston cylinder drive adjustment frame, the 4th gear is set to be engaged with first gear, the kind of drive of torque will change, and can effectively reduce rotating speed and improve torque, the mode for improving torque is simple, not only even running under normal circumstances, moreover it is possible to which smooth is switched to large torque situation, makes to pack robot and adapts to different working environments.
Description
Technical field
The present invention relates to a kind of robot, more particularly to a kind of transmission component for packing robot.
Background technology
Robot is the automatic installations for executing work.It can not only receive mankind commander, but also can run advance volume
The program of row, can also be according to principle program action formulated with artificial intelligence technology.Its task is to assist or replace the mankind
The work of work, such as production industry, construction industry, or dangerous work.Robot is generally by executing agency, transmission device, inspection
Survey device and the compositions such as control system and complicated machinery.
Number of patent application CN201720164172.1 discloses a kind of transmission component and robot of robot, the robot
Transmission component and robot robot flexible motion is achieved the effect that by the gear teeth meshing of multiple combinations, but its structure and
It is complicated, and running stability cannot be guaranteed.It packs robot and is suitble to the transport goods under some dangerous annulars, in order to meet
Different working environment, it is necessary to which the transmission device to packing robot optimizes, but present packs robot transmission
Device torque lifting process is complicated, while fluency is bad.
Invention content
Invention is designed to provide a kind of transmission component for packing robot, the device have operate steadily, can be easily
The advantages of reaching high torque output, to solve the problems mentioned in the above background technology.
To achieve the above object, the present invention provides the following technical solutions：
A kind of transmission component for packing robot, including motor, piston cylinder, main transmission component and auxiliary transmission component, it is described
The output end of motor connects main transmission component by retarder, and the main transmission component includes the first circular shaft, the second circular shaft, synchronization
One end of ring, transition axis, first gear and second gear, the first circular shaft connects motor, the other end flexible connection of the first circular shaft
Transition axis, the transition axis include projecting shaft, lower concave ring, body shaft and limit groove bar, and limit is offered on the outer wall of projecting shaft
Groove bar, projecting shaft are flexibly connected the inner wall of the first circular shaft by limiting groove bar, and projecting shaft is fixedly connected with body shaft, body shaft it is outer
Side is equipped with first gear, and the side of first gear is equipped with synchronous ring, lower concave ring is further opened on the outside of body shaft, body shaft is logical
It crosses lower concave ring and is connected with adjustment frame, the top of the adjustment frame is equipped with contact rod, the output end of adjustment frame and piston cylinder
The side of connection, the synchronous ring is equipped with second gear, and second gear is mounted on the second circular shaft, and second gear is connected with
Auxiliary transmission component；The auxiliary transmission component includes third gear, the 4th gear and third circular shaft, and one end of third circular shaft is equipped with
The other end of third gear, third circular shaft is equipped with the 4th gear, and third gear is flexibly connected by way of gear teeth meshing
Two gears.
Preferably, first circular shaft is hollow, is offered at the inner wall of the first circular shaft corresponding with limit groove bar
Limiting slot.
Preferably, the inner wall of the tip contact connection lower concave ring of the contact rod.
Preferably, the central axis of first circular shaft is overlapped with the holding of the central axis of the second circular shaft.
Preferably, the 4th gear is also flexibly connected with first gear, and the 4th gear is identical as the size of first gear.
Preferably, the diameter of the second gear is much larger than the diameter of third gear.
Compared with prior art, the beneficial effects of the invention are as follows：
1. packing the transmission component of robot, main transmission component can be rotated slowly under the drive of motor, main transmission group
The first circular shaft in part is overlapped with the second circular shaft central axis, ensures that the stationarity of whole device, the first circular shaft can be stable
Projecting shaft rotation is driven, while projecting shaft can be flexible along the inner wall of the first circular shaft.
2. packing the transmission component of robot, robot is packed in normally travel, main transmission component is directly by motor
Torque send bogie wheel to, when pack robot need go up a slope when, required torque will become larger, start piston cylinder make work
Plug cylinder drives adjustment frame, so that the 4th gear is engaged with first gear, the kind of drive of torque will change, and improve the mode of torque
It is simple smooth, while can guarantee whole device even running, make to pack robot and adapts to different working environments.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the overall work design sketch of the present invention；
Fig. 3 is the overall structure diagram of the present invention；
Fig. 4 is the transition axis schematic diagram of the present invention.
In figure：1, motor；2, piston cylinder；3, main transmission component；31, the first circular shaft；32, the second circular shaft；33, synchronous ring；
34, transition axis；341, projecting shaft；342, lower concave ring；343, body shaft；344, groove bar is limited；35, first gear；36, the second tooth
Wheel；4, auxiliary transmission component；41, third gear；42, the 4th gear；43, third circular shaft；5, adjustment frame；51, contact rod.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Please refer to Fig.1-4, a kind of transmission component for packing robot, including motor 1, piston cylinder 2,3 and of main transmission component
The output end of auxiliary transmission component 4, motor 1 connects main transmission component 3, i.e. drive of the main transmission component 3 in motor 1 by retarder
Under can slowly rotate, main transmission component 3 includes the first circular shaft 31, the second circular shaft 32, synchronous ring 33, transition axis 34, first gear
35 and second gear 36, the central axis of the first circular shaft 31 is overlapped with the holding of the central axis of the second circular shaft 32, the first circular shaft 31
Synchronous ring 33 and transition axis 34 are equipped between the second circular shaft 32, the two central axis overlaps the stationarity that can guarantee whole device,
One end of first circular shaft 31 connects motor 1, and the other end of the first circular shaft 31 is flexibly connected transition axis 34, and transition axis 34 includes stretching out
Axis 341, lower concave ring 342, body shaft 343 and limit groove bar 344, limit groove bar 344 is offered on the outer wall of projecting shaft 341, is stretched
Shaft 341 is flexibly connected the inner wall of the first circular shaft 31 by limiting groove bar 344, and the first circular shaft 31 is hollow, the first circular shaft 31
Inner wall at offer and can smoothly drive projecting shaft 341 with the corresponding limiting slot of limit groove bar 344, i.e. the first circular shaft 31
Rotation, while projecting shaft 341 can be flexible along the inner wall of the first circular shaft 31, projecting shaft 341 is fixedly connected with body shaft 343, this
The outside of body axis 343 is equipped with first gear 35, and the side of first gear 35 is equipped with synchronous ring 33, and synchronous ring 33 is for connecting two
The outside of a transmission shaft, body shaft 343 is further opened with lower concave ring 342, and body shaft 343 is connected with tune by lower concave ring 342
Whole frame 5, the top of adjustment frame 5 are equipped with contact rod 51, the inner wall of the tip contact connection lower concave ring 342 of contact rod 51, when connecing
When touching the movement of stick 51, contact rod 51 will pass through lower concave ring 342 and transition axis 34 is driven to move, the output of adjustment frame 5 and piston cylinder 2
The side of end connection, synchronous ring 33 is equipped with second gear 36, and second gear 36 is mounted on the second circular shaft 32, and second gear 36 is lived
It is dynamic to be connected with auxiliary transmission component 4；Auxiliary transmission component 4 includes third gear 41, the 4th gear 42 and third circular shaft 43, third circular shaft
43 one end is equipped with third gear 41, and the other end of third circular shaft 43 is equipped with the 4th gear 42, and the 4th gear 42 is also with
One gear 35 is flexibly connected, and the 4th gear 42 is located at the side of first gear 35 under normal circumstances, and the 4th gear 42 will not be with
First gear 35 contacts, and when needing to increase torque, the 4th gear 42 can be engaged with first gear 35, the 4th gear 42 and first
The size of gear 35 is identical, and third gear 41 is flexibly connected second gear 36 by way of gear teeth meshing, second gear 36
Diameter is much larger than the diameter of third gear 41, and third gear 41 can drive second gear 36 to rotate, the rotation of third gear 41 one
When circle, the rotation of second gear 36 can reduce rotating speed and improve torque in this way less than a circle.
Originally the transmission component of robot, including motor 1, piston cylinder 2, main transmission component 3 and auxiliary transmission component 4 are packed, it is main
Transmission component 3 can be rotated slowly under the drive of motor 1,32 center of the first circular shaft 31 and the second circular shaft in main transmission component 3
Axis overlaps the stationarity that can guarantee whole device, and projecting shaft 341 is flexibly connected by limiting groove bar 344 in the first circular shaft 31
Wall, the first circular shaft 31 can smoothly drive projecting shaft 341 to rotate, while projecting shaft 341 can be along in the first circular shaft 31
Wall is flexible, and synchronous ring 33 is for connecting two transmission shafts, and when contact rod 51 moves, contact rod 51 will pass through lower concave ring 342
Transition axis 34 is driven to move, the 4th gear 42 is located at the side of first gear 35 under normal circumstances, and the 4th gear 42 will not be with
First gear 35 contacts, and when needing to increase torque, the 4th gear 42 can be engaged with first gear 35, the diameter of second gear 36
Much larger than the diameter of third gear 41, third gear 41 can drive second gear 36 to rotate, one circle of the rotation of third gear 41
When, the rotation of second gear 36 can reduce rotating speed and improve torque in this way less than a circle；Entirely the course of work of transmission component includes
Following two situations：Robot is packed in normally travel, the required torque of bogie wheel is little, and main transmission component 3 directly will
The torque of motor 1 sends bogie wheel to, and wherein motor 1 drives the first circular shaft 31 and first gear 35 to rotate, and the first circular shaft 31 is logical
Crossing synchronous ring 33 drives the second circular shaft 32 and second gear 36 to rotate, and the second circular shaft 32 drives bogie wheel rotation, while the second tooth
Third gear 41 and the rotation of the 4th gear 42 are driven while 36 rotation of wheel, but third gear 41 and the 4th gear 42 are sky
Turn, the 4th gear 42 is not contacted with first gear 35；When pack robot need go up a slope when, required torque will become larger,
Piston cylinder 2 starts at this time, and piston cylinder 2 drives adjustment frame 5, the contact rod 51 on 5 top of adjustment frame that transition axis 34 is driven to move it,
Projecting shaft 341 in transition axis 34 is retracted in the first circular shaft 31, while the 4th gear 42 is engaged with first gear 35, in motor 1
When the first circular shaft 31 and first gear 35 being driven to rotate, first gear 35 drives the 4th gear 42 and third gear 41 to rotate, the
Three gears 41 drive second gear 36 to rotate, since the diameter of second gear 36 is much larger than the diameter of third gear 41, third tooth
When 41 one circle of rotation of wheel, the rotation of second gear 36 can effectively reduce rotating speed and improve torque in this way less than a circle, entire to fill
Reasonable design is set, the mode for improving torque is simple, while can guarantee whole device even running, makes to pack robot and adapts to not
Same working environment.
In conclusion the proposed by the present invention transmission component for packing robot starts piston when needing to increase torque
Cylinder 2 makes piston cylinder 2 drive adjustment frame 5, and the 4th gear 42 is made to be engaged with first gear 35, and the kind of drive of torque will change,
Rotating speed can effectively be reduced and improve torque, the mode for improving torque is simple, not only even running under normal circumstances, moreover it is possible to is smooth
Be switched to large torque situation, make to pack robot and adapt to different working environments.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (6)
1. a kind of transmission component for packing robot, including motor (1), piston cylinder (2), main transmission component (3) and auxiliary transmission group
Part (4), it is characterised in that：The output end of the motor (1) connects main transmission component (3), the main transmission group by retarder
Part (3) includes the first circular shaft (31), the second circular shaft (32), synchronous ring (33), transition axis (34), first gear (35) and the second tooth
It takes turns (36), one end connection motor (1) of the first circular shaft (31), the other end flexible connection transition axis (34) of the first circular shaft (31),
The transition axis (34) includes projecting shaft (341), lower concave ring (342), body shaft (343) and limit groove bar (344), projecting shaft
(341) limit groove bar (344) is offered on outer wall, projecting shaft (341) is flexibly connected the first circular shaft by limiting groove bar (344)
(31) inner wall, projecting shaft (341) are fixedly connected with body shaft (343), and body shaft is equipped with first gear on the outside of (343)
(35), the side of first gear (35) is equipped with synchronous ring (33), and lower concave ring (342) is further opened on the outside of body shaft (343), this
Body axis (343) is connected with adjustment frame (5) by lower concave ring (342), and the top of the adjustment frame (5) is equipped with contact rod
(51), adjustment frame (5) is connect with the output end of piston cylinder (2), and the side of the synchronous ring (33) is equipped with second gear (36), the
Two gears (36) are mounted on the second circular shaft (32), and second gear (36) is connected with auxiliary transmission component (4)；The auxiliary transmission
Component (4) includes third gear (41), the 4th gear (42) and third circular shaft (43), and one end of third circular shaft (43) is equipped with
The other end of three gears (41), third circular shaft (43) is equipped with the 4th gear (42), and third gear (41) passes through gear teeth meshing
Mode is flexibly connected second gear (36).
2. a kind of transmission component for packing robot according to claim 1, it is characterised in that：First circular shaft (31)
For hollow, limiting slot corresponding with limit groove bar (344) is offered at the inner wall of the first circular shaft (31).
3. a kind of transmission component for packing robot according to claim 1, it is characterised in that：The contact rod (51)
Tip contact connects the inner wall of lower concave ring (342).
4. a kind of transmission component for packing robot according to claim 1, it is characterised in that：First circular shaft (31)
The central axis holding of central axis and the second circular shaft (32) overlap.
5. a kind of transmission component for packing robot according to claim 1, it is characterised in that：4th gear (42)
It is also flexibly connected with first gear (35), the 4th gear (42) is identical as the size of first gear (35).
6. a kind of transmission component for packing robot according to claim 1, it is characterised in that：The second gear (36)
Diameter be much larger than third gear (41) diameter.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810570498.3A CN108673487B (en) | 2018-06-05 | 2018-06-05 | Transmission assembly of carrying robot |
| CN202011058894.1A CN112171653A (en) | 2018-06-05 | 2018-06-05 | Transmission method of carrying robot transmission assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810570498.3A CN108673487B (en) | 2018-06-05 | 2018-06-05 | Transmission assembly of carrying robot |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011058894.1A Division CN112171653A (en) | 2018-06-05 | 2018-06-05 | Transmission method of carrying robot transmission assembly |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108673487A true CN108673487A (en) | 2018-10-19 |
| CN108673487B CN108673487B (en) | 2020-10-09 |
Family
ID=63809856
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810570498.3A Active CN108673487B (en) | 2018-06-05 | 2018-06-05 | Transmission assembly of carrying robot |
| CN202011058894.1A Withdrawn CN112171653A (en) | 2018-06-05 | 2018-06-05 | Transmission method of carrying robot transmission assembly |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011058894.1A Withdrawn CN112171653A (en) | 2018-06-05 | 2018-06-05 | Transmission method of carrying robot transmission assembly |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN108673487B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201651184U (en) * | 2010-04-23 | 2010-11-24 | 南京理工大学 | Two-gear speed change mechanism for small mobile robot |
| CN108006170A (en) * | 2017-12-04 | 2018-05-08 | 安徽未来机电科技有限公司 | A kind of planetary reduction gear of multi-change speed |
-
2018
- 2018-06-05 CN CN201810570498.3A patent/CN108673487B/en active Active
- 2018-06-05 CN CN202011058894.1A patent/CN112171653A/en not_active Withdrawn
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201651184U (en) * | 2010-04-23 | 2010-11-24 | 南京理工大学 | Two-gear speed change mechanism for small mobile robot |
| CN108006170A (en) * | 2017-12-04 | 2018-05-08 | 安徽未来机电科技有限公司 | A kind of planetary reduction gear of multi-change speed |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112171653A (en) | 2021-01-05 |
| CN108673487B (en) | 2020-10-09 |
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Address after: 241000 Service Outsourcing Industrial Park, Yijiang District, Wuhu City, Anhui Province Applicant after: WUHU YIXUN PRODUCTIVITY PROMOTION CENTER Co.,Ltd. Address before: Room 222, building No. 2, No. 8, Pioneer Street, Longhu Road, Longhu street, San Shan District, Anhui Province Applicant before: WUHU YIXUN PRODUCTIVITY PROMOTION CENTER Co.,Ltd. |
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Effective date of registration: 20220304 Address after: 241000 19th floor, building 3, phase II, science and Technology Industrial Park, high tech Industrial Development Zone, Yijiang District, Wuhu City, Anhui Province Patentee after: Anhui Longding Information Technology Co.,Ltd. Address before: 241000 Service Outsourcing Industrial Park, Yijiang District, Wuhu City, Anhui Province Patentee before: WUHU YIXUN PRODUCTIVITY PROMOTION CENTER CO.,LTD. |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Transmission component of piggyback robot Effective date of registration: 20220505 Granted publication date: 20201009 Pledgee: Industrial and Commercial Bank of China Limited Wuhu Wanhe sub branch Pledgor: Anhui Longding Information Technology Co.,Ltd. Registration number: Y2022980004774 |
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Date of cancellation: 20230414 Granted publication date: 20201009 Pledgee: Industrial and Commercial Bank of China Limited Wuhu Wanhe sub branch Pledgor: Anhui Longding Information Technology Co.,Ltd. Registration number: Y2022980004774 |
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| PC01 | Cancellation of the registration of the contract for pledge of patent right |