CN108673487B - Transmission assembly of carrying robot - Google Patents
Transmission assembly of carrying robot Download PDFInfo
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- CN108673487B CN108673487B CN201810570498.3A CN201810570498A CN108673487B CN 108673487 B CN108673487 B CN 108673487B CN 201810570498 A CN201810570498 A CN 201810570498A CN 108673487 B CN108673487 B CN 108673487B
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- circular shaft
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 51
- 230000007704 transition Effects 0.000 claims abstract description 18
- 239000003638 chemical reducing agent Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 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
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
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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
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a transmission assembly of a carrying robot, which comprises a motor, a piston cylinder, a main transmission assembly and an auxiliary transmission assembly, wherein the main transmission assembly comprises a first circular shaft, a second circular shaft, a synchronizing ring, a transition shaft, a first gear and a second gear; according to the transmission assembly of the carrying robot, when the torque needs to be increased, the piston cylinder is started to enable the piston cylinder to drive the adjusting frame, the fourth gear is meshed with the first gear, the transmission mode of the torque can be changed, the rotating speed can be effectively reduced, the torque can be effectively increased, the mode of increasing the torque is simple, the carrying robot can stably run under normal conditions and can be smoothly switched to a large-torque condition, and the carrying robot can adapt to different working environments.
Description
Technical Field
The invention relates to a robot, in particular to a transmission assembly of a carrying robot.
Background
A robot is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task of which is to assist or replace human work, such as production, construction, or dangerous work. The robot generally comprises an actuating mechanism, a transmission device, a detection device, a control system, a complex machine and the like.
Patent application number CN201720164172.1 discloses a transmission assembly of a robot and a robot, the transmission assembly of the robot and the robot achieve the effect of flexible movement of the robot through the meshing of a plurality of combined gear teeth, but the structure is extremely complex, and the running stability cannot be guaranteed. The piggyback robot is suitable for transporting goods and materials in dangerous annular states, and in order to meet different working environments, the transmission device of the piggyback robot needs to be optimized, but the torque lifting process of the existing piggyback robot transmission device is complex, and meanwhile, the fluency is poor.
Disclosure of Invention
The invention aims to provide a transmission component of a carrying robot, which has the advantages of stable operation and easy achievement of high torque output so as to solve the problems in the prior art.
In order to achieve the purpose, the invention provides the following technical scheme:
a transmission assembly of a carrying robot comprises a motor, a piston cylinder, a main transmission assembly and an auxiliary transmission assembly, wherein the output end of the motor is connected with the main transmission assembly through a speed reducer, the main transmission assembly comprises a first circular shaft, a second circular shaft, a synchronizing ring, a transition shaft, a first gear and a second gear, one end of the first circular shaft is connected with the motor, the other end of the first circular shaft is movably connected with the transition shaft, the transition shaft comprises an extension shaft, a lower concave ring, a body shaft and a limiting groove bar, the outer wall of the extension shaft is provided with the limiting groove bar, the extension shaft is movably connected with the inner wall of the first circular shaft through the limiting groove bar, the extension shaft is fixedly connected with the body shaft, the outer side of the body shaft is provided with the first gear, one side of the first gear is provided with the synchronizing ring, the outer side of the body shaft is also provided with the lower concave ring, the body shaft is movably connected with an adjusting frame through the lower concave ring, and the, the adjusting frame is connected with the output end of the piston cylinder, one side of the synchronizing ring is provided with a second gear, the second gear is arranged on a second circular shaft, and the second gear is movably connected with an auxiliary transmission assembly; the auxiliary transmission assembly comprises a third gear, a fourth gear and a third circular shaft, the third gear is installed at one end of the third circular shaft, the fourth gear is installed at the other end of the third circular shaft, and the third gear is movably connected with the second gear in a gear tooth meshing mode.
Preferably, the first circular shaft is a hollow part, and a limit groove corresponding to the limit groove strip is formed in the inner wall of the first circular shaft.
Preferably, the top end of the contact rod contacts the inner wall of the connecting concave ring.
Preferably, the central axis of the first circular shaft and the central axis of the second circular shaft are kept coincident.
Preferably, the fourth gear is movably connected with the first gear, and the size of the fourth gear is the same as that of the first gear.
Preferably, the diameter of the second gear is much larger than the diameter of the third gear.
Compared with the prior art, the invention has the beneficial effects that:
1. this transport robot's transmission subassembly, the final drive subassembly can slowly rotate under the drive of motor, and first circle axle and the coincidence of second circle axle the central axis in the final drive subassembly guarantee the stationarity of whole device, and the first circle axle can be steady drive the projecting shaft rotatory, and the projecting shaft can stretch out and draw back along the inner wall of first circle axle simultaneously.
2. When the carrying robot runs normally, the main transmission component directly transmits the torque of the motor to the bogie wheel, when the carrying robot needs to ascend a slope, the required torque can be increased, the piston cylinder is started to drive the adjusting frame, the fourth gear is meshed with the first gear, the transmission mode of the torque can be changed, the mode of improving the torque is simple and smooth, the stable running of the whole device can be ensured, and the carrying robot can adapt to different working environments.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a diagram illustrating the overall operation of the present invention;
FIG. 3 is a schematic view of the overall structure of the present invention;
fig. 4 is a schematic view of a transition shaft of the present invention.
In the figure: 1. a motor; 2. a piston cylinder; 3. a main drive assembly; 31. a first circular shaft; 32. a second circular shaft; 33. a synchronizer ring; 34. a transition shaft; 341. an extension shaft; 342. a concave ring; 343. a body axis; 344. limiting groove strips; 35. a first gear; 36. a second gear; 4. an auxiliary transmission assembly; 41. a third gear; 42. a fourth gear; 43. a third circular shaft; 5. an adjusting frame; 51. a contact bar.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-4, a transmission assembly for a carrying robot includes a motor 1, a piston cylinder 2, a main transmission assembly 3 and an auxiliary transmission assembly 4, an output end of the motor 1 is connected to the main transmission assembly 3 through a reducer, i.e. the main transmission assembly 3 can slowly rotate under the driving of the motor 1, the main transmission assembly 3 includes a first circular shaft 31, a second circular shaft 32, a synchronizing ring 33, a transition shaft 34, a first gear 35 and a second gear 36, a central axis of the first circular shaft 31 is coincident with a central axis of the second circular shaft 32, the synchronizing ring 33 and the transition shaft 34 are disposed between the first circular shaft 31 and the second circular shaft 32, central axes of the first circular shaft 31 and the second circular shaft are coincident to ensure the stability of the whole device, one end of the first circular shaft 31 is connected to the motor 1, the other end of the first circular shaft 31 is movably connected to the transition shaft 34, the transition shaft 34 includes an extending shaft 341, a recessed ring 342, a body shaft 343 and a limit groove 344, the outer wall of the protruding shaft 341 is provided with a limit groove 344, the protruding shaft 341 is movably connected with the inner wall of the first circular shaft 31 through the limit groove 344, the first circular shaft 31 is a hollow member, the inner wall of the first circular shaft 31 is provided with a limit groove corresponding to the limit groove 344, that is, the first circular shaft 31 can stably drive the protruding shaft 341 to rotate, meanwhile, the protruding shaft 341 can extend and retract along the inner wall of the first circular shaft 31, the protruding shaft 341 is fixedly connected with the body shaft 343, the outer side of the body shaft 343 is provided with the first gear 35, one side of the first gear 35 is provided with the synchronizing ring 33, the synchronizing ring 33 is used for connecting two transmission shafts, the outer side of the body shaft 343 is further provided with the lower concave ring 342, the body shaft 343 is movably connected with the adjusting frame 5 through the lower concave ring 342, the top end of the adjusting frame 5 is provided with the contact rod 51, the top end of the contact rod 51 is in contact with the inner wall of the lower concave ring 342, when the contact rod 51 moves, the contact rod 51 can, the adjusting frame 5 is connected with the output end of the piston cylinder 2, one side of the synchronizing ring 33 is provided with a second gear 36, the second gear 36 is arranged on the second circular shaft 32, and the second gear 36 is movably connected with the auxiliary transmission component 4; the auxiliary transmission assembly 4 comprises a third gear 41, a fourth gear 42 and a third circular shaft 43, the third gear 41 is mounted at one end of the third circular shaft 43, the fourth gear 42 is mounted at the other end of the third circular shaft 43, the fourth gear 42 is also movably connected with the first gear 35, the fourth gear 42 is located on one side of the first gear 35 under normal conditions, the fourth gear 42 cannot contact with the first gear 35, when torque needs to be increased, the fourth gear 42 can be meshed with the first gear 35, the fourth gear 42 is the same as the first gear 35 in size, the third gear 41 is movably connected with the second gear 36 in a gear tooth meshing mode, the diameter of the second gear 36 is far larger than that of the third gear 41, the third gear 41 can drive the second gear 36 to rotate, and when the third gear 41 rotates for one circle, the second gear 36 does not rotate for one circle, so that the rotating speed can be reduced and the torque can be increased.
The transmission component of the carrying robot comprises a motor 1, a piston cylinder 2, a main transmission component 3 and an auxiliary transmission component 4, wherein the main transmission component 3 can slowly rotate under the driving of the motor 1, the central axes of a first circular shaft 31 and a second circular shaft 32 in the main transmission component 3 are overlapped to ensure the stability of the whole device, an extension shaft 341 is movably connected with the inner wall of the first circular shaft 31 through a limiting groove bar 344, the first circular shaft 31 can stably drive the extension shaft 341 to rotate, the extension shaft 341 can stretch along the inner wall of the first circular shaft 31, a synchronizing ring 33 is used for connecting two transmission shafts, when a contact rod 51 moves, the contact rod 51 can drive a transition shaft 34 to move through a lower concave ring 342, under the normal condition, a fourth gear 42 is positioned at one side of the first gear 35, the fourth gear 42 cannot be contacted with the first gear 35, when the torque needs to be increased, the fourth gear 42 can be meshed with the first gear 35, the diameter of the second gear 36 is much larger than that of the third gear 41, the third gear 41 can drive the second gear 36 to rotate, and when the third gear 41 rotates for one circle, the second gear 36 does not rotate for one circle, so that the rotating speed can be reduced and the torque can be improved; the whole working process of the transmission assembly comprises the following two conditions: when the carrying robot runs normally, the torque required by the bogie wheels is not large, the main transmission component 3 directly transmits the torque of the motor 1 to the bogie wheels, wherein the motor 1 drives the first circular shaft 31 and the first gear 35 to rotate, the first circular shaft 31 drives the second circular shaft 32 and the second gear 36 to rotate through the synchronizing ring 33, the second circular shaft 32 drives the bogie wheels to rotate, meanwhile, the second gear 36 drives the third gear 41 and the fourth gear 42 to rotate while rotating, but both the third gear 41 and the fourth gear 42 idle, and the fourth gear 42 is not in contact with the first gear 35; when the carrying robot needs to ascend a slope, the required torque is increased, at the moment, the piston cylinder 2 is started, the piston cylinder 2 drives the adjusting frame 5, the contact rod 51 at the top end of the adjusting frame 5 drives the transition shaft 34 to move, the extension shaft 341 in the transition shaft 34 retracts into the first circular shaft 31, and simultaneously the fourth gear 42 is meshed with the first gear 35, when the motor 1 drives the first circular shaft 31 and the first gear 35 to rotate, the first gear 35 drives the fourth gear 42 and the third gear 41 to rotate, the third gear 41 drives the second gear 36 to rotate, since the diameter of the second gear 36 is much larger than that of the third gear 41, when the third gear 41 rotates one turn, the second gear 36 does not rotate one turn, thus effectively reducing the rotating speed and improving the torque, the whole device has reasonable design, simple torque improving mode, meanwhile, the whole device can be ensured to run stably, so that the piggy-back robot can adapt to different working environments.
In summary, according to the transmission assembly of the carrying robot provided by the invention, when the torque needs to be increased, the piston cylinder 2 is started to enable the piston cylinder 2 to drive the adjusting frame 5, so that the fourth gear 42 is meshed with the first gear 35, the transmission mode of the torque is changed, the rotating speed can be effectively reduced, the torque can be increased, the mode of increasing the torque is simple, the carrying robot can stably run under a normal condition and can be smoothly switched to a large-torque condition, and the carrying robot can adapt to different working environments.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (1)
1. The utility model provides a carry transmission assembly of transport robot, includes motor (1), piston cylinder (2), main drive assembly (3) and auxiliary drive assembly (4), its characterized in that: the output end of the motor (1) is connected with a main transmission assembly (3) through a speed reducer, the main transmission assembly (3) comprises a first circular shaft (31), a second circular shaft (32), a synchronizing ring (33), a transition shaft (34), a first gear (35) and a second gear (36), one end of the first circular shaft (31) is connected with the motor (1), the other end of the first circular shaft (31) is movably connected with the transition shaft (34), the transition shaft (34) comprises an extension shaft (341), a lower concave ring (342), a body shaft (343) and limiting groove strips (344), the outer wall of the extension shaft (341) is provided with the limiting groove strips (344), the extension shaft (341) is movably connected with the inner wall of the first circular shaft (31) through the limiting groove strips (344), the extension shaft (341) is fixedly connected with the body shaft (343), the first gear (35) is installed on the outer side of the body shaft (343), and one side of the first gear (35) is provided with the synchronizing ring (33), the outer side of the body shaft (343) is further provided with a lower concave ring (342), the body shaft (343) is movably connected with an adjusting frame (5) through the lower concave ring (342), the top end of the adjusting frame (5) is provided with a contact rod (51), the adjusting frame (5) is connected with the output end of the piston cylinder (2), one side of the synchronizing ring (33) is provided with a second gear (36), the second gear (36) is arranged on a second circular shaft (32), and the second gear (36) is movably connected with an auxiliary transmission assembly (4); the auxiliary transmission assembly (4) comprises a third gear (41), a fourth gear (42) and a third circular shaft (43), the third gear (41) is installed at one end of the third circular shaft (43), the fourth gear (42) is installed at the other end of the third circular shaft (43), and the third gear (41) is movably connected with the second gear (36) in a gear tooth meshing mode; the first round shaft (31) is a hollow part, and a limiting groove corresponding to the limiting groove strip (344) is formed in the inner wall of the first round shaft (31); the top end of the contact rod (51) is in contact with the inner wall of the connecting concave ring (342); the central axis of the first round shaft (31) is coincident with the central axis of the second round shaft (32); the fourth gear (42) is also movably connected with the first gear (35), and the fourth gear (42) and the first gear (35) have the same size; the diameter of the second gear (36) is much greater than the diameter of the third gear (41); when the carrying robot runs normally, the main transmission assembly (3) directly transmits the torque of the motor (1) to a bogie wheel, the motor (1) drives the first circular shaft (31) and the first gear (35) to rotate, the first circular shaft (31) drives the second circular shaft (32) and the second gear (36) to rotate through the synchronizing ring (33), the second circular shaft (32) drives the bogie wheel to rotate, the second gear (36) drives the third gear (41) and the fourth gear (42) to rotate while rotating, at the moment, the third gear (41) and the fourth gear (42) are idle, and the fourth gear (42) is not in contact with the first gear (35); when the carrying robot needs to ascend a slope, the piston cylinder (2) is started, the piston cylinder (2) drives the adjusting frame (5), the contact rod (51) at the top end of the adjusting frame (5) drives the transition shaft (34) to move, an extension shaft (341) in the transition shaft (34) retracts into the first circular shaft (31), meanwhile, the fourth gear (42) is meshed with the first gear (35), when the motor (1) drives the first circular shaft (31) and the first gear (35) to rotate, the first gear (35) drives the fourth gear (42) and the third gear (41) to rotate, the third gear (41) drives the second gear (36) to rotate, and as the diameter of the second gear (36) is far larger than that of the third gear (41), when the third gear (41) rotates for one circle, the second gear (36) rotates less than one revolution, thereby reducing the rotational speed and increasing the torque.
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 CN108673487A (en) | 2018-10-19 |
| CN108673487B true CN108673487B (en) | 2020-10-09 |
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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 |
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| CN (2) | CN108673487B (en) |
Family Cites Families (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
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| Publication number | Publication date |
|---|---|
| CN112171653A (en) | 2021-01-05 |
| CN108673487A (en) | 2018-10-19 |
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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 | ||
| 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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| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
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 |