CN108772831A - Robot device - Google Patents
Robot device Download PDFInfo
- Publication number
- CN108772831A CN108772831A CN201811051232.4A CN201811051232A CN108772831A CN 108772831 A CN108772831 A CN 108772831A CN 201811051232 A CN201811051232 A CN 201811051232A CN 108772831 A CN108772831 A CN 108772831A
- Authority
- CN
- China
- Prior art keywords
- driven wheel
- robot device
- dustproof cover
- ontology
- driving wheel
- 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.)
- Withdrawn
Links
- 238000009434 installation Methods 0.000 claims description 8
- 239000004809 Teflon Substances 0.000 claims description 5
- 229920006362 Teflon® Polymers 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 5
- 230000003068 static effect Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 230000033001 locomotion Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 230000003534 oscillatory effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
- B25J19/0083—Means for protecting the manipulator from its environment or vice versa using gaiters
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of robot device, including ontology and the gear drive for being rotationally connected with the ontology, the gear drive includes driving wheel and engages the driven wheel of connection with the driving wheel；The gear drive is equipped with dustproof cover, and a part for the dustproof cover covers the driven wheel and is rotatablely connected with the driven wheel, and another part of the dustproof cover covers the driving wheel and is fixedly connected with the ontology of the robot device.Robot device provided by the invention, dustproof cover is set on gear transmission structure, dustproof cover can cover driving wheel and driven wheel simultaneously, and the part of dustproof cover covering driving wheel is fixedly connected with ontology, and covers part and the driven wheel rotation connection of driven wheel, to which dustproof cover can be fixed with opposing body, when driven wheel rotates, dustproof cover is without following rotation, and the structure of dustproof cover is relatively stable, and dustproof and waterproof performance is good.
Description
Technical field
The present invention relates to the technical fields of mechanical structure, and in particular to a kind of robot device.
Background technology
Manipulator is a kind of mechanical device by imitating the structure of human hand the by motor function with human hand, in order to make machine
Tool hand can the movement of multi-direction multi-angle, be provided with more gear drive on a robotic arm.
It is possible to that dust or sundries can be fallen into routine use, in gear drive, also or intake etc., it influences to pass
Dynamic stability, it is therefore desirable to which some dustproof and waterproof structures are set on gear drive.
Invention content
The purpose of the present invention is to provide a kind of robot devices.
For achieving the above object, an embodiment of the present invention provides a kind of robot device, including ontology and rotation
It is connected to the gear drive of the ontology, the gear drive includes driving wheel and engages connection with the driving wheel
Driven wheel；The gear drive is equipped with dustproof cover, the part of the dustproof cover cover the driven wheel and with institute
Driven wheel rotation connection is stated, another part of the dustproof cover covers the driving wheel and consolidates with the ontology of the robot device
Fixed connection.
As being further improved for an embodiment of the present invention, the robot device further includes installation bearing, the peace
It includes bearing inner ring and outer race to fill bearing；
The center of the driven wheel is equipped with the first auxiliary section, and the position that the driven wheel center is corresponded on the dustproof cover is set
There is the first connector；
First auxiliary section is connected with the outer race, and first connector coordinates with the bearing inner ring
Connection；
When the driven wheel rotates, the outer race follows the driven wheel to rotate, the related institute of bearing inner ring
Dustproof cover is stated to remain static relative to the driven wheel.
As being further improved for an embodiment of the present invention, the part that the driving wheel is covered on the dustproof cover is also set
There is the second connector, the position that second connector is corresponded on the ontology is equipped with the second auxiliary section, second connector
It is fixedly connected with second auxiliary section.
As being further improved for an embodiment of the present invention, second connector is screw, second auxiliary section
For the threaded hole being connect with the screw fit.
As being further improved for an embodiment of the present invention, the dustproof cover edge, which is equipped with, covers the driven wheel edge
And the frame at driving wheel edge；The robot device further includes the isolation being pressed between the driven wheel and the ontology
Pad, the outer diameter of the isolating pad are more than the outer diameter of the driven wheel, and the periphery of the isolating pad is interference fitted with the frame.
As being further improved for an embodiment of the present invention, the isolating pad is made of Teflon material.
As being further improved for an embodiment of the present invention, the isolating pad is circular ring shape.
As being further improved for an embodiment of the present invention, the periphery of the isolating pad protrudes from except the ontology.
As being further improved for an embodiment of the present invention, the first auxiliary section and the outer race of the driven wheel
It is connected by being interference fitted.
As being further improved for an embodiment of the present invention, the diameter of the driving wheel is less than the straight of the driven wheel
Diameter.
Compared with prior art, dustproof cover is arranged in robot device provided by the invention on gear transmission structure, dust-proof
Lid can cover driving wheel and driven wheel simultaneously, and the part of dustproof cover covering driving wheel is fixedly connected with ontology, and cover
The part of driven wheel is rotatablely connected with driven wheel, to which dustproof cover can be fixed with opposing body, when driven wheel rotates, and dustproof cover
Without following rotation, the structure of dustproof cover is relatively stable, and dustproof and waterproof performance is good.
Description of the drawings
Fig. 1 is the structural schematic diagram of the robot device in an embodiment of the present invention；
Fig. 2 is the diagrammatic cross-section of the robot device in an embodiment of the present invention；
Fig. 3 is the structural schematic diagram of the isolating pad in an embodiment of the present invention.
Specific implementation mode
Below with reference to embodiment shown in the drawings, the present invention will be described in detail.But these embodiments are simultaneously unlimited
The system present invention, the transformation in structure or function that those skilled in the art are made according to these embodiments include
Within the scope of the present invention.
It should be understood that the art of the representation space relative position used herein such as "upper", " top ", "lower", " lower section "
Language be for the purpose convenient for explanation come describe as shown in the drawings a unit or feature relative to another unit or spy
The relationship of sign.The term of relative space position can be intended to include equipment in use or work other than orientation as shown in the figure
Different direction.
Robot device generally comprise the ontology of multiple rotation connections, setting multiple gear drives on the body with
And the gear motor of driving gear drive rotation.Wherein, the rotation of gear drive can drive each body oscillatory, with
Realize the various functions of robot device.
As shown in Figs. 1-3, one embodiment of the present invention is described below.In embodiments of the present invention, manipulator fills
It sets 1 to include ontology 100 and be rotationally connected with the gear drive 200 of the ontology 100, the gear drive 200 wraps
It includes driving wheel 210 and engages the driven wheel 220 of connection with the driving wheel 210.The gear drive 200 is equipped with anti-
A part for dirt lid 300, the dustproof cover 300 covers the driven wheel 220 and is rotatablely connected with the driven wheel 220, described
Another part of dustproof cover 300 covers the driving wheel 210 and is fixedly connected with the ontology of the robot device 1 100.
Dustproof cover 300 is arranged in robot device 1 provided by the invention on gear transmission structure 200, and dustproof cover 300 can
To cover driving wheel 210 and driven wheel 220 simultaneously, and dustproof cover 300 covers the part of driving wheel 210 and ontology 100 is fixed
Connection, and part and the rotation connection of driven wheel 220 of driven wheel 220 are covered, to which dustproof cover 300 can be solid with opposing body 100
Fixed, when driven wheel 220 rotates, dustproof cover 300 is without following rotation, and the structure of dustproof cover 300 is relatively stable, dustproof and waterproof
It can be good.
Further, the robot device 1 further includes installation bearing 400, and the installation bearing 400 includes bearing inner ring
410 and outer race 420.The center of the driven wheel 220 is equipped with the first auxiliary section 221, it is corresponding on the dustproof cover 300 described in
The position at 200 center of driven wheel is equipped with the first connector 310.First auxiliary section 221 connects with the cooperation of the outer race 420
It connects, first connector 310 is connected with the bearing inner ring 410.When the driven wheel 220 rotates, the bearing
Outer shroud 420 follows the driven wheel 220 to rotate, and the related dustproof cover of the bearing inner ring 410 300 is relative to the driven wheel
220 remain static.To which when driven wheel 220 rotates, dustproof cover 300, always can be with ontology without following rotation
100 motion state is consistent.
Specifically, it as shown in Fig. 2, the first connector 310 can be screw, can be set on the inner wall of bearing inner ring 410
The screw thread being adapted to screw is set, screw passes through dustproof cover by the lateral surface (side far from gear drive) of dustproof cover 300
It 300 and is threadedly coupled with bearing inner ring 410, to which dustproof cover 300 to be fixedly connected with bearing inner ring 410.In the present invention
In embodiment, the first auxiliary section 221 of the driven wheel 220 is connected with the outer race 420 by being interference fitted.
Further, the part that the driving wheel 210 is covered on the dustproof cover 300 is additionally provided with the second connector 320, institute
The position that second connector 320 is corresponded on ontology 100 is stated equipped with the second auxiliary section 110, second connector 310 and institute
The second auxiliary section 110 is stated to be fixedly connected.
Preferably, second connector 310 is screw, and second auxiliary section 110 is to be connect with the screw fit
Threaded hole.To which dustproof cover 300 can be fixedly connected by screw with ontology 100.Specifically, multiple second can be arranged to connect
Fitting 310 and corresponding second auxiliary section 110.
Specifically, dustproof cover 300 is set on gear drive, first has to consider how to be fixed, and make it
It will not be rotated with the rotation of gear.As shown in Figure 1, the setting two the on the part that dustproof cover 300 covers driving wheel 210
Two connectors 310, and corresponding position is provided with two the second auxiliary sections 110 on ontology 100, passes through the second connector 310
With the mating connection of the second auxiliary section 110, the part that dustproof cover 300 can be covered to driving wheel 210 is fixed.However, dustproof cover
The part of 300 covering driven wheels 220 is also required to fix, to prevent its tilting.Because the size of driven wheel 220 is larger, and it is right with it
Extra position, which is had no, on the ontology 100 answered carrys out installation connecting element.Therefore, it is additionally arranged installation bearing at the center of driven wheel 220
400, pass through the cooperation of bearing inner ring 410 and outer race 420 so that dustproof cover 300 is not necessarily to the rotation with driven wheel 220 and turns
It is dynamic.To which preferably dustproof cover 300 is fixed on ontology 100.
In embodiments of the present invention, 300 edge of the dustproof cover, which is equipped with, covers 220 edge of driven wheel and driving wheel
The frame 330 at 210 edges.The robot device 1 further includes being pressed between the driven wheel 220 and the ontology 100
Isolating pad 500, the outer diameter of the isolating pad 500 are more than the outer diameter of the driven wheel 220, the periphery of the isolating pad 500 and institute
State the interference fit of frame 330.When driven wheel 220 rotates, isolating pad 500 rotates, isolating pad with the rotation of driven wheel 220
500 can be with slight interference fit with frame 330, and driven wheel 220 still can be with remains stationary state relatively for such dustproof cover 300.
Specifically, the isolating pad 500 is made of Teflon material.Teflon material has smooth characteristic, Teflon
Sliding friction is generated between the dustproof cover 300 that the isolating pad 500 of material is contacted with light interference, further such that between the two not
It will produce servo-actuated.
Preferably, the isolating pad 500 is circular ring shape.Because 220 size of driven wheel is larger, isolating pad 500 is without making
Disk, need to only make circular ring shape, and outer diameter is more than the outer diameter of driven wheel 220.
Specifically, the periphery of the isolating pad 500 protrudes from except the ontology 100.In this way, working as frame 330 and being isolated
When pad 500 contacts, ontology 100 will not be contacted, can by the short transverse of frame 330 be sized for it is somewhat larger and because anti-
The frame 330 of dirt lid 300 is interference fit with isolating pad 500, therefore dustproof cover 300 will be led with isolating pad 500 and ontology 100
Including driving wheel 210 and driven wheel 220 are completely covered, to have stronger sealing water resistance.
In embodiments of the present invention, the diameter of the driving wheel 210 is less than the diameter of the driven wheel 220.Namely
It says, gear drive of the invention is reduction gearing mechanism.
Dustproof cover 300 is arranged in robot device 1 provided by the invention on gear transmission structure 200, and dustproof cover 300 can
To cover driving wheel 210 and driven wheel 220 simultaneously, and dustproof cover 300 covers the part of driving wheel 210 and ontology 100 is fixed
Connection, and part and the rotation connection of driven wheel 220 of driven wheel 220 are covered, to which dustproof cover 300 can be solid with opposing body 100
Fixed, when driven wheel 220 rotates, dustproof cover 300 is without following rotation, and the structure of dustproof cover 300 is relatively stable, dustproof and waterproof
It can be good.Also, it is additionally arranged an installation bearing 400, first auxiliary section 221 at driven wheel center and bearing at the center of driven wheel
Outer shroud 420 is connected, and the first connector 310 on dustproof cover 300 is connected with bearing inner ring 410.When driven wheel 220
When rotation, outer race 420 follow driven wheel 220 rotate, 410 related dustproof cover 300 of bearing inner ring relative to driven wheel 220 at
In stationary state.To which when driven wheel 220 rotates, dustproof cover 300, always can be with ontology 100 without following rotation
Motion state is consistent.When driven wheel 220 rotates, isolating pad 500 rotates, isolating pad with the rotation of driven wheel 220
500 can be with slight interference fit with frame 330, and driven wheel 220 still can be with remains stationary state relatively for such dustproof cover 300.
It should be appreciated that although this specification is described in terms of embodiments, but not each embodiment only includes one
A independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should will say
As a whole, the technical solution in each embodiment may also be suitably combined to form those skilled in the art can for bright book
With the other embodiment of understanding.
The series of detailed descriptions listed above only for the present invention feasible embodiment specifically
Bright, they are all without departing from equivalent implementations made by technical spirit of the present invention not to limit the scope of the invention
Or change should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of robot device, including ontology and the gear drive for being rotationally connected with the ontology, which is characterized in that institute
State the driven wheel that gear drive includes driving wheel and engages connection with the driving wheel；
The gear drive is equipped with dustproof cover, the part of the dustproof cover cover the driven wheel and with it is described driven
Wheel rotation connection, another part of the dustproof cover, which covers the driving wheel and fixed with the ontology of the robot device, to be connected
It connects.
2. robot device according to claim 1, which is characterized in that
The robot device further includes installation bearing, and the installation axle, which is contracted, includes bearing inner ring and outer race；
The center of the driven wheel is equipped with the first auxiliary section, and the position at the driven wheel center correspond on the dustproof cover equipped with the
A connection piece；
First auxiliary section is connected with the outer race, and first connector connects with bearing inner ring cooperation
It connects；
When the driven wheel rotates, the outer race follows the driven wheel to rotate, and the bearing inner ring is related described anti-
Dirt lid remains static relative to the driven wheel.
3. robot device according to claim 2, which is characterized in that cover the portion of the driving wheel on the dustproof cover
Point it is additionally provided with the second connector, the position of second connector correspond on the ontology equipped with the second auxiliary section, described second
Connector is fixedly connected with second auxiliary section.
4. robot device according to claim 3, which is characterized in that second connector be screw, described second
Auxiliary section is the threaded hole being connect with the screw fit.
5. robot device according to claim 2, which is characterized in that
The dustproof cover edge is equipped with the frame for covering the driven wheel edge and driving wheel edge；
The robot device further includes the isolating pad being pressed between the driven wheel and the ontology, the isolating pad it is outer
Diameter is more than the outer diameter of the driven wheel, and the periphery of the isolating pad is interference fitted with the frame.
6. robot device according to claim 5, which is characterized in that the isolating pad is made of Teflon material.
7. robot device according to claim 5, which is characterized in that the isolating pad is circular ring shape.
8. robot device according to claim 5, which is characterized in that the periphery of the isolating pad protrudes from the ontology
Except.
9. robot device according to claim 2, which is characterized in that the first auxiliary section of the driven wheel and the axis
Outer shroud is held to connect by being interference fitted.
10. robot device according to claim 2, which is characterized in that the diameter of the driving wheel is less than described driven
The diameter of wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811051232.4A CN108772831A (en) | 2018-09-10 | 2018-09-10 | Robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811051232.4A CN108772831A (en) | 2018-09-10 | 2018-09-10 | Robot device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108772831A true CN108772831A (en) | 2018-11-09 |
Family
ID=64029021
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811051232.4A Withdrawn CN108772831A (en) | 2018-09-10 | 2018-09-10 | Robot device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108772831A (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5111093A (en) * | 1989-08-31 | 1992-05-05 | Mitsubishi Denki K.K. | Engine starter with dust seal arrangement |
| CN2908667Y (en) * | 2006-05-31 | 2007-06-06 | 马运亮 | Dust-proof cover of impact drill |
| CN203335777U (en) * | 2013-07-04 | 2013-12-11 | 重庆耐德新明和工业有限公司 | Anti-dust device of tensioning wheel |
| CN104806700A (en) * | 2014-01-24 | 2015-07-29 | 洛阳世必爱特种轴承有限公司 | Spiral bevel gear slewing driving device |
| CN106112999A (en) * | 2016-07-04 | 2016-11-16 | 安徽理工大学 | Six degree of freedom multi-functional shipment robot |
| CN206263615U (en) * | 2016-12-05 | 2017-06-20 | 贵州群建精密机械有限公司 | A kind of eccentric shaft processing clamp |
| CN207483806U (en) * | 2017-09-29 | 2018-06-12 | 江西瑞顺超细铜线科技协同创新有限公司 | A kind of copper wire processing unit |
| CN207593800U (en) * | 2017-10-11 | 2018-07-10 | 姜海洋 | A kind of automatic mechanical arm transmission mechanism |
| CN207647983U (en) * | 2017-12-11 | 2018-07-24 | 贵州大众橡胶有限公司 | A kind of bearing dust cover |
| CN207807717U (en) * | 2017-12-27 | 2018-09-04 | 广州蓝勃生物科技有限公司 | A kind of slide clamping device of cover plate instrument |
| CN208681594U (en) * | 2018-09-10 | 2019-04-02 | 苏州小工匠机器人有限公司 | Robot device |
-
2018
- 2018-09-10 CN CN201811051232.4A patent/CN108772831A/en not_active Withdrawn
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5111093A (en) * | 1989-08-31 | 1992-05-05 | Mitsubishi Denki K.K. | Engine starter with dust seal arrangement |
| CN2908667Y (en) * | 2006-05-31 | 2007-06-06 | 马运亮 | Dust-proof cover of impact drill |
| CN203335777U (en) * | 2013-07-04 | 2013-12-11 | 重庆耐德新明和工业有限公司 | Anti-dust device of tensioning wheel |
| CN104806700A (en) * | 2014-01-24 | 2015-07-29 | 洛阳世必爱特种轴承有限公司 | Spiral bevel gear slewing driving device |
| CN106112999A (en) * | 2016-07-04 | 2016-11-16 | 安徽理工大学 | Six degree of freedom multi-functional shipment robot |
| CN206263615U (en) * | 2016-12-05 | 2017-06-20 | 贵州群建精密机械有限公司 | A kind of eccentric shaft processing clamp |
| CN207483806U (en) * | 2017-09-29 | 2018-06-12 | 江西瑞顺超细铜线科技协同创新有限公司 | A kind of copper wire processing unit |
| CN207593800U (en) * | 2017-10-11 | 2018-07-10 | 姜海洋 | A kind of automatic mechanical arm transmission mechanism |
| CN207647983U (en) * | 2017-12-11 | 2018-07-24 | 贵州大众橡胶有限公司 | A kind of bearing dust cover |
| CN207807717U (en) * | 2017-12-27 | 2018-09-04 | 广州蓝勃生物科技有限公司 | A kind of slide clamping device of cover plate instrument |
| CN208681594U (en) * | 2018-09-10 | 2019-04-02 | 苏州小工匠机器人有限公司 | Robot device |
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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 | ||
| CB02 | Change of applicant information |
Address after: 215000 building 15, Luzhi Intelligent Manufacturing Industrial Park, No. 1, Zhangqing street, Luzhi Town, Wuzhong District, Suzhou City, Jiangsu Province Applicant after: SUZHOU XIAOGONGJIANG ROBOT Co.,Ltd. Address before: 215000 5 / F, building 2, 33 linbu street, Suzhou Industrial Park, Jiangsu Province Applicant before: SUZHOU XIAOGONGJIANG ROBOT Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181109 |
|
| WW01 | Invention patent application withdrawn after publication |