CN108772831A - Robot device - Google Patents

Robot device Download PDF

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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Withdrawn
Application number
CN201811051232.4A
Other languages
Chinese (zh)
Inventor
蒋剑
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou Little Craftsman Robot Co Ltd
Original Assignee
Suzhou Little Craftsman Robot Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Suzhou Little Craftsman Robot Co Ltd filed Critical Suzhou Little Craftsman Robot Co Ltd
Priority to CN201811051232.4A priority Critical patent/CN108772831A/en
Publication of CN108772831A publication Critical patent/CN108772831A/en
Withdrawn legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102Gears specially adapted therefor, e.g. reduction gears
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0075Means for protecting the manipulator from its environment or vice versa
    • B25J19/0083Means for protecting the manipulator from its environment or vice versa using gaiters

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  • 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

Robot device
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.
CN201811051232.4A 2018-09-10 2018-09-10 Robot device Withdrawn CN108772831A (en)

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)

* Cited by examiner, † Cited by third party
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

Patent Citations (11)

* Cited by examiner, † Cited by third party
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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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