CN109048885B - Intelligent arm driving mechanism of nurse robot - Google Patents
Intelligent arm driving mechanism of nurse robot Download PDFInfo
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- CN109048885B CN109048885B CN201811093959.9A CN201811093959A CN109048885B CN 109048885 B CN109048885 B CN 109048885B CN 201811093959 A CN201811093959 A CN 201811093959A CN 109048885 B CN109048885 B CN 109048885B
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- sleeve
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- output shaft
- inner sleeve
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
-
- 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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- 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
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
-
- 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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The intelligent nurse robot arm driving mechanism comprises a bottom plate, wherein a left power output shaft is rotatably arranged on the left side above the bottom plate along the left-right horizontal direction, a right power output shaft is rotatably arranged on the right side above the bottom plate along the left-right horizontal direction, the right power output shaft and the left power output shaft are coaxially arranged, a right power output shaft gear is fixed at the left end of the right power output shaft, the front end of the right power output shaft gear is meshed with the rear end of a right gear of an intermediate outer sleeve, the right gear of the intermediate outer sleeve is fixed at the right end of the intermediate outer sleeve, the intermediate outer sleeve is rotatably arranged above the bottom plate along the left-right horizontal direction, an intermediate middle sleeve is rotatably inserted in the intermediate outer sleeve in a clearance fit manner, and the left end and the right end of the intermediate middle sleeve respectively extend out of the intermediate outer sleeve. The intelligent robot arm driving mechanism for the nurse has the advantages of small size, compact structure, capability of enabling the robot to efficiently and rapidly finish mopping, cleaner mopping and good mopping effect.
Description
Technical Field
The invention relates to an intelligent nurse robot arm driving mechanism.
Background
The existing robot arm driving mechanism is unreasonable in the aspect of combination design, so that the existing robot is difficult to engage in mopping work in a room, and the basic requirements of people cannot be met.
Disclosure of Invention
The invention aims to provide the intelligent nurse robot arm driving mechanism which has small volume and compact structure, can enable a robot to efficiently and rapidly finish mopping work, and has cleaner mopping and very good mopping effect.
The intelligent nurse robot arm driving mechanism comprises a bottom plate, wherein the plate surface of the bottom plate is positioned in the horizontal direction, a left power output shaft is rotatably arranged on the left side above the bottom plate along the left-right horizontal direction, a right power output shaft is rotatably arranged on the right side above the bottom plate along the left-right horizontal direction, the right power output shaft and the left power output shaft are coaxially arranged, a right power output shaft gear is fixed at the left end of the right power output shaft, the front end of the right power output shaft gear is meshed with the rear end of a right gear of a middle outer sleeve, the right gear of the middle outer sleeve is fixed at the right end of the middle outer sleeve, the middle outer sleeve is rotatably arranged above the bottom plate along the left-right horizontal direction, a middle sleeve is rotatably inserted in the middle outer sleeve by adopting clearance fit, the left end and the right end of the middle outer sleeve extend out of the middle sleeve respectively, the middle inner sleeve is rotatably inserted in the middle outer sleeve by adopting clearance fit, the left end and the right end of the middle inner sleeve extend out of the middle inner sleeve respectively, the middle shaft is rotatably inserted in the middle sleeve by adopting clearance fit;
the left end of the middle outer sleeve is fixedly provided with a middle outer sleeve left gear, the rear end of the middle outer sleeve left gear is meshed with the front end of the left power output shaft gear, the left power output shaft gear is fixedly arranged at the right end of the left power output shaft, the middle part of the outer side wall of the left power output shaft is rotatably sleeved with a left inner sleeve in a clearance fit manner, the middle part of the outer side wall of the left inner sleeve is rotatably sleeved with a left middle sleeve in a clearance fit manner, and the middle part of the outer side wall of the left middle sleeve is rotatably sleeved with a left outer sleeve in a clearance fit manner;
the middle part of the outer side wall of the right power output shaft is rotatably sleeved with a right inner sleeve in a clearance fit manner, the middle part of the outer side wall of the right inner sleeve is rotatably sleeved with a right middle sleeve in a clearance fit manner, and the middle part of the outer side wall of the right middle sleeve is rotatably sleeved with a right outer sleeve in a clearance fit manner;
the left end of the right inner sleeve is fixed with a right inner sleeve gear, the front end of the right inner sleeve gear is meshed with the rear end of the middle sleeve right gear, the middle sleeve right gear is fixed at the right end of the middle sleeve, the left end of the middle sleeve is fixedly provided with a middle sleeve left gear, the rear end of the middle sleeve left gear is meshed with the front end of the left inner sleeve gear, and the left inner sleeve gear is fixedly arranged at the right end of the left inner sleeve;
the left end of the right middle sleeve is fixedly provided with a right middle sleeve gear, the front end of the right middle sleeve gear is meshed with the rear end of the middle inner sleeve right gear, the middle inner sleeve right gear is fixedly arranged at the right end of the middle inner sleeve, the left end of the middle inner sleeve is fixedly provided with a middle inner sleeve left gear, the rear end of the middle inner sleeve left gear is meshed with the front end of the left middle sleeve gear, and the left middle sleeve gear is fixedly arranged at the right end of the left middle sleeve;
the left end of the right outer sleeve is fixedly provided with a right outer sleeve gear, the circumferential surface of the right outer sleeve gear is positioned in the front-back direction, the front end of the right outer sleeve gear is meshed with the rear end of the middle shaft right gear, the middle shaft right gear is fixedly arranged at the right end of the middle shaft, the left end of the middle shaft is fixedly provided with a middle shaft left gear, the circumferential surface of the middle shaft left gear is positioned in the front-back direction, the rear end of the middle shaft left gear is meshed with the front end of the left outer sleeve gear, and the left outer sleeve gear is fixedly arranged at the right end of the left outer sleeve;
the right end of the right power output shaft is a power output end, the power output end of the right power output shaft is sleeved with a right power output shaft belt pulley, the left end of the left power output shaft is a power output end, and the power output end of the left power output shaft is sleeved with a left power output shaft belt pulley;
the right end of the right inner sleeve is a power output end, the power output end of the right inner sleeve is sleeved with a right inner sleeve belt pulley, the left end of the left inner sleeve is a power output end, and the power output end of the left inner sleeve is sleeved with a left inner sleeve belt pulley;
the right end of the right middle sleeve is a power output end, the power output end of the right middle sleeve is sleeved with a right middle sleeve belt pulley, the left end of the left middle sleeve is a power output end, and the power output end of the left middle sleeve is sleeved with a left middle sleeve belt pulley;
the right power output shaft gear or the left power output shaft gear is meshed with the power output shaft driving gear, the power output shaft driving gear is sleeved on a power output shaft of the power output shaft driving motor, and the power output shaft driving motor is connected with the bottom plate in a mounting way;
the right inner sleeve gear or the left inner sleeve gear is meshed with the inner sleeve driving gear, the inner sleeve driving gear is sleeved on a power output shaft of the inner sleeve driving motor, and the inner sleeve driving motor is connected with the bottom plate in an installation way;
the right middle sleeve gear or the left middle sleeve gear is meshed with the middle sleeve driving gear, the middle sleeve driving gear is sleeved on a power output shaft of the middle sleeve driving motor, and the middle sleeve driving motor is connected with the bottom plate in a mounting way;
the right outer sleeve gear or the left outer sleeve gear is meshed with the outer sleeve driving gear, the outer sleeve driving gear is sleeved on a power output shaft of the outer sleeve driving motor, and the outer sleeve driving motor is connected with the bottom plate in an installation mode.
Preferably, the right outer sleeve is connected with the bottom plate installation through a right sliding bearing seat, and the left outer sleeve is connected with the bottom plate installation through a left sliding bearing seat.
Preferably, the intermediate outer sleeve is connected to the floor mount by a plurality of intermediate slide bearing blocks.
When the intelligent nurse robot arm driving mechanism is used, the power output shaft driving motor is started, the right power output shaft gear is driven to rotate through the power output shaft driving gear, the right power output shaft and the middle outer sleeve are driven to rotate, the middle outer sleeve drives the left power output shaft gear to rotate through the middle outer sleeve left gear, and the left power output shaft is driven to rotate, so that power is output through the left power output shaft belt pulley at the left end of the left power output shaft, the floor mopping roller of the intelligent nurse robot is driven to rotate, and the power is output through the right power output shaft belt pulley at the right end of the right power output shaft, and the floor mopping roller of the intelligent nurse robot is driven to rotate;
the inner sleeve driving motor is started, namely the inner sleeve driving gear drives the left inner sleeve gear to rotate and drives the left inner sleeve and the middle sleeve to rotate, the middle sleeve drives the right inner sleeve gear to rotate and drives the right inner sleeve to rotate through the middle sleeve right gear, so that power output is realized through a left inner sleeve belt pulley at the left end of the left inner sleeve, the power output is used for driving a left forearm of the intelligent nurse robot to make telescopic motion for changing the length, and the power output is realized through a right inner sleeve belt pulley at the right end of the right inner sleeve, and the power output is used for driving a right forearm of the intelligent nurse robot to make telescopic motion for changing the length;
the middle sleeve is started to drive the driving motor, namely the right middle sleeve gear is driven to rotate through the middle sleeve driving gear, the right middle sleeve and the middle inner sleeve are driven to rotate, the middle inner sleeve drives the left middle sleeve gear to rotate through the middle inner sleeve left gear, and drives the left middle sleeve to rotate, so that power output is realized through a left middle sleeve belt pulley at the left end of the left middle sleeve, the power output is used for driving a left forearm of the intelligent nurse robot to do up-down swinging motion, and the power output is realized through a right middle sleeve belt pulley at the right end of the right middle sleeve, and the power output is used for driving a right forearm of the intelligent nurse robot to do up-down swinging motion;
the outer sleeve is started to drive the driving motor, namely the outer sleeve driving gear drives the right outer sleeve gear to rotate and drives the right outer sleeve and the middle shaft to rotate, the middle shaft drives the left outer sleeve gear to rotate and drives the left outer sleeve to rotate through the middle shaft left gear, so that power output is realized through the left end of the left outer sleeve, the power output is used for driving the left big arm of the intelligent nurse robot to do up-and-down swinging motion, and the power output is realized through the right end of the right outer sleeve, and the power output is used for driving the right big arm of the intelligent nurse robot to do up-and-down swinging motion;
therefore, the arm driving mechanism of the intelligent nurse robot has the characteristics of small volume, compact structure, capability of enabling the robot to efficiently and rapidly finish mopping work, cleaner mopping and very good mopping effect.
The arm driving mechanism of the intelligent nurse robot is further described below with reference to the accompanying drawings.
Drawings
FIG. 1 is a perspective view of an arm drive mechanism of an intelligent nurse robot of the present invention from the rear looking forward;
fig. 2 is a perspective view of the arm driving mechanism of the intelligent nurse robot of the invention from front to back
FIG. 3 is a front view of the arm drive mechanism of the intelligent caregiver robot of the present invention;
fig. 4 is an enlarged top cross-sectional view of the right power output shaft, left power output shaft and intermediate shaft portion of fig. 3.
Detailed Description
As shown in fig. 1, 2, 3 and 4, the intelligent nurse robot arm driving mechanism of the invention comprises a bottom plate 80, the plate surface of the bottom plate 80 is positioned in the horizontal direction, the left side above the bottom plate 80 is rotatably provided with a left power output shaft 81 along the left-right horizontal direction, the right side above the bottom plate 80 is rotatably provided with a right power output shaft 82 along the left-right horizontal direction, the right power output shaft 82 and the left power output shaft 81 are coaxially arranged, the left end of the right power output shaft 82 is fixedly provided with a right power output shaft gear 83, the circumferential surface of the right power output shaft gear 83 is positioned in the front-back direction, the front end of the right power output shaft gear 83 is meshed with the rear end of an intermediate outer sleeve right gear 113, the circumferential surface of the intermediate outer sleeve right gear 113 is positioned in the front-back direction, the intermediate outer sleeve right gear 113 is fixedly arranged at the right end of an intermediate outer sleeve 84, the intermediate outer sleeve 84 is rotatably arranged above the bottom plate 80 along the left-right horizontal direction, the intermediate outer sleeve 84 is rotatably inserted with an intermediate middle sleeve 85 in the intermediate outer sleeve 84 in the left-right horizontal direction, the left and the right ends of the intermediate outer sleeve 85 extend out of the intermediate outer sleeve 84 respectively, the left and right ends of the intermediate outer sleeve 85 are rotatably inserted with the intermediate inner sleeve 86 in the intermediate outer sleeve 86 in the left-right middle sleeve 85 in the gap fit, the intermediate outer sleeve 85 respectively, and the left inner sleeve 87 in the intermediate outer sleeve 85 is rotatably inserted in the intermediate sleeve 85 respectively;
the left end of the middle outer sleeve 84 is fixedly provided with a middle outer sleeve left gear 114, the rear end of the middle outer sleeve left gear 114 is meshed with the front end of a left power output shaft gear 115, the left power output shaft gear 115 is fixedly arranged at the right end of the left power output shaft 81, the middle part of the outer side wall of the left power output shaft 81 is rotatably sleeved with a left inner sleeve 88 in a clearance fit manner, the middle part of the outer side wall of the left inner sleeve 88 is rotatably sleeved with a left middle sleeve 89 in a clearance fit manner, and the middle part of the outer side wall of the left middle sleeve 89 is rotatably sleeved with a left outer sleeve 90 in a clearance fit manner;
the middle part of the outer side wall of the right power output shaft 82 is rotatably sleeved with a right inner sleeve 91 in a clearance fit manner, the middle part of the outer side wall of the right inner sleeve 91 is rotatably sleeved with a right middle sleeve 92 in a clearance fit manner, and the middle part of the outer side wall of the right middle sleeve 92 is rotatably sleeved with a right outer sleeve 93 in a clearance fit manner;
a right inner sleeve gear 94 is fixed at the left end of the right inner sleeve 91, the circumferential surface of the right inner sleeve gear 94 is located in the front-rear direction, the front end of the right inner sleeve gear 94 is meshed with the rear end of a middle sleeve right gear 95, the circumferential surface of the middle sleeve right gear 95 is located in the front-rear direction, the middle sleeve right gear 95 is fixed at the right end of the middle sleeve 85, a middle sleeve left gear 96 is fixed at the left end of the middle sleeve 85, the circumferential surface of the middle sleeve left gear 96 is positioned in the front-back direction, the rear end of the middle sleeve left gear 96 is meshed with the front end of a left inner sleeve gear 97, and the left inner sleeve gear 97 is fixed at the right end of the left inner sleeve 88;
a right middle sleeve gear 98 is fixed at the left end of the right middle sleeve 92, the circumferential surface of the right middle sleeve gear 98 is positioned in the front-back direction, the front end of the right middle sleeve gear 98 is meshed with the rear end of a middle inner sleeve right gear 99, the circumferential surface of the middle inner sleeve right gear 99 is positioned in the front-back direction, the middle inner sleeve right gear 99 is fixed at the right end of the middle inner sleeve 86, a middle inner sleeve left gear 100 is fixed at the left end of the middle inner sleeve 86, the circumferential surface of the middle inner sleeve left gear 100 is positioned in the front-back direction, the rear end of the middle inner sleeve left gear 100 is meshed with the front end of a left middle sleeve gear 101, and the left middle sleeve gear 101 is fixed at the right end of the left middle sleeve 89;
a right outer sleeve gear 102 is fixed at the left end of the right outer sleeve 93, the circumferential surface of the right outer sleeve gear 102 is positioned in the front-rear direction, the front end of the right outer sleeve gear 102 is meshed with the rear end of an intermediate shaft right gear 103, the circumferential surface of the intermediate shaft right gear 103 is positioned in the front-rear direction, the intermediate shaft right gear 103 is fixed at the right end of the intermediate shaft 87, an intermediate shaft left gear 104 is fixed at the left end of the intermediate shaft 87, the circumferential surface of the intermediate shaft left gear 104 is positioned in the front-rear direction, the rear end of the intermediate shaft left gear 104 is meshed with the front end of a left outer sleeve gear 105, the circumferential surface of the left outer sleeve gear 105 is positioned in the front-rear direction, and the left outer sleeve gear 105 is fixed at the right end of the left outer sleeve 90;
the right end of the right power output shaft 82 is a power output end, the power output end of the right power output shaft 82 is sleeved with a right power output shaft belt pulley 106, the left end of the left power output shaft 81 is a power output end, and the power output end of the left power output shaft 81 is sleeved with a left power output shaft belt pulley 107;
the right end of the right inner sleeve 91 is a power output end, the power output end of the right inner sleeve 91 is sleeved with a right inner sleeve belt pulley 112, the left end of the left inner sleeve 88 is a power output end, and the power output end of the left inner sleeve 88 is sleeved with a left inner sleeve belt pulley 125;
the right end of the right middle sleeve 92 is a power output end, the power output end of the right middle sleeve 92 is sleeved with a right middle sleeve belt pulley 110, the left end of the left middle sleeve 89 is a power output end, and the power output end of the left middle sleeve 89 is sleeved with a left middle sleeve belt pulley 111;
the right power output shaft gear 83 or the left power output shaft gear 115 is meshed with a power output shaft driving gear 116, the power output shaft driving gear 116 is sleeved on a power output shaft of a power output shaft driving motor 117, and the power output shaft driving motor 117 is connected with the bottom plate 80 in a mounting way;
the right inner sleeve gear 94 or the left inner sleeve gear 97 is meshed with the inner sleeve driving gear 118, the inner sleeve driving gear 118 is sleeved on a power output shaft of the inner sleeve driving motor 119, and the inner sleeve driving motor 119 is connected with the bottom plate 80 in an installation way;
the right middle sleeve gear 98 or the left middle sleeve gear 101 is meshed with the middle sleeve driving gear 120, the middle sleeve driving gear 120 is sleeved on a power output shaft of the middle sleeve driving motor 121, and the middle sleeve driving motor 121 is connected with the bottom plate 80 in a mounting way;
the right outer sleeve gear 102 or the left outer sleeve gear 105 is meshed with the outer sleeve driving gear 108, the outer sleeve driving gear 108 is sleeved on a power output shaft of the outer sleeve driving motor 109, and the outer sleeve driving motor 109 is connected with the bottom plate 80 in an installation mode.
The right outer sleeve 93 is mounted on and connected to the bottom plate 80 via a right sliding bearing block 122, and the left outer sleeve 90 is mounted on and connected to the bottom plate 80 via a left sliding bearing block 123.
The intermediate outer sleeve 84 is mounted to the base plate 80 by a plurality of intermediate slide bearing blocks 124.
When the intelligent nurse robot arm driving mechanism is used, the power output shaft driving motor 117 is started, the right power output shaft gear 83 can be driven to rotate through the power output shaft driving gear 116, the right power output shaft 82 and the middle outer sleeve 84 are driven to rotate, the middle outer sleeve 84 drives the left power output shaft gear 115 to rotate through the middle outer sleeve left gear 114, and the left power output shaft 81 is driven to rotate, so that power is output through the left power output shaft belt pulley 107 at the left end of the left power output shaft 81, the power is output through the right power output shaft belt pulley 106 at the right end of the right power output shaft 82, and the power is used for driving the mopping roller of the intelligent nurse robot to rotate;
the power output shaft driving motor 117 may also drive the left power output shaft gear 115 to rotate through the power output shaft driving gear 116, and finally realize that the power output is output through the left power output shaft pulley 107 at the left end of the left power output shaft 81, so as to drive the mopping roller of the intelligent babysitter robot to perform a rotational motion, and the power output is output through the right power output shaft pulley 106 at the right end of the right power output shaft 82, so as to drive the mopping roller of the intelligent babysitter robot to perform a rotational motion.
Starting the inner sleeve driving motor 119, the inner sleeve driving gear 118 drives the left inner sleeve gear 97 to rotate and drives the left inner sleeve 88 and the middle sleeve 85 to rotate, the middle sleeve 85 drives the right inner sleeve gear 94 to rotate and drives the right inner sleeve 91 to rotate through the middle sleeve right gear 95, and further power output is achieved through a left inner sleeve belt pulley 125 at the left end of the left inner sleeve 88, the power output is achieved through a right inner sleeve belt pulley 112 at the right end of the right inner sleeve 91, and the power output is achieved through a left small arm of the intelligent nurse robot;
the inner sleeve driving motor 119 may also drive the right inner sleeve gear 94 to rotate through the inner sleeve driving gear 118, and finally realize that the power output is performed through the left inner sleeve pulley 125 at the left end of the left inner sleeve 88 for driving the left forearm of the intelligent nurse robot to perform the telescopic motion for changing the length, and the power output is performed through the right inner sleeve pulley 112 at the right end of the right inner sleeve 91 for driving the right forearm of the intelligent nurse robot to perform the telescopic motion for changing the length.
The middle sleeve driving motor 121 is started, namely the right middle sleeve gear 98 is driven to rotate through the middle sleeve driving gear 120, the right middle sleeve 92 and the middle inner sleeve 86 are driven to rotate, the middle inner sleeve 86 drives the left middle sleeve gear 101 to rotate through the middle inner sleeve left gear 100, and the left middle sleeve 89 is driven to rotate, so that power output is realized through a left middle sleeve belt pulley 111 at the left end of the left middle sleeve 89, the left forearm of the intelligent nurse robot is driven to swing up and down, and power output is realized through a right middle sleeve belt pulley 110 at the right end of the right middle sleeve 92, and the right forearm of the intelligent nurse robot is driven to swing up and down;
the middle sleeve driving motor 121 may also drive the left middle sleeve gear 101 to rotate through the middle sleeve driving gear 120, and finally realize that the power output is performed through the left middle sleeve pulley 111 at the left end of the left middle sleeve 89, so as to drive the left forearm of the intelligent nurse robot to perform the up-and-down swinging motion, and the power output is performed through the right middle sleeve pulley 110 at the right end of the right middle sleeve 92, so as to drive the right forearm of the intelligent nurse robot to perform the up-and-down swinging motion.
The outer sleeve driving motor 109 is started, namely the outer sleeve driving gear 108 can drive the right outer sleeve gear 102 to rotate and drive the right outer sleeve 93 and the middle shaft 87 to rotate, the middle shaft 87 drives the left outer sleeve gear 105 to rotate and drive the left outer sleeve 90 to rotate through the middle shaft left gear 104, so that power output is realized through the left end of the left outer sleeve 90 and is used for driving the left big arm of the intelligent nurse robot to do up-and-down swinging motion, and power output is realized through the right end of the right outer sleeve 93 and is used for driving the right big arm of the intelligent nurse robot to do up-and-down swinging motion;
the outer sleeve driving motor 109 may also drive the left outer sleeve gear 105 to rotate through the outer sleeve driving gear 108, and finally output power through the left end of the left outer sleeve 90 for driving the left big arm of the intelligent babysitter robot to swing up and down, and output power through the right end of the right outer sleeve 93 for driving the right big arm of the intelligent babysitter robot to swing up and down.
The above examples are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solution of the present invention should fall within the scope of protection defined by the claims of the present invention without departing from the design spirit of the present invention.
Claims (1)
1. Intelligent nurse robot arm actuating mechanism, its characterized in that: the device comprises a bottom plate (80), wherein the plate surface of the bottom plate (80) is positioned in the horizontal direction, a left power output shaft (81) is rotatably arranged on the left side above the bottom plate (80) along the left-right horizontal direction, a right power output shaft (82) is rotatably arranged on the right side above the bottom plate (80) along the left-right horizontal direction, the right power output shaft (82) and the left power output shaft (81) are coaxially arranged, a right power output shaft gear (83) is fixed on the left end of the right power output shaft (82), the front end of the right power output shaft gear (83) is meshed with the rear end of an intermediate outer sleeve right gear (113), the intermediate outer sleeve right gear (113) is fixed on the right end of an intermediate outer sleeve (84), the intermediate outer sleeve (84) is rotatably arranged above the bottom plate (80) along the left-right horizontal direction, the intermediate outer sleeve (84) is rotatably inserted with an intermediate middle sleeve (85) in a clearance fit manner, the left end and the right end of the intermediate middle sleeve (85) respectively extend out of the intermediate outer sleeve (84), the left end and the right end of the intermediate inner sleeve (86) respectively extend out of the intermediate sleeve (87) in a clearance fit manner, and the intermediate sleeve (86) respectively extend out of the intermediate shaft (87);
the left end of the middle outer sleeve (84) is fixedly provided with a middle outer sleeve left gear (114), the rear end of the middle outer sleeve left gear (114) is meshed with the front end of a left power output shaft gear (115), the left power output shaft gear (115) is fixedly arranged at the right end of a left power output shaft (81), the middle part of the outer side wall of the left power output shaft (81) is rotatably sleeved with a left inner sleeve (88) in a clearance fit manner, the middle part of the outer side wall of the left inner sleeve (88) is rotatably sleeved with a left middle sleeve (89) in a clearance fit manner, and the middle part of the outer side wall of the left middle sleeve (89) is rotatably sleeved with a left outer sleeve (90) in a clearance fit manner;
the middle part of the outer side wall of the right power output shaft (82) is rotatably sleeved with a right inner sleeve (91) in clearance fit, the middle part of the outer side wall of the right inner sleeve (91) is rotatably sleeved with a right middle sleeve (92) in clearance fit, and the middle part of the outer side wall of the right middle sleeve (92) is rotatably sleeved with a right outer sleeve (93) in clearance fit;
a right inner sleeve gear (94) is fixed at the left end of the right inner sleeve (91), the front end of the right inner sleeve gear (94) is meshed with the rear end of a middle sleeve right gear (95), the middle sleeve right gear (95) is fixed at the right end of the middle sleeve (85), the left end of the middle sleeve (85) is fixedly provided with a middle sleeve left gear (96), the rear end of the middle sleeve left gear (96) is meshed with the front end of a left inner sleeve gear (97), and the left inner sleeve gear (97) is fixedly arranged at the right end of the left inner sleeve (88);
the left end of the right middle sleeve (92) is fixedly provided with a right middle sleeve gear (98), the front end of the right middle sleeve gear (98) is meshed with the rear end of a middle inner sleeve right gear (99), the middle inner sleeve right gear (99) is fixedly arranged at the right end of the middle inner sleeve (86), the left end of the middle inner sleeve (86) is fixedly provided with a middle inner sleeve left gear (100), the rear end of the middle inner sleeve left gear (100) is meshed with the front end of a left middle sleeve gear (101), and the left middle sleeve gear (101) is fixedly arranged at the right end of the left middle sleeve (89);
the left end of the right outer sleeve (93) is fixedly provided with a right outer sleeve gear (102), the circumferential surface of the right outer sleeve gear (102) is positioned in the front-back direction, the front end of the right outer sleeve gear (102) is meshed with the rear end of an intermediate shaft right gear (103), the intermediate shaft right gear (103) is fixedly arranged at the right end of an intermediate shaft (87), the left end of the intermediate shaft (87) is fixedly provided with an intermediate shaft left gear (104), the circumferential surface of the intermediate shaft left gear (104) is positioned in the front-back direction, the rear end of the intermediate shaft left gear (104) is meshed with the front end of a left outer sleeve gear (105), and the left outer sleeve gear (105) is fixedly arranged at the right end of a left outer sleeve (90);
the right end of the right power output shaft (82) is a power output end, a right power output shaft belt pulley (106) is sleeved at the power output end of the right power output shaft (82), the left end of the left power output shaft (81) is a power output end, and a left power output shaft belt pulley (107) is sleeved at the power output end of the left power output shaft (81);
the right end of the right inner sleeve (91) is a power output end, the power output end of the right inner sleeve (91) is sleeved with a right inner sleeve belt pulley (112), the left end of the left inner sleeve (88) is a power output end, and the power output end of the left inner sleeve (88) is sleeved with a left inner sleeve belt pulley (125);
the right end of the right middle sleeve (92) is a power output end, the power output end of the right middle sleeve (92) is sleeved with a right middle sleeve belt pulley (110), the left end of the left middle sleeve (89) is a power output end, and the power output end of the left middle sleeve (89) is sleeved with a left middle sleeve belt pulley (111);
the right power output shaft gear (83) or the left power output shaft gear (115) is meshed with the power output shaft driving gear (116), the power output shaft driving gear (116) is sleeved on a power output shaft of the power output shaft driving motor (117), and the power output shaft driving motor (117) is connected with the bottom plate (80) in a mounting way;
the right inner sleeve gear (94) or the left inner sleeve gear (97) is meshed with the inner sleeve driving gear (118), the inner sleeve driving gear (118) is sleeved on a power output shaft of the inner sleeve driving motor (119), and the inner sleeve driving motor (119) is connected with the bottom plate (80) in an installation mode;
the right middle sleeve gear (98) or the left middle sleeve gear (101) is meshed with the middle sleeve driving gear (120), the middle sleeve driving gear (120) is sleeved on a power output shaft of the middle sleeve driving motor (121), and the middle sleeve driving motor (121) is connected with the bottom plate (80) in a mounting way;
the right outer sleeve gear (102) or the left outer sleeve gear (105) is meshed with the outer sleeve driving gear (108), the outer sleeve driving gear (108) is sleeved on a power output shaft of the outer sleeve driving motor (109), and the outer sleeve driving motor (109) is connected with the bottom plate (80) in an installation way;
the right outer sleeve (93) is connected with the bottom plate (80) through a right sliding bearing seat (122), and the left outer sleeve (90) is connected with the bottom plate (80) through a left sliding bearing seat (123);
the intermediate outer sleeve (84) is mounted to the base plate (80) by a plurality of intermediate slide bearing blocks (124).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811093959.9A CN109048885B (en) | 2018-09-19 | 2018-09-19 | Intelligent arm driving mechanism of nurse robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811093959.9A CN109048885B (en) | 2018-09-19 | 2018-09-19 | Intelligent arm driving mechanism of nurse robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109048885A CN109048885A (en) | 2018-12-21 |
| CN109048885B true CN109048885B (en) | 2023-09-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811093959.9A Active CN109048885B (en) | 2018-09-19 | 2018-09-19 | Intelligent arm driving mechanism of nurse robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN109048885B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013102775A2 (en) * | 2012-01-05 | 2013-07-11 | Optoforce Műszaki Fejlesztő És Innovációs Kft. | Driving mechanism |
| JP2015161382A (en) * | 2014-02-28 | 2015-09-07 | キヤノン株式会社 | Gear mechanism, speed change gear and multi-joint robot arm |
| CN107803827A (en) * | 2017-11-24 | 2018-03-16 | 中科步思德（洛阳）智控科技有限公司 | A kind of manipulator fixture and double machinery tong |
| CN107962588A (en) * | 2017-12-07 | 2018-04-27 | 北京康力优蓝机器人科技有限公司 | A kind of arm structure of robot |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW526120B (en) * | 2001-12-20 | 2003-04-01 | Chin Fong Machine Ind Co Ltd | Program-controllable torque magnifying mechanism |
| CN102990675B (en) * | 2011-09-08 | 2015-04-15 | 鸿富锦精密工业（深圳）有限公司 | Robot arm component |
-
2018
- 2018-09-19 CN CN201811093959.9A patent/CN109048885B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013102775A2 (en) * | 2012-01-05 | 2013-07-11 | Optoforce Műszaki Fejlesztő És Innovációs Kft. | Driving mechanism |
| JP2015161382A (en) * | 2014-02-28 | 2015-09-07 | キヤノン株式会社 | Gear mechanism, speed change gear and multi-joint robot arm |
| CN107803827A (en) * | 2017-11-24 | 2018-03-16 | 中科步思德（洛阳）智控科技有限公司 | A kind of manipulator fixture and double machinery tong |
| CN107962588A (en) * | 2017-12-07 | 2018-04-27 | 北京康力优蓝机器人科技有限公司 | A kind of arm structure of robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109048885A (en) | 2018-12-21 |
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