CN111872945A - Vehicle-mounted robot transmission structure - Google Patents
Vehicle-mounted robot transmission structure Download PDFInfo
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- CN111872945A CN111872945A CN202010604234.2A CN202010604234A CN111872945A CN 111872945 A CN111872945 A CN 111872945A CN 202010604234 A CN202010604234 A CN 202010604234A CN 111872945 A CN111872945 A CN 111872945A
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 75
- 238000009434 installation Methods 0.000 claims description 2
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- 238000010586 diagram Methods 0.000 description 8
- 238000004880 explosion Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000000712 assembly Effects 0.000 description 3
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- 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
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Abstract
The invention discloses a vehicle-mounted robot transmission structure, which comprises a robot head part and a left rotating frame and a right rotating frame, wherein the top ends of the left rotating frame and the right rotating frame are positioned in the robot head part, and the bottom ends of the left rotating frame and the right rotating frame are positioned outside the robot head part; the robot head part is provided with a left rotating frame and a right rotating frame, the left rotating frame and the right rotating frame are provided with horizontal rotating shafts, the horizontal rotating shafts are located in the robot head part, the horizontal rotating shafts are provided with inner gear rotating frames, the inner gear rotating frames are fixedly connected with the robot head part, the inner gear rotating frames are provided with transmission grooves, inner gear rings in the vertical direction are arranged in the transmission grooves, the inner gear rings are internally meshed with third gears, and the third gears drive the inner gear rotating frames to rotate up and down relative to the horizontal rotating shafts. The gear ring is reasonable in structural design, and the inner gear ring is meshed with the third gear, so that the compactness of the internal structure is improved. The center line of the inner gear ring is overlapped with the center line of the shaft hole, so that the stability and the fluency of transmission are improved.
Description
Technical Field
The invention relates to the technical field of vehicle-mounted robots, in particular to a transmission structure of a vehicle-mounted robot.
Background
The vehicle-mounted robot is mainly used for AI interactive recognition of a vehicle driver and a vehicle machine system, the head of the robot can carry out man-machine communication and tracking according to the state of the vehicle driver, and the internal transmission of the conventional vehicle-mounted robot usually adopts a structure of external gear meshing for power conversion and transmission. But it has problems in that: firstly, the internal structure of the vehicle-mounted robot is not compact due to the external gear meshing structure, so that the internal space utilization rate of the vehicle-mounted robot is reduced; secondly, the external gear meshing structure can cause the internal transmission of the vehicle-mounted robot to be unstable and the transmission precision to be low.
Disclosure of Invention
The invention aims to provide a vehicle-mounted robot transmission structure to improve the compactness of an internal space structure of a vehicle-mounted robot.
In order to achieve the purpose, the technical scheme of the invention provides a vehicle-mounted robot transmission structure which comprises a robot head part and a left rotating frame and a right rotating frame, wherein the top ends of the left rotating frame and the right rotating frame are positioned in the robot head part, and the bottom ends of the left rotating frame and the right rotating frame are positioned outside the robot head part; the robot head part is provided with a left rotating frame and a right rotating frame, the left rotating frame and the right rotating frame are provided with horizontal rotating shafts, the horizontal rotating shafts are located in the robot head part, the horizontal rotating shafts are provided with inner gear rotating frames, the inner gear rotating frames are fixedly connected with the robot head part, the inner gear rotating frames are provided with transmission grooves, inner gear rings in the vertical direction are arranged in the transmission grooves, the inner gear rings are internally meshed with third gears, and the third gears drive the inner gear rotating frames to rotate up and down relative to the horizontal rotating shafts.
Furthermore, the internal gear rotating frame is provided with a shaft hole which is sleeved on the horizontal rotating shaft so as to enable the internal gear rotating frame to rotate up and down around the horizontal rotating shaft; the inner gear ring is positioned on one side, far away from the shaft hole, in the transmission groove, and the center line of the inner gear ring is superposed with the center line of the shaft hole.
Furthermore, the number of the horizontal rotating shafts comprises two, the horizontal rotating shafts are respectively arranged on the left side and the right side of the top end of the left rotating frame and the right side of the top end of the right rotating frame, first shaft sleeves are respectively arranged on the inner walls of the left side and the right side of the head of the robot, the first shaft sleeves are respectively sleeved on the horizontal rotating shafts, and the horizontal rotating shafts are in running fit with the first shaft sleeves.
Furthermore, clamping blocks are respectively arranged on the horizontal rotating shafts, bayonets are respectively arranged in the first shaft sleeves, and the bayonets are respectively in limit fit with the clamping blocks so as to limit the size of the angle at which the head of the robot can rotate up and down.
Furthermore, an up-down rotating assembly is arranged in the robot head and is fixed on the left rotating frame and the right rotating frame; the vertical rotating assembly comprises a first motor support, a first stepping motor and a third gear, the first motor support is fixedly installed on the left rotating frame and the right rotating frame, the first stepping motor is fixedly installed on the first motor support, the third gear is installed on the first motor support, and the first stepping motor drives the third gear to rotate vertically.
Furthermore, the internal gear rotating frame is triangular, the shaft hole is positioned at an included angle of the internal gear rotating frame, and one side of the internal gear rotating frame, which is far away from the shaft hole, is an arc-shaped side; the transmission groove is an arc-shaped groove arranged in the vertical direction, and the direction of the transmission groove faces to the center of the shaft hole.
Furthermore, a bottom rotating shaft in the vertical direction is arranged at the bottom end of the left rotating frame and the right rotating frame; the vehicle-mounted robot transmission structure further comprises a base top cover and a base bottom cover, wherein the base top cover is positioned above the base bottom cover, the base top cover and the base bottom cover are installed to form a base with a cavity inside, a second shaft sleeve is arranged on the base top cover, and the cavity of the base is communicated with the outside through the second shaft sleeve; the bottom rotating shaft is arranged in the second shaft sleeve, and the bottom rotating shaft is in running fit with the second shaft sleeve.
Further, the cavity of base is equipped with left right rotating assembly, fourth gear, left right rotating assembly drive the fourth gear carries out the rotation about, the bottom of bottom pivot is passed the second axle sleeve with the top surface of fourth gear is connected fixedly, so that the fourth gear drives left right rotating assembly carries out the rotation about.
Furthermore, a limiting notch is formed in the bottom rotating shaft, a limiting buckle is arranged in the second shaft sleeve, and the limiting notch is in limiting fit with the limiting buckle so as to limit the size of the angle of the left rotating frame and the right rotating frame, which can rotate left and right; still be equipped with the mainboard in the base, the mainboard is used for right the left and right sides runner assembly controls, the mainboard installation is fixed in the inner wall of base bottom.
Furthermore, the left-right rotating assembly comprises a second motor support, a second stepping motor and a seventh gear, the second motor support is fixedly mounted on the inner wall of the base top cover, the second stepping motor and the seventh gear are respectively mounted on the second motor support, the second stepping motor drives the seventh gear to rotate left and right, and the seventh gear is externally meshed with the fourth gear to drive the fourth gear to rotate left and right.
In summary, the technical scheme of the invention has the following beneficial effects: the transmission groove is formed in the inner gear rotating frame, the inner gear ring in the vertical direction is arranged in the transmission groove, the inner gear ring is meshed with the third gear, the inner gear rotating frame is driven by the third gear to rotate up and down, the head of the robot is driven to rotate up and down around the horizontal rotating shaft in an inner meshing transmission mode, and therefore the space required by gear meshing transmission is reduced, and the compactness and the space utilization rate of the internal transmission structure of the vehicle-mounted robot are improved. The shaft hole is formed in the inner gear rotating frame, the shaft hole is sleeved on the horizontal rotating shaft, the inner gear ring is located on one side, far away from the shaft hole, in the transmission groove, and the center line of the inner gear ring is overlapped with the center line of the shaft hole, so that the centers of the inner gear ring and the inner gear rotating frame during rotation are overlapped on the horizontal rotating shaft, and the stability, the smoothness and the transmission precision of power transmission among the third gear, the inner gear ring and the inner gear rotating frame are improved. The left side and the right side of the top end of the left rotating frame and the right side of the top end of the right rotating frame are respectively arranged on the horizontal rotating shaft, the first shaft sleeves are respectively sleeved on the horizontal rotating shaft, the horizontal rotating shaft is in running fit with the first shaft sleeves, the left rotating frame and the right rotating frame are enabled to support the robot head, gravity borne by the inner gear rotating frame is shared, and stability and smoothness of the robot head during up-and-down rotation are improved. The bottom rotating shaft in the vertical direction is arranged at the bottom end of the left rotating frame and the bottom rotating frame, so that the bottom rotating shaft is in rotating fit with the second shaft sleeve, the left rotating assembly and the right rotating assembly are driven to rotate left and right the bottom rotating shaft, and the function of left and right rotation of the head of the robot is further realized.
Drawings
FIG. 1 is an exploded view of the transmission structure of the present invention;
FIG. 2 is an exploded view of the upper and lower rotating assemblies of the transmission structure of the vehicle-mounted robot according to the present invention;
FIG. 3 is an exploded view of the left and right rotating components of the transmission structure of the vehicle-mounted robot according to the present invention;
FIG. 4 is a schematic perspective view of a robot head of the transmission structure of the present invention;
FIG. 5 is a schematic perspective view of the transmission structure of the on-board robot of the present invention;
FIG. 6 is a schematic perspective view of the left and right rotating frames, the internal gear rotating frame, and the up-down rotating assembly of the transmission structure of the vehicle-mounted robot according to the present invention;
FIG. 7 is a schematic diagram of an explosion structure of the transmission structure of the vehicle-mounted robot when the left and right rotating frames, the internal gear rotating frame and the up-down rotating assembly are assembled;
FIG. 8 is a schematic diagram of a first three-dimensional structure of the transmission structure of the vehicle-mounted robot when the robot head, the left and right rotating assemblies and the fourth gear are assembled;
FIG. 9 is a schematic diagram of a second three-dimensional structure of the transmission structure of the vehicle-mounted robot when the robot head, the left and right rotating assemblies and the fourth gear are assembled;
FIG. 10 is a schematic diagram showing a first three-dimensional structure of the transmission structure of the present invention for the rear panel assembly of the robot vehicle when the rear panel assembly is assembled with the internal gear turret and the left and right turrets;
FIG. 11 is a schematic diagram showing a second three-dimensional structure of the transmission structure of the on-vehicle robot according to the present invention when the rear panel assembly is assembled with the internal gear turret and the left and right turrets;
FIG. 12 is a schematic diagram of a first explosion structure of the transmission structure of the vehicle-mounted robot when the left and right rotating frames are assembled with the top cover of the base;
FIG. 13 is a schematic diagram of a second explosion structure of the transmission structure of the vehicle-mounted robot with the left and right rotating frames and the top cover of the base assembled together;
FIG. 14 is a schematic view of a first explosion structure of the transmission structure of the vehicle-mounted robot, wherein the left and right rotating frames are assembled with the top cover of the base and the fourth gear;
FIG. 15 is a schematic diagram of a second explosion structure of the transmission structure of the vehicle-mounted robot of the present invention when the left and right rotating frames are assembled with the top cover of the base and the fourth gear;
description of reference numerals: 1-a rear panel assembly, 101-a first shaft sleeve and 1011-a bayonet; 2-internal gear rotating frame, 201-shaft hole, 202-transmission groove, 203-internal gear ring; 3-up and down rotation assembly, 301-first motor support, 302-first stepper motor, 303-first gear, 304-first gear shaft, 305-second gear, 306-third gear, 307-first elastic collar; 4-left and right rotating frames, 401-horizontal rotating shaft, 4011-fixture block, 402-bottom rotating shaft, 4021-limiting notch and 4022-first limiting step; 5-a front panel assembly; 6-a base top cover, 601-a second shaft sleeve, 602-a second limit step, 6021-a limit buckle and 603-a third limit step; 7-a fourth gear; 8-side-to-side rotation assembly, 801-second motor mount, 802-second stepper motor, 803-fifth gear, 804-second gear shaft, 805-sixth gear, 806-seventh gear, 807-second elastic collar; 9-a main board; 10-base bottom cover; 11-a screw; 12-a robot head; 13-base.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, but the technical solutions in the embodiments of the present invention are not limited to the scope of the present invention.
In the present invention, for a clearer description, the following explanation is made: when an observer views the attached drawings 5, the left rear of the observer is set as the front, the right front of the observer is set as the rear, the left front of the observer is set as the right, the right rear of the observer is set as the left, the upper surface of the observer is set as the upper, and the lower surface of the observer is set as the lower, it should be noted that the terms "front end", "rear end", "left side", "right side", "middle", "upper", "lower", and the like in the text indicate directions or positional relationships based on the orientation or positional relationships set in the attached drawings, and are only for the convenience of clearly describing the present invention, and do not indicate or imply that the structures or parts indicated must have a specific direction, be configured in a specific direction, and thus are not to be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and "fourth" are used merely for purposes of clarity or simplicity of description and are not to be construed as indicating or implying relative importance or quantity.
Referring to fig. 1, 4, 5, 6, 7 and 11, the present embodiment provides a vehicle-mounted robot transmission structure, which includes a robot head 12 and a left and right rotating frames 4, preferably, the robot head 12 is divided into a rear panel assembly 1 and a front panel assembly 5, the rear panel assembly 1 is a rear shell, the front panel assembly 5 is a front shell and a human-computer interaction end, and the front panel assembly 5 and the rear panel assembly 1 together form the robot head 12 with a cavity inside. The top end of the left and right rotating frames 4 is positioned in the robot head 12, the bottom end of the left and right rotating frames 4 is positioned outside the robot head 12, meanwhile, the left and right rotating frames 4 are provided with horizontal rotating shafts 401, the horizontal rotating shafts 401 are positioned in the robot head 12, and therefore the robot head 12 can rotate up and down around the horizontal rotating shafts 401, the robot head 12 rotates up and down relative to the left and right rotating frames 4, and the action of upward raising or downward nodding of a human can be simulated. Through being equipped with internal gear rotating turret 2 on horizontal axis of rotation 401, internal gear rotating turret 2 is connected fixedly with robot head 12, and then drives robot head 12 through internal gear rotating turret 2 and carries out the tilting about horizontal axis of rotation 401, and preferably the one end of keeping away from horizontal axis of rotation 401 on internal gear rotating turret 2 is connected fixedly through screw 11 and the inner wall of back panel assembly 1. The transmission groove 202 is formed in the internal gear rotating frame 2, the transmission groove 202 is used for providing a space required by meshing transmission of the internal gear ring 203 and the third gear 306, the internal gear ring 203 in the vertical direction is arranged in the transmission groove 202, the internal gear ring 203 is meshed with the third gear 306, the internal gear rotating frame 2 is driven by the third gear 306 to rotate up and down relative to the horizontal rotating shaft 401, the robot head 12 is driven to rotate up and down in an internal meshing transmission mode, the space required by gear meshing transmission is reduced, and therefore the compactness and the space utilization rate of an internal transmission structure of the vehicle-mounted robot are improved.
Specifically, referring to fig. 7, the inner gear turret 2 is provided with a shaft hole 201, and the shaft hole 201 is sleeved on a horizontal rotating shaft 401, so that the inner gear turret 2 rotates up and down around the horizontal rotating shaft 401, and the robot head 12 is driven to rotate up and down around the horizontal rotating shaft 401. The inner gear ring 203 is located on one side of the transmission groove 202 far away from the shaft hole 201, and the center line of the inner gear ring 203 is overlapped with the center line of the shaft hole 201, so that centers around which the inner gear ring 203 and the inner gear rotating frame 2 rotate are overlapped on the horizontal rotating shaft 401, and the stability, smoothness and transmission precision of power transmission among the third gear 306, the inner gear ring 203 and the inner gear rotating frame 2 are improved.
Specifically, referring to fig. 10 and 11, the number of the horizontal rotation shafts 401 is preferably two, but may be one or the like having the same function. Horizontal axis of rotation 401 is located the left and right sides on the top of controlling turret 4 respectively, and the left and right sides inner wall of robot head 12 is equipped with first axle sleeve 101 respectively, and preferably, first axle sleeve 101 divide into two semicircle axle sleeves, and one of them semicircle axle sleeve is located the inner wall of front panel assembly 5, and another semicircle axle sleeve is located the inner wall of back panel assembly 1, and its effect is convenient for install on horizontal axis of rotation 401. First axle sleeve 101 overlaps respectively on horizontal axis of rotation 401, and horizontal axis of rotation 401 carries out normal running fit with first axle sleeve 101, and first axle sleeve 101 carries out the effect of complex with horizontal axis of rotation 401 and lies in playing certain supporting role to robot head 12, and then shares the gravity that internal gear rotating turret 2 bore, and then makes robot head 12's rotation can be more smooth and easy and stable.
Specifically, referring to fig. 10 and 11, a fixture block 4011 is respectively disposed on the horizontal rotation shafts 401, a bayonet 1011 is respectively disposed in the first shaft sleeve 101, and the bayonet 1011 is in limit fit with the fixture block 4011, so as to limit the angle of the robot head 12 that can rotate up and down, wherein the angle of the robot head 12 that can rotate up and down can be adjusted by adjusting the angle α of the bayonet 1011, and of course, the up and down rotation angle of the robot head 12 can be limited by other manners having the same function.
Specifically, referring to fig. 2, an up-down rotating assembly 3 is provided in the robot head 12, and the up-down rotating assembly 3 is fixed to the left and right rotating frames 4, and functions to be maintained in a relatively stable position in a horizontal direction with respect to the internal gear rotating frame 2, so as to continuously drive the internal gear rotating frame 2 to rotate up and down. The up-down rotating assembly 3 comprises a first motor bracket 301, a first stepping motor 302 and a third gear 306, wherein the first motor bracket 301 is fixedly installed on the left-right rotating frame 4, the first stepping motor 302 is fixedly installed on the first motor bracket 301, the third gear 306 is installed on the first motor bracket 301, and the first stepping motor 302 drives the third gear 306 to rotate up and down. More specifically, the up-down rotation assembly 3 further includes a first gear 303, a first gear shaft 304, a second gear 305, and a first elastic collar 307, wherein the first gear 303 is mounted on a rotation shaft of the first stepping motor 302, the first gear shaft 304 is press-riveted to the first motor bracket 301 in a horizontal direction, the second gear 305 and the third gear 306 are sequentially mounted on the first gear shaft 304, the second gear 305 and the third gear 306 are fixed by the first elastic collar 307 so as to rotate up and down around the first gear shaft 304, the second gear 305 and the third gear 306 are fixed together to rotate synchronously, and the second gear 305 is larger than the third gear 306 so as to achieve a speed reduction effect. And first gear 303 and second gear 305 are in external meshing transmission, and third gear 306 and ring gear 203 are in internal meshing transmission, so that first stepping motor 302 drives first gear 303, first gear 303 drives second gear 305, second gear 305 drives third gear 306, and third gear 306 drives ring gear 203 to rotate up and down, which is only the preferred transmission structure of up-and-down rotation component 3, that is, other forms with the same function.
As a preferred embodiment, referring to fig. 6 and 7, the internal gear turret 2 is triangular in shape, which has the effect of reducing the space occupation to improve the compactness. More preferably, the shaft hole 201 is located at an included angle of the internal gear rotating frame 2, and one side of the internal gear rotating frame 2, which is far away from the shaft hole 201, is an arc-shaped side, which is convenient for the arrangement of the inner gear ring 203; the transmission groove 202 is an arc-shaped groove arranged in the vertical direction so as to facilitate the arrangement of the ring gear 203, and the direction of the transmission groove 202 faces the center of the shaft hole 201 so as to match the transmission of the ring gear 203.
Specifically, referring to fig. 6, 7 and 12, the left and right turrets 4 are preferably plate-shaped, but may be other shapes, the bottom ends of the left and right turrets 4 are provided with bottom rotating shafts 402 in the vertical direction, the bottom rotating shafts 402 are used for driving the left and right turrets 4 to rotate left and right, and the robot head 12 is connected to the horizontal rotating shaft 401 through the internal gear turret 2 and the first bushing 101, so the left and right turrets 4 will drive the robot head 12 to rotate left and right. The vehicle-mounted robot transmission structure further comprises a base top cover 6 and a base bottom cover 10, wherein the base top cover 6 is positioned above the base bottom cover 10, the base top cover 6 and the base bottom cover 10 are installed to form a base 13 with a cavity inside, a second shaft sleeve 601 is arranged on the base top cover 6, the second shaft sleeve 601 is used for communicating the cavity of the base 13 with the outside, and preferably, the second shaft sleeve 601 is formed by downwards sinking on the top surface of the base top cover so as to be communicated with the cavity of the base 13; the bottom rotating shaft 402 is installed in the second bushing 601, and the bottom rotating shaft 402 is rotatably engaged with the second bushing 601, so that the left and right rotating frames 4 can rotate left and right.
Specifically, referring to fig. 13, 14 and 15, a left-right rotating assembly 8 and a fourth gear 7 are arranged in the cavity of the base 13, the left-right rotating assembly 8 drives the fourth gear 7 to rotate left and right, and the bottom end of the bottom rotating shaft 402 passes through the second shaft sleeve 601 to be fixedly connected with the fourth gear 7, so that the fourth gear 7 drives the left-right rotating frame 4 to rotate left and right. More specifically, the upper end of the side surface of the bottom rotating shaft is provided with a first limiting step 4022, the upper end of the second shaft sleeve 601 is provided with a third limiting step 603, the lower end of the second shaft sleeve 601 is provided with a second limiting step 602, the third limiting step 603 upwards supports against the first limiting step 4022, so that the bottom rotating shaft 402 is prevented from continuously moving downwards, the bottom end of the bottom rotating shaft 402 penetrates through the second limiting step 602 to be fixedly connected with the top surface of the horizontally arranged fourth gear 7, the second limiting step 602 downwards supports against the top surface of the fourth gear 7, so that the bottom rotating shaft 402 is prevented from moving upwards, and further the limitation on the up-and-down movement of the bottom rotating shaft 402 in the second shaft sleeve 601 is realized.
Specifically, referring to fig. 1, 12, and 13, a limiting notch 4021 is provided on the bottom rotating shaft 402, a limiting buckle 6021 is provided in the second shaft sleeve 601, the limiting notch 4021 is in limiting fit with the limiting buckle 6021 to limit the angle of the left and right rotating frames 4 that can rotate left and right, wherein the angle of the left and right rotating frames can be adjusted by adjusting the angle β of the limiting notch 4021, and of course, the angle of the left and right rotating frames can be limited by other manners having the same function. A main board 9 is further arranged in the base 13, the main board 9 is used for controlling the left-right rotating assembly 8, the main board 9 is fixedly installed on the inner wall of the base bottom cover 10, and preferably, the main board 9 is located below the left-right rotating assembly 8.
Specifically, referring to fig. 3, 8 and 9, the left-right rotating assembly 8 includes a second motor bracket 801, a second stepping motor 802 and a seventh gear 806, the second motor bracket 801 is fixedly mounted on the inner wall of the base top cover 6, the second stepping motor 802 and the seventh gear 806 are respectively mounted on the second motor bracket 801, the second stepping motor 802 drives the seventh gear 806 to rotate left and right, and the second stepping motor 802 may be replaced by other driving devices with the same function, such as a rotary cylinder. The seventh gear 806 is externally engaged with the fourth gear 7 to drive the fourth gear 7 to rotate left and right. More specifically, the left-right rotation assembly 8 further includes a fifth gear 803, a second gear shaft 804, a sixth gear 805, and a second elastic collar 807, the fifth gear 803 is mounted on the rotation shaft of the second stepping motor 802, the second stepping motor 802 drives the fifth gear 803 to rotate left and right, the second motor support 802 is riveted with the second gear shaft 804 in the vertical direction, a sixth gear 805 and a seventh gear 806 are sequentially mounted on the second gear shaft 804, the sixth gear 805 and the seventh gear 806 are fixed by the second elastic collar 807, the sixth gear 805 and the seventh gear 806 are fixed as a whole, so as to achieve synchronous rotation, the sixth gear 805 is meshed with the fifth gear 803 in an external gear manner, the seventh gear 806 is meshed with the fourth gear 7 in an external gear manner, so that the second stepping motor 802 drives the fifth gear 803, the fifth gear 803 is driven by the fifth gear 803, the sixth gear 806, The sixth gear 806 drives the fourth gear 7 to rotate left and right, thereby causing the robot head 12 to rotate left and right along with the left and right turrets 4. Specifically, referring to fig. 1, the fixing means is preferably fixed by a screw 11, but other means such as snap-fit fixing may be possible.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (10)
1. A vehicle-mounted robot transmission structure comprises a robot head (12) and a left rotating frame and a right rotating frame (4), wherein the top end of the left rotating frame and the right rotating frame (4) is positioned in the robot head (12), and the bottom end of the left rotating frame and the right rotating frame (4) is positioned outside the robot head (12); the method is characterized in that: be equipped with horizontal axis of rotation (401) on controlling rotating turret (4), horizontal axis of rotation (401) is located in robot head (12), be equipped with internal gear rotating turret (2) on horizontal axis of rotation (401), internal gear rotating turret (2) with robot head (12) are connected fixedly, be equipped with transmission groove (202) on internal gear rotating turret (2), be equipped with ring gear (203) of vertical direction in transmission groove (202), ring gear (203) carry out the internal gearing with third gear (306), third gear (306) drive internal gear rotating turret (2) are relative horizontal axis of rotation (401) carry out the tilting.
2. The transmission structure of the in-vehicle robot according to claim 1, characterized in that: the inner gear rotating frame (2) is provided with a shaft hole (201), and the shaft hole (201) is sleeved on the horizontal rotating shaft (401) so that the inner gear rotating frame (2) can rotate up and down around the horizontal rotating shaft (401); the inner gear ring (203) is located on one side, far away from the shaft hole (201), in the transmission groove (202), and the center line of the inner gear ring (203) is superposed with the center line of the shaft hole (201).
3. The transmission structure of the in-vehicle robot according to claim 2, characterized in that: the quantity of horizontal axis of rotation (401) includes two, horizontal axis of rotation (401) are located respectively the left and right sides on the top of controlling rotating turret (4), the left and right sides inner wall of robot head (12) is equipped with first axle sleeve (101) respectively, first axle sleeve (101) overlap respectively on horizontal axis of rotation (401), horizontal axis of rotation (401) with first axle sleeve (101) carry out normal running fit.
4. The transmission structure of the in-vehicle robot according to claim 3, characterized in that: be equipped with fixture block (4011) on horizontal axis of rotation (401) respectively, be equipped with bayonet socket (1011) in first axle sleeve (101) respectively, bayonet socket (1011) respectively with fixture block (4011) carries out spacing cooperation, in order to inject robot head (12) can carry out upper and lower pivoted angle size.
5. The transmission structure of the in-vehicle robot according to any one of claims 1 to 4, characterized in that: an up-down rotating assembly (3) is arranged in the robot head (12), and the up-down rotating assembly (3) is fixed on the left-right rotating frame (4); the up-down rotating assembly (3) comprises a first motor support (301), a first stepping motor (302) and a third gear (306), the first motor support (301) is fixedly arranged on the left-right rotating frame (4), the first stepping motor (302) is fixedly arranged on the first motor support (301), the third gear (306) is arranged on the first motor support (301), and the first stepping motor (302) drives the third gear (306) to rotate up and down.
6. The transmission structure of the in-vehicle robot according to claim 5, characterized in that: the shape of the internal gear rotating frame (2) is triangular, the shaft hole (201) is positioned at an included angle of the internal gear rotating frame (2), and one side, far away from the shaft hole (201), of the internal gear rotating frame (2) is an arc-shaped side; the transmission groove (202) is an arc-shaped groove arranged in the vertical direction, and the direction of the transmission groove (202) faces to the center of the shaft hole (201).
7. The transmission structure of a vehicle-mounted robot according to claim 1, 2, 3, 4 or 6, characterized in that: the bottom end of the left rotating frame and the right rotating frame (4) is provided with a bottom rotating shaft (402) in the vertical direction; the base top cover (6) is positioned above the base bottom cover (10), the base top cover (6) and the base bottom cover (10) are installed to form a base (13) with a cavity inside, a second shaft sleeve (601) is arranged on the base top cover (6), and the cavity of the base (13) is communicated with the outside through the second shaft sleeve (601); the bottom rotating shaft (402) is arranged in a second shaft sleeve (601), and the bottom rotating shaft (402) is in rotating fit with the second shaft sleeve (601).
8. The transmission structure of the in-vehicle robot according to claim 7, characterized in that: the cavity of base (13) is equipped with left right rotating assembly (8), fourth gear (7), left right rotating assembly (8) drive fourth gear (7) carry out the rotation about, the bottom of bottom pivot (402) is passed second axle sleeve (601) with the top surface of fourth gear (7) is connected fixedly, so that fourth gear (7) drive left right rotating assembly (4) carry out the rotation about.
9. The transmission structure of the in-vehicle robot according to claim 8, characterized in that: a limiting notch (4021) is arranged on the bottom rotating shaft (402), a limiting buckle (6021) is arranged in the second shaft sleeve (601), and the limiting notch (4021) is in limiting fit with the limiting buckle (6021) to limit the angle of the left rotating frame and the right rotating frame (4) which can rotate left and right; still be equipped with mainboard (9) in base (13), mainboard (9) are used for right side rotate subassembly (8) control, mainboard (9) installation is fixed in the inner wall of base bottom (10).
10. The transmission structure of the in-vehicle robot according to claim 8 or 9, characterized in that: the left-right rotating assembly (8) comprises a second motor support (801), a second stepping motor (802) and a seventh gear (806), the second motor support (801) is fixedly installed on the inner wall of the base top cover (6), the second stepping motor (802) and the seventh gear (806) are respectively installed on the second motor support (801), the second stepping motor (802) drives the seventh gear (806) to rotate left and right, and the seventh gear (806) is externally meshed with the fourth gear (7) to drive the fourth gear (7) to rotate left and right.
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| CN202010604234.2A CN111872945A (en) | 2020-06-29 | 2020-06-29 | Vehicle-mounted robot transmission structure |
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Application publication date: 20201103 |