CN111993457A - Multi-degree-of-freedom leg steering engine for industrial robot - Google Patents
Multi-degree-of-freedom leg steering engine for industrial robot Download PDFInfo
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- CN111993457A CN111993457A CN202010717969.6A CN202010717969A CN111993457A CN 111993457 A CN111993457 A CN 111993457A CN 202010717969 A CN202010717969 A CN 202010717969A CN 111993457 A CN111993457 A CN 111993457A
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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
- B25J19/0091—Shock absorbers
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Abstract
The invention discloses a multi-degree-of-freedom leg steering engine for an industrial robot, relates to the related field of industrial robots, and aims to solve the problem that the prior art can only support unidirectional driving rotation when being used, and is often inconvenient for a user to use. The utility model discloses a device, including device shell, first pivot, second pivot, first axle sleeve, second pivot, second axle sleeve, rocking arm shell and device shell fixed connection, the inside of device shell is provided with the second motor, the upper end of second motor is provided with first pivot, one side of first pivot is provided with the second pivot, the lower extreme of second pivot is provided with first axle sleeve, the lower extreme of second pivot is provided with the second axle sleeve, the third pivot is set up to the laminating with the second axle sleeve, one side of device shell is provided with rocking arm shell, rocking arm shell and device shell fixed connection, the inside of rocking arm shell is provided with first motor, be provided with the shaft coupling on the first motor.
Description
Technical Field
The invention belongs to the field of industrial robots, and particularly relates to a multi-degree-of-freedom leg steering engine for an industrial robot.
Background
Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field, have a certain degree of automation, and can realize various industrial processing and manufacturing functions depending on the power energy and control capability of the industrial robots. Industrial robots are widely used in various industrial fields such as electronics, logistics, chemical industry and the like, and compared with traditional industrial equipment, industrial robots have numerous advantages, for example, robots have the characteristics of easy use, high intelligence level, high production efficiency and safety, easy management, remarkable economic benefit and the like, so that the industrial robots can operate in high-risk environments.
When the industrial robot is used, a steering engine is needed to be used for assisting the joint at the joint of the joint and the joint, and the steering engine is a position (angle) servo driver and is suitable for control systems which need to change the angle constantly and can be kept. The steering engine is widely applied to the remote control robot, the existing steering engine is simple in structure and convenient to use, and a user can use the steering engine conveniently.
However, most of the existing steering engines for industrial robots are of a single-angle adjusting structure, and when the steering engines are used, the steering engines only can support unidirectional driving and rotation, so that inconvenience is often brought to users; therefore, the market urgently needs to develop a multi-degree-of-freedom leg steering engine for an industrial robot to help people solve the existing problems.
Disclosure of Invention
The purpose of the invention is as follows: the utility model provides a multi freedom shank steering wheel for industrial robot to solve the above-mentioned problem that prior art exists.
The technical scheme is as follows: a multi-degree-of-freedom leg steering engine for an industrial robot comprises an apparatus shell, wherein a second motor is arranged in the apparatus shell, a first rotating shaft is arranged at the upper end of the second motor, a second rotating shaft is arranged on one side of the first rotating shaft, a first shaft sleeve is arranged at the lower end of the second rotating shaft, the first shaft sleeve and the second rotating shaft are arranged to be attached, a third rotating shaft is arranged on one side of the second rotating shaft, a second shaft sleeve is arranged at the lower end of the third rotating shaft, the third rotating shaft and the second shaft sleeve are arranged to be attached, a rotating arm shell is arranged on one side of the apparatus shell, the rotating arm shell is fixedly connected with the apparatus shell, a first motor is arranged in the rotating arm shell, a coupler is arranged on the first motor, a rotating arm rotating shaft is arranged in the coupler, and is connected with the first motor through the coupler, can rotate through first motor and second motor, realize the multi-angle rotation to the steering wheel.
In a further embodiment, the lower end of the device housing is provided with a device bottom plate, which is provided in a rectangular plate shape, one side of the front end of the device bottom plate is provided with four connecting corner blocks, the four connecting corner blocks are arranged at the four rectangular corners of the device bottom plate, the connecting angle block is jointed with the device bottom plate, the lower end of the device bottom plate is provided with a radiating fin, the radiating fins are connected with the device bottom plate in a sticking way, the connecting angle block is provided with mounting holes, the mounting hole is in a round hole shape, a mounting stud is arranged inside the mounting hole, the connecting angle block is connected with the device bottom plate through the mounting stud, one side of the connecting angle block is provided with a first connecting hole, the front end of the connecting angle block is provided with a second connecting hole, and the multidirectional installation of the whole leg steering engine can be realized through the arranged connecting angle block.
In a further embodiment, a buffer block is arranged at the lower end of the first motor, the buffer block is fixedly connected with the rotating arm shell, the buffer block is arranged to be of an elastic structure, a first damping sheet is arranged on one side of the buffer block, a damping block is arranged on one side of the first damping sheet, the damping block is arranged to be of an elastic structure, the damping block is fixedly connected with the first damping sheet, a second damping sheet is arranged on one side of the damping block, and the second damping sheet is fixedly connected with the damping block, so that the vibration generated when the first motor works can be relieved through the arranged plurality of damping structures.
In a further embodiment, a fixed sleeve is arranged on the outer side of the first motor, the fixed sleeve is arranged to be attached to the first motor, the fixed sleeve is fixedly connected to the rotating arm shell, a bearing sleeve is arranged on the outer side of the rotating arm shaft, the bearing sleeve is fixedly connected to the rotating arm shell, the bearing sleeve is arranged to be attached to the rotating arm shaft, a first positioning groove is arranged on the rotating arm shaft, the number of the first positioning grooves is two, a second positioning groove is arranged on one side of the first positioning groove, the number of the second positioning grooves is two, and the connection and fixation of the whole rotating arm shaft by a user can be facilitated through the arrangement of the first positioning groove and the second positioning groove.
In a further embodiment, the lower extreme of second motor is provided with the motor protecting case, the motor protecting case sets up to the laminating with the second motor, the lower extreme of motor protecting case is provided with the baffle, baffle and device shell fixed connection, the lower extreme of baffle is provided with the equipment box, be provided with the radiating groove on the equipment box, the radiating groove is provided with a plurality ofly, the degree of depth of radiating groove sets up to unanimously with the thickness of equipment box, can come the auxiliary assembly case through the radiating groove that sets up and carry out the thermal treatment.
In a further embodiment, a control circuit board is arranged inside the equipment box, a WH-LTE-7S4 wireless transmission module is arranged on one side of the control circuit board, the control circuit board is electrically connected with the WH-LTE-7S4 wireless transmission module, a storage battery pack is arranged on one side of the WH-LTE-7S4 wireless transmission module, a first fixing plate is arranged at the upper end of the control circuit board and fixedly connected with the equipment box, a potentiometer is arranged at the upper end of the first fixing plate and electrically connected with the control circuit board, a UV7 data storage module is arranged on one side of the potentiometer, the UV7 data storage module is electrically connected with the control circuit board, a second fixing plate is arranged at the lower end of the UV7 data storage module and fixedly connected with the equipment box, the control of the opening and closing rotating speed of the whole steering engine can be realized through the arrangement of each structure.
In a further embodiment, a first gear is arranged on the first rotating shaft, the first gear is fixedly connected with the first rotating shaft, a second gear is arranged on one side of the first gear, the second gear is meshed with the first gear, a third gear is arranged at the upper end of the second gear, the third gear is fixedly connected with the second rotating shaft, a sixth gear is arranged on one side of the third gear, the sixth gear is meshed with the third gear, a seventh gear is arranged at the upper end of the sixth gear, the seventh gear is fixedly connected with the third rotating shaft, a fourth gear is arranged on one side of the seventh gear, the fourth gear is meshed with the seventh gear, a fifth gear is arranged at the upper end of the fourth gear, the fifth gear is fixedly connected with the second rotating shaft, and an eighth gear is arranged on one side of the fifth gear, the eighth gear and the fifth gear are meshed, and torque of the whole steering engine during rotation can be improved through the arranged gears.
In a further embodiment, the upper end of the eighth gear is provided with a fixing column, the fixing column is fixedly connected with the third rotating shaft, the upper end of the fixing column is provided with a connector, the connector is fixedly connected with the third rotating shaft, the upper end of the connector is provided with a positioning tooth, the positioning tooth is fixedly connected with the connector, a positioning mounting hole is formed in the positioning tooth, the positioning mounting hole is a bolt hole, and the driving device can be replaced by the aid of the arrangement of each structure.
In a further embodiment, a first fixing plate is arranged on one side of the rear end of the device shell and fixedly connected with the device shell, a plurality of fixing holes are formed in the first fixing plate, a second fixing plate is arranged at the upper end of the first fixing plate and connected with the first fixing plate through bolts, a top cover is arranged on one side of the second fixing plate, a nameplate frame is arranged at the front end of the top cover and fixedly connected with the top cover, a hollowed-out hole is formed in the top cover and is in a round hole shape, the depth of the hollowed-out hole is consistent with the thickness of the top cover, and protection of a plurality of gears can be achieved through arrangement of structures.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the multi-degree-of-freedom leg steering engine for the industrial robot, due to the arrangement of the first motor and the second motor, when a user uses the multi-degree-of-freedom leg steering engine for the industrial robot, the user can drive the rotating shaft of the rotating arm to rotate through the first motor, so that the angle adjustment of the steering engine is realized, meanwhile, the first rotating shaft is driven to rotate through the second motor, so that the rotation adjustment of the connector is realized through the transmission of the gear set, and further the multi-degree-of-freedom adjustment of the steering engine can be realized to a certain extent;
2. according to the multi-degree-of-freedom leg steering engine for the industrial robot, due to the arrangement of the buffer block, the first damping sheet, the damping block and the second damping sheet, when a user uses the multi-degree-of-freedom leg steering engine for the industrial robot, the user can relieve vibration generated when the first motor rotates through interaction of the buffer block, the first damping sheet, the damping block and the second damping sheet, and can relieve the use pressure of the user to a certain extent, so that the user can use the multi-degree-of-freedom leg steering engine for the industrial robot for a long time.
Drawings
FIG. 1 is a schematic view of an exploded structure of the present invention;
FIG. 2 is a schematic bottom exploded view of the present invention;
FIG. 3 is a schematic view of the mounting structure of the present invention;
FIG. 4 is a schematic cross-sectional structural view of the present invention;
fig. 5 is a schematic view of the internal structure of the equipment box of the present invention.
In the figure: the device comprises a device shell 1, a device bottom plate 2, a radiating fin 3, a connecting corner block 4, a mounting hole 5, a mounting stud 6, a first connecting hole 7, a second connecting hole 8, a rotating arm shell 9, a buffer block 10, a first damping sheet 11, a damping block 12, a second damping sheet 13, a first motor 14, a fixing sleeve 15, a coupler 16, a rotating arm rotating shaft 17, a bearing sleeve 18, a first positioning groove 19, a second positioning groove 20, a first fixing sheet 21, a fixing hole 22, an equipment box 23, a radiating groove 24, a storage battery pack 25, a WH-LTE-7S4 wireless transmission module 26, a control circuit board 27, a first fixing plate 28, a potentiometer 29, a UV7 data storage module 30, a second fixing plate 31, a partition plate 32, a motor protective shell 33, a second motor 34, a first rotating shaft 35, The automatic plate fixing device comprises a first gear 36, a second gear 37, a second rotating shaft 38, a first shaft sleeve 39, a third gear 40, a fourth gear 41, a fifth gear 42, a third rotating shaft 43, a second shaft sleeve 44, a sixth gear 45, a seventh gear 46, an eighth gear 47, a fixing column 48, a connecting head 49, a positioning tooth 50, a positioning mounting hole 51, a top cover 52, a nameplate frame 53, a second fixing sheet 54 and a hollow hole 55.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1-5, an embodiment of the present invention is shown: a multi-degree-of-freedom leg steering engine for an industrial robot comprises an apparatus shell 1, wherein a second motor 34 is arranged inside the apparatus shell 1, a first rotating shaft 35 is arranged at the upper end of the second motor 34, a second rotating shaft 38 is arranged on one side of the first rotating shaft 35, a first shaft sleeve 39 is arranged at the lower end of the second rotating shaft 38, the first shaft sleeve 39 is attached to the second rotating shaft 38, a third rotating shaft 43 is arranged on one side of the second rotating shaft 38, a second shaft sleeve 44 is arranged at the lower end of the third rotating shaft 43, the third rotating shaft 43 is attached to the second shaft sleeve 44, a rotating arm shell 9 is arranged on one side of the apparatus shell 1, the rotating arm shell 9 is fixedly connected with the apparatus shell 1, a first motor 14 is arranged inside the rotating arm shell 9, a coupler 16 is arranged on the first motor 14, a rotating arm rotating shaft 17 is arranged inside the coupler 16, and the rotating arm rotating, can rotate through first motor 14 drive rocking arm pivot 17, adjust the first angle of steering wheel, rethread second motor 34 drive first pivot 35 rotates simultaneously to improve the moment of torsion when whole a plurality of pivots rotate through the gear train, realize adjusting the second angle of steering wheel.
Further, a device bottom plate 2 is arranged at the lower end of the device shell 1, the device bottom plate 2 is arranged in a rectangular plate shape, a connecting corner block 4 is arranged on one side of the front end of the device bottom plate 2, four connecting corner blocks 4 are arranged at four corners of the rectangle of the device bottom plate 2, the connecting corner blocks 4 are arranged to be attached to the device bottom plate 2, a radiating fin 3 is arranged at the lower end of the device bottom plate 2, the radiating fin 3 is connected with the device bottom plate 2 through pasting, a mounting hole 5 is arranged on each connecting corner block 4, each mounting hole 5 is arranged in a round hole shape, a mounting stud 6 is arranged inside each mounting hole 5, each connecting corner block 4 is connected with the device bottom plate 2 through the mounting stud 6, a first connecting hole 7 is arranged on one side of each connecting corner block 4, a second connecting hole 8 is arranged at the front end of each connecting corner block 4, and heat accumulated at, thereby discharge through fin 3, simultaneously through the double-screw bolt formula connection structure of installation double-screw bolt 6 again, realize the quick installation and the connection to connecting angle piece 4, the rethread first connecting hole 7 realizes the diversified erection joint to the steering wheel with second connecting hole 8 simultaneously.
Further, the lower extreme of first motor 14 is provided with buffer block 10, buffer block 10 and rocking arm shell 9 fixed connection, buffer block 10 sets up to elastic construction, one side of buffer block 10 is provided with first snubber plate 11, one side of first snubber plate 11 is provided with snubber block 12, snubber block 12 sets up to elastic construction, snubber block 12 and first snubber plate 11 fixed connection, one side of snubber block 12 is provided with second snubber plate 13, second snubber plate 13 and snubber block 12 fixed connection, can come the very big vibrations that produce first motor 14 through buffer block 10 and snubber block 12 that are elastic construction and alleviate the processing.
Further, the outside of first motor 14 is provided with fixed cover 15, fixed cover 15 sets up to the laminating with first motor 14, fixed cover 15 and rocking arm shell 9 fixed connection, the outside of rocking arm pivot 17 is provided with bearing housing 18, bearing housing 18 and rocking arm shell 9 fixed connection, bearing housing 18 sets up to the laminating with rocking arm pivot 17, be provided with first constant head tank 19 on the rocking arm pivot 17, first constant head tank 19 is provided with two, one side of first constant head tank 19 is provided with second constant head tank 20, second constant head tank 20 is provided with two, can facilitate the user to carry out fixed connection to this rocking arm pivot 17 through the constant head tank of multimode.
Further, the lower extreme of second motor 34 is provided with motor protecting case 33, motor protecting case 33 sets up to the laminating with second motor 34, the lower extreme of motor protecting case 33 is provided with baffle 32, baffle 32 and device shell 1 fixed connection, the lower extreme of baffle 32 is provided with equipment box 23, be provided with radiating groove 24 on the equipment box 23, radiating groove 24 is provided with a plurality ofly, the degree of depth of radiating groove 24 sets up to unanimity with the thickness of equipment box 23, can realize the supplementary heat dissipation to equipment box 23 through the setting of radiating groove 24.
Further, a control circuit board 27 is arranged inside the equipment box 23, a WH-LTE-7S4 wireless transmission module 26 is arranged on one side of the control circuit board 27, the control circuit board 27 is electrically connected with the WH-LTE-7S4 wireless transmission module 26, a storage battery pack 25 is arranged on one side of the WH-LTE-7S4 wireless transmission module 26, a first fixing plate 28 is arranged at the upper end of the control circuit board 27, the first fixing plate 28 is fixedly connected with the equipment box 23, a potentiometer 29 is arranged at the upper end of the first fixing plate 28, the potentiometer 29 is electrically connected with the control circuit board 27, a UV7 data storage module 30 is arranged on one side of the potentiometer 29, the UV7 data storage module 30 is electrically connected with the control circuit board 27, a second fixing plate 31 is arranged at the lower end of the UV7 data storage module 30, the second fixing plate 31 is fixedly connected with the equipment box 23, and the equipment inside the equipment box 23 can be controlled by, the WH-LTE-7S4 wireless transmission module 26 is used for remotely controlling the steering engine, the storage battery pack 25 is used for supplying power to the internal arrangement of the equipment box 23, the potentiometer 29 is used for adjusting the rotation angle of the third rotating shaft 43, and the UV7 data storage module 30 is used for storing data streams generated in the equipment box 23.
Further, a first gear 36 is arranged on the first rotating shaft 35, the first gear 36 is fixedly connected with the first rotating shaft 35, a second gear 37 is arranged on one side of the first gear 36, the second gear 37 is meshed with the first gear 36, a third gear 40 is arranged at the upper end of the second gear 37, the third gear 40 is fixedly connected with the second rotating shaft 38, a sixth gear 45 is arranged on one side of the third gear 40, the sixth gear 45 is meshed with the third gear 40, a seventh gear 46 is arranged at the upper end of the sixth gear 45, the seventh gear 46 is fixedly connected with the third rotating shaft 43, a fourth gear 41 is arranged on one side of the seventh gear 46, the fourth gear 41 is meshed with the seventh gear 46, a fifth gear 42 is arranged at the upper end of the fourth gear 41, the fifth gear 42 is fixedly connected with the second rotating shaft 38, an eighth gear 47 is arranged at one side of the fifth gear 42, the eighth gear 47 is meshed with the fifth gear 42, the torque when the rotating shaft rotates can be improved through the mutually meshed rotation of the gears.
Further, the upper end of eighth gear 47 is provided with fixed column 48, fixed column 48 and third pivot 43 fixed connection, the upper end of fixed column 48 is provided with connector 49, connector 49 and third pivot 43 fixed connection, the upper end of connector 49 is provided with location tooth 50, location tooth 50 and connector 49 fixed connection, be provided with location mounting hole 51 on the location tooth 50, location mounting hole 51 sets up to the bolt hole, can come carrying out erection joint to rotating-structure through location tooth 50 and location mounting hole 51, so that the user changes the installation to different rotating-structure.
Further, one side of the rear end of the device shell 1 is provided with a first fixing sheet 21, the first fixing sheet 21 is fixedly connected with the device shell 1, a fixing hole 22 is formed in the first fixing sheet 21, the fixing hole 22 is provided with a plurality of fixing sheets, a second fixing sheet 54 is arranged at the upper end of the first fixing sheet 21, the second fixing sheet 54 is connected with the first fixing sheet 21 through a bolt, a top cover 52 is arranged on one side of the second fixing sheet 54, a nameplate frame 53 is arranged at the front end of the top cover 52, the nameplate frame 53 is fixedly connected with the top cover 52, a hollow hole 55 is formed in the top cover 52, the hollow hole 55 is in a circular hole shape, the depth of the hollow hole 55 is consistent with the thickness of the top cover 52, the gear set can be protected through the top cover 52, and the top cover 52 can be rapidly installed and detached through a bolt.
The working principle is as follows: when the multi-degree-of-freedom leg steering engine is used, the whole multi-degree-of-freedom leg steering engine for the industrial robot is firstly checked, after a user confirms that the checking is correct, the industrial robot is connected with the second positioning groove 20 through the first positioning groove 19 on the rotating arm rotating shaft 17, then the component to be rotated is connected with the positioning teeth 50 through the positioning mounting hole 51, after the connection is confirmed, the work can be started, the rotating arm rotating shaft 17 is driven to rotate through the driven first motor 14, the angle adjustment of the steering engine in a single direction can be completed, meanwhile, the first rotating shaft 35 is driven to rotate through the second motor 34, the second gear 37 is driven to rotate through the synchronously rotating first gear 36, the sixth gear 45 is driven to rotate through the synchronously rotating third gear 40, the fourth gear 41 is driven to rotate through the rotating seventh gear 46, and the eighth gear 47 is driven to rotate through the rotating fifth gear 42, the connector 49 which rotates synchronously drives the component to be rotated to adjust the angle of the steering engine in the other direction, in the using process of the steering engine, the adjusting electric signal is transmitted to the WH-LTE-7S4 wireless transmission module 26, the operation can be completed through the control circuit board 27, meanwhile, the vibration generated when the first motor 14 rotates is relieved through the interaction of the buffer block 10, the first damping sheet 11, the damping block 12 and the second damping sheet 13, the use pressure of a user can be relieved to a certain degree, and the service life of the whole steering engine is further prolonged.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (9)
1. The utility model provides a multi freedom shank steering wheel for industrial robot, includes device shell (1), its characterized in that: the device is characterized in that a second motor (34) is arranged in the device shell (1), a first rotating shaft (35) is arranged at the upper end of the second motor (34), a second rotating shaft (38) is arranged on one side of the first rotating shaft (35), a first shaft sleeve (39) is arranged at the lower end of the second rotating shaft (38), the first shaft sleeve (39) and the second rotating shaft (38) are arranged to be attached, a third rotating shaft (43) is arranged on one side of the second rotating shaft (38), a second shaft sleeve (44) is arranged at the lower end of the third rotating shaft (43), the third rotating shaft (43) and the second shaft sleeve (44) are arranged to be attached, a rotating arm shell (9) is arranged on one side of the device shell (1), the rotating arm shell (9) is fixedly connected with the device shell (1), a first motor (14) is arranged in the rotating arm shell (9), and a coupler (16) is arranged on the first motor (14), the interior of shaft coupling (16) is provided with rocking arm pivot (17), rocking arm pivot (17) are connected through shaft coupling (16) with first motor (14).
2. The multi-degree-of-freedom leg steering engine for an industrial robot according to claim 1, characterized in that: the lower end of the device shell (1) is provided with a device bottom plate (2), the device bottom plate (2) is arranged in a rectangular plate shape, one side of the front end of the device bottom plate (2) is provided with four connecting corner blocks (4), the four connecting corner blocks (4) are arranged at the four corners of the rectangle of the device bottom plate (2), the connecting corner blocks (4) are attached to the device bottom plate (2), the lower end of the device bottom plate (2) is provided with radiating fins (3), the radiating fins (3) are connected with the device bottom plate (2) through adhesion, mounting holes (5) are formed in the connecting corner blocks (4), the mounting holes (5) are arranged in a round hole shape, mounting studs (6) are arranged in the mounting holes (5), and the connecting corner blocks (4) are connected with the device bottom plate (2) through the mounting studs (6), one side of connecting angle piece (4) is provided with first connecting hole (7), the front end of connecting angle piece (4) is provided with second connecting hole (8).
3. The multi-degree-of-freedom leg steering engine for an industrial robot according to claim 1, characterized in that: the lower extreme of first motor (14) is provided with buffer block (10), buffer block (10) and rocking arm shell (9) fixed connection, buffer block (10) set up to elastic construction, one side of buffer block (10) is provided with first snubber plate (11), one side of first snubber plate (11) is provided with snubber block (12), snubber block (12) set up to elastic construction, snubber block (12) and first snubber plate (11) fixed connection, one side of snubber block (12) is provided with second snubber plate (13), second snubber plate (13) and snubber block (12) fixed connection.
4. The multi-degree-of-freedom leg steering engine for an industrial robot according to claim 1, characterized in that: the outside of first motor (14) is provided with fixed cover (15), fixed cover (15) set up to the laminating with first motor (14), fixed cover (15) and rocking arm shell (9) fixed connection, the outside of rocking arm pivot (17) is provided with bearing housing (18), bearing housing (18) and rocking arm shell (9) fixed connection, bearing housing (18) set up to the laminating with rocking arm pivot (17), be provided with first constant head tank (19) on rocking arm pivot (17), first constant head tank (19) are provided with two, one side of first constant head tank (19) is provided with second constant head tank (20), second constant head tank (20) are provided with two.
5. The multi-degree-of-freedom leg steering engine for an industrial robot according to claim 1, characterized in that: the lower extreme of second motor (34) is provided with motor protecting case (33), motor protecting case (33) sets up to the laminating with second motor (34), the lower extreme of motor protecting case (33) is provided with baffle (32), baffle (32) and device shell (1) fixed connection, the lower extreme of baffle (32) is provided with equipment box (23), be provided with radiating groove (24) on equipment box (23), radiating groove (24) are provided with a plurality ofly, the degree of depth of radiating groove (24) sets up to unanimous with the thickness of equipment box (23).
6. The multi-degree-of-freedom leg steering engine for an industrial robot according to claim 5, wherein: the inside of equipment case (23) is provided with control circuit board (27), one side of control circuit board (27) is provided with WH-LTE-7S4 wireless transmission module (26), control circuit board (27) and WH-LTE-7S4 wireless transmission module (26) electric connection, one side of WH-LTE-7S4 wireless transmission module (26) is provided with storage battery (25), the upper end of control circuit board (27) is provided with first fixed plate (28), first fixed plate (28) and equipment case (23) fixed connection, the upper end of first fixed plate (28) is provided with potentiometre (29), potentiometre (29) and control circuit board (27) electric connection, one side of potentiometre (29) is provided with UV7 data storage module (30), UV7 data storage module (30) and control circuit board (27) electric connection, the lower end of the UV7 data storage module (30) is provided with a second fixing plate (31), and the second fixing plate (31) is fixedly connected with the equipment box (23).
7. The multi-degree-of-freedom leg steering engine for an industrial robot according to claim 1, characterized in that: a first gear (36) is arranged on the first rotating shaft (35), the first gear (36) is fixedly connected with the first rotating shaft (35), a second gear (37) is arranged on one side of the first gear (36), the second gear (37) is meshed with the first gear (36), a third gear (40) is arranged at the upper end of the second gear (37), the third gear (40) is fixedly connected with the second rotating shaft (38), a sixth gear (45) is arranged on one side of the third gear (40), the sixth gear (45) is meshed with the third gear (40), a seventh gear (46) is arranged at the upper end of the sixth gear (45), the seventh gear (46) is fixedly connected with the third rotating shaft (43), a fourth gear (41) is arranged on one side of the seventh gear (46), and the fourth gear (41) is meshed with the seventh gear (46), the upper end of the fourth gear (41) is provided with a fifth gear (42), the fifth gear (42) is fixedly connected with the second rotating shaft (38), one side of the fifth gear (42) is provided with an eighth gear (47), and the eighth gear (47) and the fifth gear (42) are meshed.
8. The multi-degree-of-freedom leg steering engine for an industrial robot according to claim 7, wherein: the upper end of eighth gear (47) is provided with fixed column (48), fixed column (48) and third pivot (43) fixed connection, the upper end of fixed column (48) is provided with connector (49), connector (49) and third pivot (43) fixed connection, the upper end of connector (49) is provided with location tooth (50), location tooth (50) and connector (49) fixed connection, be provided with location mounting hole (51) on location tooth (50), location mounting hole (51) set up to the bolt hole.
9. The multi-degree-of-freedom leg steering engine for an industrial robot according to claim 1, characterized in that: one side of device shell (1) rear end is provided with first stationary blade (21), first stationary blade (21) and device shell (1) fixed connection, be provided with fixed orifices (22) on first stationary blade (21), fixed orifices (22) are provided with a plurality ofly, the upper end of first stationary blade (21) is provided with second stationary blade (54), second stationary blade (54) passes through bolted connection with first stationary blade (21), one side of second stationary blade (54) is provided with top cap (52), the front end of top cap (52) is provided with data plate frame (53), data plate frame (53) and top cap (52) fixed connection, be provided with fretwork hole (55) on top cap (52), fretwork hole (55) are the round hole form, the degree of depth of fretwork hole (55) sets up to unanimously with the thickness of top cap (52).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010717969.6A CN111993457B (en) | 2020-07-23 | 2020-07-23 | Multi-degree-of-freedom leg steering engine for industrial robot |
Applications Claiming Priority (1)
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| CN102862165A (en) * | 2012-09-25 | 2013-01-09 | 杭州电子科技大学 | Double-degree-of-freedom robot shoulder joint steering engine |
| CN102862164A (en) * | 2012-09-25 | 2013-01-09 | 杭州电子科技大学 | Double-degree-of-freedom robot hip joint steering engine |
| CN106909180A (en) * | 2017-03-15 | 2017-06-30 | 上海未来伙伴机器人有限公司 | Two-freedom center cabling steering wheel |
| CN108032328A (en) * | 2017-12-18 | 2018-05-15 | 深圳市优必选科技有限公司 | A kind of steering engine component, robot joint structure and robot |
| CN109514540A (en) * | 2018-12-13 | 2019-03-26 | 深圳市优必选科技有限公司 | A kind of steering engine and robot |
| CN210061187U (en) * | 2019-02-27 | 2020-02-14 | 西安工程大学 | Steering engine with two degrees of freedom simultaneously |
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102862165A (en) * | 2012-09-25 | 2013-01-09 | 杭州电子科技大学 | Double-degree-of-freedom robot shoulder joint steering engine |
| CN102862164A (en) * | 2012-09-25 | 2013-01-09 | 杭州电子科技大学 | Double-degree-of-freedom robot hip joint steering engine |
| CN106909180A (en) * | 2017-03-15 | 2017-06-30 | 上海未来伙伴机器人有限公司 | Two-freedom center cabling steering wheel |
| CN108032328A (en) * | 2017-12-18 | 2018-05-15 | 深圳市优必选科技有限公司 | A kind of steering engine component, robot joint structure and robot |
| CN109514540A (en) * | 2018-12-13 | 2019-03-26 | 深圳市优必选科技有限公司 | A kind of steering engine and robot |
| CN210061187U (en) * | 2019-02-27 | 2020-02-14 | 西安工程大学 | Steering engine with two degrees of freedom simultaneously |
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