CN201214248Y - Differential mechanism of robot waist and shoulder joint - Google Patents
Differential mechanism of robot waist and shoulder joint Download PDFInfo
- Publication number
- CN201214248Y CN201214248Y CNU2008200994407U CN200820099440U CN201214248Y CN 201214248 Y CN201214248 Y CN 201214248Y CN U2008200994407 U CNU2008200994407 U CN U2008200994407U CN 200820099440 U CN200820099440 U CN 200820099440U CN 201214248 Y CN201214248 Y CN 201214248Y
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- CN
- China
- Prior art keywords
- gear
- tapering
- axle
- shaft
- key
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
The utility model relates to a robot waist-shoulder joint differential mechanism, and relates to a mechanical transmission structure. An output shaft of a reducer of a servo motor A (1) with a reducer is connected with a taper gear A (3) through a key; the shaft of a gear shaft A (5) is connected with a taper gear B (4) through a key and the teeth on the shaft are engaged with a straight gear A (6); the straight gear A (6) is connected with a shaft sleeve (10) through a key; an output shaft of a reducer of a servo motor B (2) with a reducer is connected with a taper gear E (11) through a key; a shaft of a gear shaft B (13) is connected with a taper gear F (12) through a key, and the teeth on the shaft are engaged with a large gear of a duplicate gear (15); the small tooth of the duplicate gear (15) is engaged with a straight gear B (14); the straight gear B (14) is connected with the lower end of a shaft (16) through an integral key, and the upper end of the shaft (16) is connected with a taper gear D (9) through an integral key; the taper gear D (9) is engaged with a taper gear C (8); and the taper gear C (8) is connected with a shoulder-joint output shaft (7) through an integral key. The mechanism has advantages of simple and compact structure, convenient production and assembling, flexible and reliable rotation of the waist-shoulder joint, low cost, and the like.
Description
One, technical field
The utility model relates to mechanical transmission mechanism, especially a kind of robot waist, shoulder joint differential attachment.
Two, background technology
In industrial production, maybe can not remove people's the local normal robot manipulating task that adopts.In order to make robot energy transmission (waist), to reach arm (shoulder) energy lifting action, adopt drive motors to be installed on the shoulder joint arm at present, or the drive motors centre of gyration and shoulder joint centre of gyration coaxial configuration.Because the job specification of shoulder joint, motor to this joint proposes bigger power requirement, the big more corresponding volume of the power of motor also can be big, because entire machine people's structure is conditional to the volume of motor, so the volume problem of motor has been brought inconvenience to type selecting.
Three, summary of the invention
The purpose of this utility model provides a kind of simple in structure, is the shoulder joint drive motors is moved in the car body of robot, and the space in the car body is relatively loose, improves because of the excessive robot waist of motor volume, shoulder joint differential attachment.
Technical scheme that the purpose of this utility model adopts is, servomotor A by the band decelerator, the servo motor B of band decelerator, the tapering gear A, the tapering gear B, tooth axle axle A, spur gear A, the shoulder joint output shaft, the tapering gear C, the tapering gear D, axle sleeve, tapering gear E, tapering gear F, gear shaft B, spur gear B, duplicate gear, axle is formed, it is characterized in that bolt passes decelerator installing hole and the engagement of middle box body hole internal thread of the servomotor A of band decelerator, key is connected between output shaft and the tapering gear A of the decelerator of the servomotor A of band decelerator, in the middle casing gear shaft A is housed, gear shaft A the axle with the tapering gear B between key be connected, tooth and spur gear A engagement on the axle, key is connected between spur gear A and the axle sleeve, axle sleeve is contained in lower box, bolt is put on box body hole and the face internal thread engagement of axle sleeve upper end, decelerator installing hole and the interior spiral shell of nowel body opening that bolt passes the servo motor B of band decelerator spin engagement, key is connected between reducer output shaft and the tapering gear E of the servo motor B of band decelerator, be equipped with in the lower box gear shaft B the axle with tapering tooth axle F between key be connected, the canine tooth of tooth and duplicate gear engagement on the axle, the little tooth of duplicate gear and spur gear B engagement, spur gear B is connected with axle lower end spline, spline is connected between axle upper end and the tapering gear D, spline is connected between the engagement of tapering gear D and tapering gear C, tapering gear C and the shoulder joint output shaft that is contained in upper box.
The utility model has three kinds of duties:
1, shoulder joint works independently: the servo motor B of band decelerator drives tapering gear E and rotates, and drives the duplicate gear rotation through tapering gear F and gear shaft B, and duplicate gear drives spur gear B and makes the work of shoulder joint arm through tapering gear D, C subband.
2, waist joint works independently: the servomotor A of band decelerator drives the tapering gear A and rotates, and drives spur gear A rotation through tapering gear B and gear shaft A, and spur gear A drives the axle sleeve rotation and makes waist joint work; But the waist joint shoulder joint drive motors that works independently also will be compensated a difference in rotation and just can be achieved, because when waist joint rotates, if the tapering gear D does not rotate, shoulder joint just has spinning movement, could realize the waist joint single action so want a rotation of shoulder joint drive motors compensation official post tapering gear D not rotate relative to waist joint when waist joint rotates.As for compensate for poor what are and compensation to turn to be to realize by control by calculating.
3, the interlock of shoulder, waist joint: the interlock of shoulder, waist joint is based on the single action of shoulder, waist joint, can realize by control.
The utlity model has simple and compact for structurely, make easy to assemblyly, the work of waist shoulder joint rotates flexibly, reliable, characteristics such as cost is low.
Four, description of drawings
Further specify the utility model in conjunction with the accompanying drawings.
Fig. 1 is the utility model sectional structure schematic diagram;
Fig. 2 is the right sectional structure schematic diagram of figure.
Among the figure: 1-with the servomotor A 2 of decelerator-with servo motor B 3-taper gear A 4-taper gear B 5-gear shaft A 6-spur gear A 7-shoulder joint output shaft 8-taper gear C 9-taper gear D 10-axle sleeve 11-taper gear E 12-taper gear F 13-gear shaft B 14-spur gear B 15-duplicate gear 16-axle 17-lower box 18-middle casing 19-upper box of decelerator
Five, the specific embodiment
As Fig. 1, shown in Figure 2, servomotor A1 by the band decelerator, the servo motor B 2 of band decelerator, tapering gear A 3, tapering gear B 4, tooth axle axle A5, spur gear A6, shoulder joint output shaft 7, tapering gear C 8, tapering gear D 9, axle sleeve 10, tapering gear E11, tapering gear F12, gear shaft B13, spur gear B14, duplicate gear 15, axle 16 is formed, its bolt passes decelerator installing hole and the 18 hole internal thread engagements of middle casing of the servomotor A1 of band decelerator, key is connected between output shaft and the tapering gear A 3 of the decelerator of the servomotor A1 of band decelerator, in the middle casing 18 gear shaft A5 is housed, gear shaft A5 the axle with tapering gear B 4 between key be connected, tooth and spur gear A6 engagement on the axle, key is connected between spur gear A6 and the axle sleeve 10, axle sleeve 10 is contained in lower box 17, bolt is put on casing 19 holes and axle sleeve 10 upper end face internal thread engagements, bolt passes that spiral shell spins engagement in the decelerator installing hole of servo motor B 2 of band decelerator and lower box 17 holes, key is connected between reducer output shaft and the tapering gear E11 of the servo motor B 2 of band decelerator, be equipped with in the lower box 17 gear shaft B13 the axle with tapering tooth axle F12 between key be connected, the canine tooth of tooth and duplicate gear 15 engagement on the axle, the little tooth of duplicate gear 15 and spur gear B14 engagement, spur gear B14 is connected with axle 16 lower end splines, spline is connected between axle 16 upper ends and the tapering gear D 9, spline is connected between the tapering gear D 9 and 8 engagements of tapering gear C, tapering gear C 8 and the shoulder joint output shaft 7 that is contained in upper box 19.
Claims (1)
1, a kind of robot waist, the shoulder joint differential attachment, servomotor A (1) by the band decelerator, the servo motor B (2) of band decelerator, tapering gear A (3), tapering gear B (4), tooth axle axle A (5), spur gear A (6), shoulder joint output shaft (7), tapering gear C (8), tapering gear D (9), axle sleeve (10), tapering gear E (11), tapering gear F (12), gear shaft B (13), spur gear B (14), duplicate gear (15), axle (16) is formed, it is characterized in that bolt passes decelerator installing hole and the engagement of middle casing (18) hole internal thread of the servomotor A (1) of band decelerator, key is connected between output shaft and the tapering gear A (3) of the decelerator of the servomotor A (1) of band decelerator, in the middle casing (18) gear shaft A (5) is housed, gear shaft A (5) the axle with tapering gear B (4) between key be connected, tooth and spur gear A (6) engagement on the axle, key is connected between spur gear A (6) and the axle sleeve (10), axle sleeve (10) is contained in lower box (17), bolt is put on casing (19) hole and the face internal thread engagement of axle sleeve (10) upper end, bolt passes that spiral shell spins engagement in the decelerator installing hole of servo motor B (2) of band decelerator and lower box (17) hole, key is connected between reducer output shaft and the tapering gear E (11) of the servo motor B (2) of band decelerator, be equipped with in the lower box (17) gear shaft B (13) the axle with tapering tooth axle F (12) between key be connected, the canine tooth of tooth and duplicate gear (15) engagement on the axle, the little tooth of duplicate gear (15) and spur gear B (14) engagement, spur gear B (14) is connected with axle (16) lower end spline, the axle (16) upper end with tapering gear D (9) between spline be connected, spline is connected between the engagement of tapering gear D (9) and tapering gear C (8), tapering gear C (8) and the shoulder joint output shaft (7) that is contained in upper box (19).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200994407U CN201214248Y (en) | 2008-07-15 | 2008-07-15 | Differential mechanism of robot waist and shoulder joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200994407U CN201214248Y (en) | 2008-07-15 | 2008-07-15 | Differential mechanism of robot waist and shoulder joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201214248Y true CN201214248Y (en) | 2009-04-01 |
Family
ID=40519455
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2008200994407U Expired - Fee Related CN201214248Y (en) | 2008-07-15 | 2008-07-15 | Differential mechanism of robot waist and shoulder joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201214248Y (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104354153A (en) * | 2014-10-17 | 2015-02-18 | 中国人民解放军军事医学科学院卫生装备研究所 | Multi-functional execution arm for rescue robot |
-
2008
- 2008-07-15 CN CNU2008200994407U patent/CN201214248Y/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104354153A (en) * | 2014-10-17 | 2015-02-18 | 中国人民解放军军事医学科学院卫生装备研究所 | Multi-functional execution arm for rescue robot |
| CN104354153B (en) * | 2014-10-17 | 2016-01-27 | 中国人民解放军军事医学科学院卫生装备研究所 | The multi-functional execution arm of rescue robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090401 Termination date: 20100715 |