CN203019370U - Mechanical transmission robot with bionic structure - Google Patents
Mechanical transmission robot with bionic structure Download PDFInfo
- Publication number
- CN203019370U CN203019370U CN 201220723864 CN201220723864U CN203019370U CN 203019370 U CN203019370 U CN 203019370U CN 201220723864 CN201220723864 CN 201220723864 CN 201220723864 U CN201220723864 U CN 201220723864U CN 203019370 U CN203019370 U CN 203019370U
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- gear
- transverse axis
- transmission shaft
- spacing
- finger
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Abstract
The utility model discloses a mechanical transmission robot with a bionic structure. The mechanical transmission robot comprises a worm, a mechanical arm provided with a finger worm wheel, a first gear, a second gear, a first transmission shaft, a fourth gear, a fifth gear, a transmission shaft, a third gear and a second transmission shaft, after the second transmission shaft rotates, the third gear, the second gear, the first gear, the worm and the finger worm wheel are sequentially driven to rotate, further mechanical fingers are driven to rotate and can be used for grasping objects, the rotation of the first transmission shaft sequentially drives the fourth gear, the fifth gear and the transmission shaft to rotate, further the whole mechanical arm is driven to rotate, and therefore, the mechanical arm can be rotated. The mechanical arm can be conveniently used for grasping, rotating and the like through transmission of the multiple gears meshed and connected and transmission of the worm and the worm wheel and has an effect similar to hands. The mechanical transmission robot has the advantages of high transmission accuracy, large acting force, good reliability, tight connection of parts of the whole robot, convenience and practicability.
Description
Technical field
The utility model relates to a kind of biomimetic features machine driving machine people.
Background technology
Robot is a kind of installations that automatically perform work, generally formed by executing agency, drive unit, checkout gear and control system etc., drive unit is the mechanism that orders about executing agency's motion, very important one of executing agency is the manipulator that human hand function is arranged, the drive unit that robot uses is mainly power-jdriven gear, as stepper motor, servomotor etc., also have in addition and adopt hydraulic pressure, the drive unit such as pneumatic, if adopt pneudraulic words, active force is little, is not with self-locking and noise large; In addition, manipulator is need to carry out hand to grab, the operations such as rotation, at present also more complicated all of the manual transmission mechanism of driving device.
The utility model content
The purpose of this utility model is for the biomimetic features machine driving machine people that a kind of drive mechanism is simple, transmission is effective is provided.
A kind of biomimetic features machine driving machine people comprises manipulator, back shaft and is arranged on the first transverse axis on described back shaft, also comprises:
Be arranged on described the first transverse axis inner, and with described the first transverse axis inwall have spacing the second transverse axis,
Be connected with described the second transverse axis, and with described the first transverse axis inwall have spacing the 3rd transverse axis,
Be arranged on described the second transverse axis inner, and with described the second transverse axis inwall have spacing the first power transmission shaft,
Be arranged on described the first power transmission shaft inner and with described the first power transmission shaft inwall have spacing second driving shaft,
Be arranged on described manipulator inner, and the upper end protrude from described manipulator upper surface worm screw,
Be positioned at described worm screw upside and with described worm screw have spacing turning cylinder,
The first gear that inner ring and outer ring, described worm screw upper end are connected with a joggle,
The second gear that is connected with a joggle with the outer ring of described the first gear,
Be arranged on an end of described second driving shaft, and the 3rd gear that is connected with a joggle with described the second gear,
Be connected with described rotation axle key, and and described the second gear between have spacing the 5th gear,
Be arranged on an end of described the first power transmission shaft, and the 4th gear that is connected with a joggle with described the 5th gear.
In the utility model, described manipulator comprises several mechanical fingers, and described mechanical finger lower end is provided with the finger pressing plate, and the upper end of described mechanical finger is provided with the finger worm gear, and described finger worm gear is connected with described worm engaging.
In the utility model, the quantity of described mechanical finger is 2～8, preferably 3.
In the utility model, described the second transverse axis is connected with the first motor, and described second driving shaft is connected with the 3rd motor, and described the first power transmission shaft is connected with the second motor.
In the utility model, described the first motor and described the second motor all are arranged on an end of close described back shaft on described the first transverse axis.
In the utility model, the length sum of described the 3rd transverse axis and described the second transverse axis is greater than the length of described the first transverse axis.
In the utility model, described the second gear is coaxial with described turning cylinder, and between described the second gear and described turning cylinder, spacing is arranged.
In the utility model, be provided with the rotary support piece near an end of described manipulator on described the 3rd transverse axis, and described turning cylinder two ends are separately positioned on two sidewalls of described rotary support piece.
The beneficial effect that the utlity model has: rotate by the second driven by motor the 3rd gear, the 3rd gear driven the second gear rotates, second gear driven the first gear rotates, the worm screw that the first gear driven is connected with a joggle with it is rotated, worm gear on worm screw meeting driving mechanical finger rotates, and then the hand of having realized mechanical finger grabs function, and the finger that is equivalent to staff is grabbed thing; In addition, the first driven by motor the 4th gear rotates, and the 4th gear driven the 5th gear rotates, and the 5th gear can drive whole turning cylinder and rotate, and then has realized the spinfunction of manipulator, and the wrist that is equivalent to staff is rotated.By driven by motor, active force is large, noise is little, and whole device connects closely, and simple in structure, each gear is independent of each other.
Description of drawings
Fig. 1 is the structural representation of the utility model robot;
Fig. 2 is the part section structural representation of Fig. 1;
Fig. 3 is the partial enlarged drawing of Fig. 1;
Fig. 4 is the decomposition chart of Fig. 3;
Fig. 5 is the structural representation of manipulator in the utility model;
Fig. 6 is the cross-sectional view of Fig. 5.
The specific embodiment
Below in conjunction with embodiment, the utility model is further described, but protection domain of the present utility model not only is confined to embodiment.
In conjunction with Fig. 1, Fig. 2, Fig. 3 and shown in Figure 4, a kind of biomimetic features machine driving machine people comprises base 18, back shaft 19, manipulator 6, turning cylinder 1, worm screw 2, the first gear 3, the second gear 11, the 3rd gear 13, the 4th gear 4, the 5th gear 5, the first power transmission shaft 10, second driving shaft 12, the first motor 16, the second motor 17, the 3rd motor 23, the first transverse axis 21, the second transverse axis 25, the 3rd transverse axis 22, connecting rod 24 and rotational support piece 20.Back shaft 19 is arranged on base 18, and the first transverse axis 21 is arranged on back shaft 19.The second transverse axis 25 is arranged on the inside of the first transverse axis 21 and with the inwall of the first transverse axis 21, spacing is arranged, and the inwall of the 3rd transverse axis 22 and the first transverse axis 21 also has spacing, the 3rd transverse axis 22 and the length of length sum the second transverse axis 25 greater than the first transverse axis 21.One end of the 3rd transverse axis 22 is connected with the second transverse axis 25, and be spline joint, the other end of the 3rd transverse axis 22 is provided with rotational support piece 20, the inside of rotational support piece 20 is provided with turning cylinder 1, and the two ends of turning cylinder 1 just are arranged on two sidewalls of rotational support piece 20, turning cylinder 1 the upside of worm screw 2 and and worm screw 2 between spacing is arranged, the upper end of connecting rod 24 is connected with turning cylinder 1 and is that key connects, the lower end of connecting rod 24 is connected with manipulator 6, between rotational support piece 20 and connecting rod 24, spacing is arranged also.The first power transmission shaft 10 is arranged on the inside of the second transverse axis 25 and with the inwall of the second transverse axis 25, spacing is arranged, second driving shaft 12 be arranged on the first power transmission shaft 10 inside and and the first power transmission shaft 10 inwalls between spacing is arranged, the first motor 16 and the second motor 17 all are arranged on an end of close back shaft 19 on the first transverse axis 21, the first motor 16 is connected with the second transverse axis 25, the second motor 17 is connected with the first power transmission shaft 10, the 3rd motor 23 is connected with second driving shaft 12, and the 3rd motor 23 is arranged on an end of close back shaft 19 on second driving shaft 12.The first transverse axis 21, the 3rd transverse axis 22, the first power transmission shaft 10 are all coaxial with second driving shaft 12.The diameter of the first transverse axis 21 is greater than the diameter of the 3rd transverse axis 22, and the diameter of the 3rd transverse axis 22 is greater than the diameter of the second transverse axis 25.
Continuation is with reference to Fig. 3 and shown in Figure 4, and the 4th gear 4 is arranged on the first power transmission shaft 10 away from an end of back shaft 19, and the 5th gear 5 is arranged on turning cylinder 1 and with turning cylinder 1 key and is connected, and the 4th gear 4 and the 5th gear 5 are connected with a joggle.the 3rd gear 13 is arranged on second driving shaft 12 end away from back shaft 19, the inner ring of the 3rd gear 13 and second driving shaft 12 are connected with a joggle, the second gear 11 is coaxial with turning cylinder 1, but the inner ring of the second gear 11 and turning cylinder 1 have spacing, between the second gear 11 and the 5th gear 5, spacing is arranged, the second gear 11 and the 3rd gear 13 are connected with a joggle, the first gear 3 is arranged on the upper surface of manipulator 6, the outer ring of the first gear 3 and the second gear 11 are connected with a joggle, in fact the second gear 11 plays crucial transitional function, if there is no the second gear 11, allow the first gear 3 directly connect with the 3rd gear 13, at manipulator 6 during along the rotation of the axial direction of the first power transmission shaft 10, the first gear 3 and the 3rd gear 13 can be thrown off, worm screw 2 is arranged on the inside of manipulator 6 and the upper surface that the upper end protrudes from manipulator 6, and the inner ring of the upper end of worm screw 2 and the first gear 3 is connected with a joggle.
Continuation is with reference to Fig. 5 and shown in Figure 6, and manipulator 6 comprises housing 15 and several mechanical fingers 7, and housing 15 is positioned at the upside of mechanical finger 7, and manipulator 6 is actually by housing 15 and is connected with connecting rod 24.Mechanical finger 7 comprises finger pressing plate 8, bearing pin 9 and finger worm gear 14, finger pressing plate 8 is arranged on the lower end of mechanical finger 7, finger worm gear 14 is arranged on the upper end of mechanical finger 7, and finger pressing plate 8 is fixed on the lower end of mechanical finger 7 by bearing pin 9, and finger worm gear 14 is connected with a joggle with worm screw 2, for satisfying different requirements, the quantity of mechanical finger 7 can change, and preferably, the quantity of mechanical finger 7 is 2～8, in the present embodiment, the quantity of mechanical finger 7 is 3.
when real work, the 3rd motor 23 is toward a direction running, can drive second driving shaft 12 rotates, and then drive the 3rd gear 13 and rotate, the 3rd gear 13 further drives the second gear 11 and rotates, the second gear 11 further drives the first gear 3 and rotates, the first gear 3 further drives worm screw 2 and rotates, worm screw 2 drives at last the finger worm gear 14 that is connected with a joggle with it and rotates, after finger worm gear 14 rotates, driven the rotation of mechanical finger 7, mechanical finger 7 launches, can grasp object, after catching, the 3rd motor 23 running in the other direction, point at last also running in the other direction of worm gear 14, mechanical finger 7 closes up, object is held, mechanical finger 7 has been equivalent to play the effect of finger.
The second motor 17 is toward a direction running, the first power transmission shaft 10 runnings have been driven, further having driven the 4th gear 4 rotates, the 4th gear 4 has further driven the 5th gear 5 and has rotated, the 5th gear 5 has further driven connecting rod 24 and has rotated, and connecting rod 24 has further driven manipulator 6 and rotated, due to turning cylinder 1 axially and the first power transmission shaft 10 axial vertical, therefore 6 meetings of manipulator along the axial direction that is parallel to the first power transmission shaft 10, are done the rotation of 0 °～90 °; If the second motor 17 changes running in the other direction into, manipulator 6 can be accordingly towards doing the rotation of 0 °～90 ° in the other direction.
The first motor 16 runnings, having driven the second transverse axis 25 rotates, the second transverse axis 25 has driven the 3rd transverse axis 22 and has rotated, the 3rd transverse axis 22 has driven rotational support piece 20 and has rotated, further having driven manipulator 6 rotates, and manipulator 6 is perpendicular to the axis direction of the first power transmission shaft 10, does the rotation of 360 °.Manipulator 6 is parallel or perpendicular to the direction rotation of the first power transmission shaft 10, has played the function that is equivalent to human wrist.
By the transmission of a plurality of gears that are connected with a joggle and the transmission of worm and gear, the operations such as manipulator 6 can be grabbed easily and be closed, rotation, and this transmission accuracy is high, active force is large, reliability is strong, and the part of whole robot connects closely, and is convenient and practical.
It should be noted that at last: above embodiment is only in order to illustrate the utility model and the described technical scheme of unrestricted the utility model, therefore, although this specification has been described in detail the utility model with reference to each above-mentioned embodiment, but, those of ordinary skill in the art is to be understood that, still can modify or be equal to replacement the utility model, and all do not break away from technical scheme and the improvement thereof of spirit and scope of the present utility model, and it all should be encompassed in claim scope of the present utility model.
Claims (9)
1. biomimetic features machine driving machine people comprises manipulator (6), back shaft (19) and is arranged on the first transverse axis (21) on described back shaft (19), it is characterized in that, also comprises:
Be arranged on described the first transverse axis (21) inside, and with described the first transverse axis (21) inwall have spacing the second transverse axis (25),
Be connected with described the second transverse axis (25), and with described the first transverse axis (21) inwall have spacing the 3rd transverse axis (22),
Be arranged on described the second transverse axis (25) inside, and with described the second transverse axis (25) inwall have spacing the first power transmission shaft (10),
Be arranged on described the first power transmission shaft (10) inner and with described the first power transmission shaft (10) inwall have spacing second driving shaft (12),
Be arranged on described manipulator (6) inside, and the upper end protrude from described manipulator (6) upper surface worm screw (2),
Be positioned at described worm screw (2) upside and with described worm screw (2) have spacing turning cylinder (1),
The first gear (3) that inner ring and described worm screw (2) outer ring, upper end are connected with a joggle,
The second gear (11) that is connected with a joggle with the outer ring of described the first gear (3),
Be arranged on an end of described second driving shaft (12), and the 3rd gear (13) that is connected with a joggle with described the second gear (11),
Be connected with described turning cylinder (1) key, and and described the second gear (11) between have spacing the 5th gear (5),
Be arranged on an end of described the first power transmission shaft (10), and the 4th gear (4) that is connected with a joggle with described the 5th gear (5).
2. robot according to claim 1, it is characterized in that, described manipulator (6) comprises several mechanical fingers (7), described mechanical finger (7) lower end is provided with finger pressing plate (8), the upper end of described mechanical finger (7) is provided with finger worm gear (14), and described finger worm gear (14) is connected with a joggle with described worm screw (2).
3. robot according to claim 2, is characterized in that, the quantity of described mechanical finger (7) is 2～8.
4. robot according to claim 3, is characterized in that, the quantity of described mechanical finger (7) is 3.
5. robot according to claim 1, it is characterized in that, described the second transverse axis (25) is connected with the first motor (16), and described second driving shaft (12) is connected with the 3rd motor (23), and described the first power transmission shaft (10) is connected with the second motor (17).
6. robot according to claim 5, is characterized in that, described the first motor (16) and described the second motor (17) all are arranged on the upper end near described back shaft (19) of described the first transverse axis (21).
7. robot according to claim 1, is characterized in that, the length sum of described the 3rd transverse axis (22) and described the second transverse axis (25) is greater than the length of described the first transverse axis (21).
8. robot according to claim 1, is characterized in that, described the second gear (11) is coaxial with described turning cylinder (1), and between the inwall of described the second gear (11) and described turning cylinder (1), spacing is arranged.
9. robot according to claim 1, it is characterized in that, the upper end near described manipulator (6) of described the 3rd transverse axis (22) is provided with rotary support piece (20), and described turning cylinder (1) two ends are separately positioned on (20) two sidewalls of described rotary support piece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220723864 CN203019370U (en) | 2012-12-25 | 2012-12-25 | Mechanical transmission robot with bionic structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220723864 CN203019370U (en) | 2012-12-25 | 2012-12-25 | Mechanical transmission robot with bionic structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203019370U true CN203019370U (en) | 2013-06-26 |
Family
ID=48643382
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220723864 Expired - Fee Related CN203019370U (en) | 2012-12-25 | 2012-12-25 | Mechanical transmission robot with bionic structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203019370U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103056878A (en) * | 2012-12-25 | 2013-04-24 | 无锡市天佑龙汛机械厂 | Mechanical drive robot of bionic structure |
-
2012
- 2012-12-25 CN CN 201220723864 patent/CN203019370U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103056878A (en) * | 2012-12-25 | 2013-04-24 | 无锡市天佑龙汛机械厂 | Mechanical drive robot of bionic structure |
| CN103056878B (en) * | 2012-12-25 | 2016-04-27 | 无锡夏至自动化有限公司 | A kind of mechanical drive robot of bionic structure |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130626 Termination date: 20151225 |
|
| EXPY | Termination of patent right or utility model |