CN205817899U - A kind of robot skeleton waist structure and robot skeleton - Google Patents
A kind of robot skeleton waist structure and robot skeleton Download PDFInfo
- Publication number
- CN205817899U CN205817899U CN201620553209.5U CN201620553209U CN205817899U CN 205817899 U CN205817899 U CN 205817899U CN 201620553209 U CN201620553209 U CN 201620553209U CN 205817899 U CN205817899 U CN 205817899U
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- China
- Prior art keywords
- optical axis
- waist structure
- robot
- bearing
- motor
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Abstract
This utility model relates to a kind of robot skeleton waist structure and robot skeleton, and this waist structure includes drive mechanism, transmission connecting mechanism, rotating mechanism and supporting mechanism；Drive mechanism includes motor, speed change gear and power output shaft, and motor is linked with power output shaft by speed change gear；Transmission connecting mechanism includes that a motor connection lever, motor connection lever one stomidium inwall have boss and run through screwed hole, and described power output shaft is suitable with the motor connection lever hole of band boss, and with screw pass through described in run through screwed hole and output power shaft locking.Rotating mechanism includes optical axis, and optical axis is driven by described motor connection lever, and optical axis is provided with bearing, and bearing is fixed on described supporting mechanism.Waist structure in the technical program, is not only simple in structure, and designs ingenious, and the action that sways one's hips is natural, and shakes less, can prevent break motor bearing.
Description
Technical field
This utility model relates to mechanical field, particularly relates to a kind of robot skeleton waist structure and robot skeleton neck
Territory.
Background technology
There is very big market demand in the robot of displaying the least, medium-sized, for realizing the joint of these humanoid robots little, middle
Motion, can use the robot framing structure device of apery body joint action, and the motor control of this skeleton is generally by electricity
Machine pushing drawing rod controls its action, and motor is by monolithic processor controlled.Robot skeleton industry at imitative organization of human body
In, have and use motor pushing pull bar, to control its action, a problem will occur, that is, during running, skeleton can be shaken, make an uproar
Sound is big, the most also can there is the problems such as break motor bearing.
Utility model content
For the problems referred to above, present disclose provides a kind of novel robot skeleton waist structure, this waist structure includes
Drive mechanism, transmission connecting mechanism, rotating mechanism and supporting mechanism；Drive mechanism includes motor, speed change gear and power output
Axle, motor is linked with power output shaft by speed change gear；Transmission connecting mechanism includes a motor connection lever, motor connection lever one stomidium
Inwall has boss and runs through screwed hole, and described power output shaft is suitable with the motor connection lever hole of band boss, and uses screw
Outputed power shaft locking by the described screwed hole that runs through.Rotating mechanism includes optical axis, and optical axis is carried out by described motor connection lever
Driving, optical axis is provided with bearing, bearing is fixed on described supporting mechanism.
On the base of this scheme, additionally provide further preferred version.Band method it is provided with on the most described power output shaft
Blue limit bearing, described flanged limit bearing is fixed on described supporting mechanism.
Preferably, waist structure also includes a thrust bearing, and thrust bearing is fixedly connected on supporting mechanism, thrust bearing
Coaxial with described optical axis.
Preferably, described thrust bearing is fixed on described supporting mechanism.
Preferably, described transmission connecting mechanism also includes screw rod and optical axis connecting rod, wherein, described screw rod one end and motor
Connecting rod is flexibly connected, and the other end is flexibly connected with optical axis connecting rod, and optical axis connecting rod is fixing with described optical axis to be connected.
Preferably, one piece of hexagon socket head cap screw respectively worn by described motor connection lever and described optical axis connecting rod, passes through fish the most respectively
Axis oculi holds and is connected with described screw rod, tightens with stop nut the most again.
Preferably, described driving motor is by Single-chip Controlling.
Preferably, described bearing bolt is arranged on described supporting mechanism.
Finally, also above-mentioned waist structure can be applied among robot skeleton overall structure, this kind of robot skeleton
Including the waist structure in any of the above scheme.
Waist structure in the technical program, is not only simple in structure, and designs ingenious, and shakes less, controls precisely, with
Time the action that sways one's hips the most natural.
Accompanying drawing explanation
Fig. 1 is the waist structure schematic diagram of this utility model a kind of apery body joint action.Its primary structure includes optical axis
27, thrust bearing 28, supporting mechanism 29, bolt 30, bearing 42, optical axis connecting rod 35, motor 36, flanged limit bearing 37, motor
Connecting rod 38, flake bearing 39, stop nut 40, screw rod 41.
Detailed description of the invention
By describing technology contents of the present utility model, structural feature in detail, being realized purpose and effect, below in conjunction with enforcement
Mode also coordinates accompanying drawing to be explained in detail, in order to those skilled in the art is further understood that this utility model, and does not constitutes
It limits.
As it is shown in figure 1, this waist structure includes drive mechanism, transmission connecting mechanism, rotating mechanism and supporting mechanism 29；Drive
Motivation structure includes that motor 36, speed change gear and power output shaft, motor 36 are linked with power output shaft by speed change gear；Transmission
Bindiny mechanism includes that a motor connection lever 38, motor connection lever 38 1 stomidium inwall have boss and run through screwed hole, and described power exports
Axle is suitable with the motor connection lever hole of band boss, and with screw pass through described in run through screwed hole and output power shaft locking.
Rotating mechanism includes that optical axis 27, optical axis 27 are driven by described motor connection lever 38, optical axis 27 is provided with bearing 42, bearing
42 are fixed on described supporting mechanism 29.When motor 36 rotates, optical axis can be driven to rotate by transmission connecting mechanism, and then band
Dynamic waist twisting.Additionally, stayed individual boss feature in the hole of motor connection lever, be equivalent to key, and there is clamp screw on the opposite of boss
Silk is fixing, thus reach to be difficult to get loose, reduce vibrations, effect that noise is little.
Further, power output shaft is connected with flanged limit bearing 37, and flanged limit bearing 37 is fixed on supporting mechanism
On 29, this programme adds the design of flanged limit bearing 37, power output shaft, the most anti-stopping power can be protected
The generation of output shaft off-axis situation.
Further, waist structure also includes a thrust bearing 28, and thrust bearing 28 is fixedly connected on supporting mechanism 29,
Thrust bearing 28 is coaxial with described optical axis 27.This structure plays the merit supporting superstructure and rotating together in company with superstructure
Energy.
Further, the fixed form between thrust bearing 28 and a grillage 29 is for connecting and fixing, by bolt by thrust axis
Hold 28 and be fixed on supporting mechanism 29 upper surface.This design makes the convenient dismounting of thrust bearing 28, only need to be by thrust bearing
28 prize or pull and the most just can be pulled down by thrust bearing 28.
Further, described transmission connecting mechanism also includes screw rod 41 and optical axis connecting rod 35, wherein, the one of described screw rod 41
End is flexibly connected with motor connection lever 38, and the other end is flexibly connected with optical axis connecting rod 35, and optical axis connecting rod 35 is fixing with optical axis 27 to be connected.
Further, one piece of hexagon socket head cap screw respectively worn by described motor connection lever 38 and optical axis connecting rod 35, uses fish the most respectively
Axis oculi holds the 39 described screw rods of connection, then tightens with stop nut 40.The design of this attachment structure so that not only drive mechanism letter
Single, and transmission efficiency is higher.
Further, described motor 36 is by Single-chip Controlling.So it is easy to automatization, intelligent manipulation.
Further, described bearing 42 bolt 30 is arranged on described supporting mechanism 29.
Finally, also any one waist structure above-mentioned can be applied among robot overall structure, and realize it and sway one's hips
Function.
The foregoing is only embodiment of the present utility model, not thereby limit the scope of the claims of the present utility model, every
Utilize equivalent structure or equivalence flow process conversion that this utility model description and accompanying drawing content made, or be directly or indirectly used in
Other relevant technical fields, are the most in like manner included in scope of patent protection of the present utility model.
Claims (9)
1. a robot skeleton waist structure, it is characterised in that: this waist structure include drive mechanism, transmission connecting mechanism,
Rotating mechanism and supporting mechanism；
Drive mechanism includes motor, speed change gear and power output shaft, and motor is linked with power output shaft by speed change gear；
Transmission connecting mechanism includes that a motor connection lever, motor connection lever one stomidium inwall have boss and run through screwed hole, described power
Output shaft is suitable with the motor connection lever hole of band boss, and with screw pass through described in run through screwed hole output power axle lock
Tightly；
Rotating mechanism includes optical axis, and optical axis is driven by described motor connection lever, and optical axis is provided with bearing, and bearing is fixed on
On described supporting mechanism.
2. robot as claimed in claim 1 skeleton waist structure, it is characterised in that: it is provided with band on described power output shaft
Flange bearing, described flanged limit bearing is fixed on described supporting mechanism.
3. robot as claimed in claim 2 skeleton waist structure, it is characterised in that: described waist structure also includes a thrust
Bearing, thrust bearing is fixedly connected on supporting mechanism, and thrust bearing is coaxial with described optical axis.
4. robot as claimed in claim 3 skeleton waist structure, it is characterised in that: described thrust bearing is fixed on institute
State on supporting mechanism.
5. robot as claimed in claim 4 skeleton waist structure, it is characterised in that: described transmission connecting mechanism also includes spiral shell
Bar and optical axis connecting rod, wherein, described screw rod one end is flexibly connected with motor connection lever, and the other end is flexibly connected with optical axis connecting rod, light
Axle connecting rod is fixing with described optical axis to be connected.
6. robot as claimed in claim 5 skeleton waist structure, it is characterised in that: described motor connection lever and described optical axis are even
One piece of hexagon socket head cap screw respectively worn by bar, is connected with described screw rod, the most again with on stop nut by flake bearing the most respectively
Tightly.
7. robot as claimed in claim 6 skeleton waist structure, it is characterised in that: described motor is by Single-chip Controlling.
8. robot as claimed in claim 7 skeleton waist structure, it is characterised in that: described bearing is fixed by bolts to described
On supporting mechanism.
9. a robot skeleton, it is characterised in that: include the waist structure as described in any one of claim 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620553209.5U CN205817899U (en) | 2016-06-08 | 2016-06-08 | A kind of robot skeleton waist structure and robot skeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620553209.5U CN205817899U (en) | 2016-06-08 | 2016-06-08 | A kind of robot skeleton waist structure and robot skeleton |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205817899U true CN205817899U (en) | 2016-12-21 |
Family
ID=57569288
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620553209.5U Expired - Fee Related CN205817899U (en) | 2016-06-08 | 2016-06-08 | A kind of robot skeleton waist structure and robot skeleton |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205817899U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106863358A (en) * | 2017-03-03 | 2017-06-20 | 上海建桥学院 | A kind of desktop level mechanical arm seat connection apparatus |
-
2016
- 2016-06-08 CN CN201620553209.5U patent/CN205817899U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106863358A (en) * | 2017-03-03 | 2017-06-20 | 上海建桥学院 | A kind of desktop level mechanical arm seat connection apparatus |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161221 Termination date: 20190608 |