CN206170070U - A single motor drives a plurality of articular robots motion structure - Google Patents
A single motor drives a plurality of articular robots motion structure Download PDFInfo
- Publication number
- CN206170070U CN206170070U CN201621234947.XU CN201621234947U CN206170070U CN 206170070 U CN206170070 U CN 206170070U CN 201621234947 U CN201621234947 U CN 201621234947U CN 206170070 U CN206170070 U CN 206170070U
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- China
- Prior art keywords
- gear
- motor
- robot
- rod
- elongated hole
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- Withdrawn - After Issue
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Abstract
The utility model discloses a motion structure of robot, a single motor drives a plurality of articular robots motion structure especially, it includes the organism, be equipped with a gearbox upper cover in the organism, cover on the gearbox and be equipped with motor support, the driving gear, driven gear, intermediate gear and final stage gear, the last motor that is equipped with of motor support, be equipped with the elliptical orbit groove on the final stage gear, the elliptical orbit inslot is equipped with main couple axle, be equipped with vertical slot hole on the master connecting -rod, vertical slot hole articulates on main couple axle, be equipped with two foot interlock spares in the organism, the top of foot interlock spare is equipped with horizontal slot hole, and the connecting -rod rotary shaft of horizontal slot hole and master connecting -rod both sides is connected, each articulated arm of the both sides of organism, the inboard of arm is passed through the interlock spring and is connected with foot interlock spare. The utility model discloses a motor, the cost of robot product can be saved in steerable a plurality of joint motions, saves the inside space of robot complete machine, make the robot more practical, oversimplify.
Description
Technical field
The utility model is related to a kind of motion structure of robot, and particularly a kind of single motor drives the machine in multiple joints
Device people's motion structure.
Background technology
The joint of robot is driven by motor, motor by gearbox it is of different sizes gear engagement come
With diarthrodial motion, further according to software the various actions of robot simulation people are realized.Current robot on the market, be mostly
One motor drives a joint motions, multiple joints just to have the motor of same number, and multiple motor are not only accounted for
With whole machine inner space, make robot too fat to move, also improve the difficulty in control, increased the cost of robot product.
Utility model content
The utility model purpose is the defect in order to overcome one motor of existing robot only to drive a joint, invention
A kind of single motor drives robot motion's structure in multiple joints.
The utility model solves technical problem and adopts the following technical scheme that：The single motor drives the machine in multiple joints
People's motion structure, including body, are provided with a upper cover of speed changing box in body, upper cover of speed changing box is provided with support of motor, driving tooth
Wheel, driven gear, idler gear and final-stage gear, support of motor is provided with motor, motor by motor drive shaft and
Belt pulley is connected with the gearing shaft on driving gear, and driving gear is engaged with driven gear, driven gear and idler gear
Engagement, idler gear is engaged with final-stage gear, and final-stage gear is provided with elliptic orbit groove, and main gearing is provided with elliptic orbit groove
Axle a, master connecting-rod is provided with vertical elongated hole, and vertical elongated hole is articulated on main couple axle；Two pin moving parts, pin are provided with body
The top of moving part is provided with horizontal elongated hole, and horizontal elongated hole is connected with the connecting rod rotating shaft of master connecting-rod both sides；The both sides of body are respectively hinged
One arm, the inner side of arm is connected by interlocking spring with pin moving part.
The utility model has the advantages that：
The utility model can control multiple joint motions by a motor, can save the cost of robot product, save
Space inside the whole machine of robot of province, make robot it is more practical, simplify.
Description of the drawings
Fig. 1 is the utility model front view structure figure；
Fig. 2 is Fig. 1 backsight structure charts；
Fig. 3 is the utility model exploded perspective figure；
Fig. 4 is the utility model outward appearance front view；
Fig. 5 is the utility model outside side view.
In figure：The support of motor of 1 body, 2 upper cover of speed changing box 3
The idler gear of 4 driving gear, 5 driven gear 6
The motor drive shaft of 7 final-stage gear, 8 motor 9
The elliptic orbit groove of 10 belt pulley, 11 gearing shaft 12
The vertical elongated hole of 13 main couple axle, 14 master connecting-rod 15
The connecting rod rotating shaft of 16 17 horizontal elongated hole of pin moving part 18
19 arm 20 interlocks spring
Specific embodiment
The technical solution of the utility model is further elaborated with reference to embodiment and accompanying drawing.
Embodiment 1
Robot motion's structure that a kind of single motor drives multiple joints is present embodiments provided, as shown in Figure 1, Figure 2 and Fig. 3
It is shown, including body 1, a upper cover of speed changing box 2 is provided with body 1, upper cover of speed changing box 2 is provided with support of motor 3, driving gear
4th, driven gear 5, idler gear 6 and final-stage gear 7, support of motor 3 is provided with motor 8, and motor 8 passes through motor driven
Axle 9 and belt pulley 10 are connected with the gearing shaft 11 on driving gear 4, and driving gear 4 is engaged with driven gear 5, driven tooth
Wheel 5 is engaged with idler gear 6, and idler gear 6 is engaged with final-stage gear 7, and final-stage gear 7 is provided with elliptic orbit groove 12, oval
Main couple axle 13 is provided with rail groove 12, a master connecting-rod 14 is provided with vertical elongated hole 15, and vertical elongated hole 15 is articulated in main couple axle
On 13, when final-stage gear 7 is rotated, main couple axle 13 can be with master connecting-rod about 14 by elliptic orbit groove 12 and vertical elongated hole 15
It is mobile, and then drive dynamic master connecting-rod 14 to move up and down；Two pin moving parts 16 are provided with body 1, the top of pin moving part 16 sets
There is horizontal elongated hole 17, horizontal elongated hole 17 is connected with the connecting rod rotating shaft 18 of the both sides of master connecting-rod 14；The both sides of body 1 are respectively hinged an arm
19, the inner side of arm 19 is connected by interlocking spring 20 with pin moving part 16, when master connecting-rod 14 is moved up and down, will drive arm
19 and pin moving part 16 move.Fig. 4 Fig. 5 is outward appearance front view of the present invention and side view.
Robot at present on the market with motor one joint motions of drive is relatively more, of the invention then be an electricity
Motivation drives robot motion's structure of multiple joint freedom degrees, motor to be used for the joint of driven machine people, it is desirable to be to have
Peak power mass ratio and moment of torsion ratio of inertias, high start torque, low inertia and broader and smooth speed adjustable range.By speed change
Case, gear Jing of different sizes engages to increase or reduce the speed for rotating, and further according to software algorithm robot simulation is realized
Various movement velocitys and rotary motion.
Finally it should be noted that：Above example only to illustrate the technical solution of the utility model, rather than a limitation；
Although being described in detail to the utility model with reference to the foregoing embodiments, it will be understood by those within the art that：
It still can modify to the technical scheme described in foregoing embodiments, or which part technical characteristic is carried out etc.
With replacement；And these modifications or replacement, do not make each embodiment technology of essence disengaging the utility model of appropriate technical solution
The spirit and scope of scheme.
Claims (1)
1. a kind of single motor drives robot motion's structure in multiple joints, including body, is provided with body on a gearbox
Lid, it is characterised in that：The upper cover of speed changing box is provided with support of motor, driving gear, driven gear, idler gear and final stage
Gear, support of motor is provided with motor, and motor is passed by motor drive shaft and belt pulley with the gear on driving gear
Moving axis connects, and driving gear is engaged with driven gear, and driven gear is engaged with idler gear, and idler gear is nibbled with final-stage gear
Close, final-stage gear is provided with elliptic orbit groove, main couple axle is provided with elliptic orbit groove, and a master connecting-rod is provided with vertical elongated hole,
Vertical elongated hole is articulated on main couple axle；Two pin moving parts are provided with body, the top of pin moving part is provided with horizontal elongated hole, it is horizontal
It is connected with the connecting rod rotating shaft of master connecting-rod both sides to elongated hole；The both sides of body are respectively hinged an arm, and the inner side of arm is by interlocking bullet
Spring is connected with pin moving part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621234947.XU CN206170070U (en) | 2016-11-15 | 2016-11-15 | A single motor drives a plurality of articular robots motion structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621234947.XU CN206170070U (en) | 2016-11-15 | 2016-11-15 | A single motor drives a plurality of articular robots motion structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206170070U true CN206170070U (en) | 2017-05-17 |
Family
ID=58686242
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621234947.XU Withdrawn - After Issue CN206170070U (en) | 2016-11-15 | 2016-11-15 | A single motor drives a plurality of articular robots motion structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206170070U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625579A (en) * | 2016-11-15 | 2017-05-10 | 深圳前海勇艺达机器人有限公司 | Motion structure of robot with a plurality of joints driven by single motor |
-
2016
- 2016-11-15 CN CN201621234947.XU patent/CN206170070U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625579A (en) * | 2016-11-15 | 2017-05-10 | 深圳前海勇艺达机器人有限公司 | Motion structure of robot with a plurality of joints driven by single motor |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 518000 Guangdong, Shenzhen, Baoan District, Baoan District Air Town Street Development Area, 2A, building 4 and 4, 4 Patentee after: SHENZHEN YYD ROBO CO.,LTD. Address before: 518061 1002E room C block 5, Xuefu Road software industrial base, Nanshan District, Shenzhen, Guangdong Patentee before: SHENZHEN QIANHAI YONGYIDA ROBOT CO.,LTD. |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170517 Effective date of abandoning: 20230627 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20170517 Effective date of abandoning: 20230627 |