CN206335598U - Robot rotary luffing articulation mechanism - Google Patents
Robot rotary luffing articulation mechanism Download PDFInfo
- Publication number
- CN206335598U CN206335598U CN201621462698.XU CN201621462698U CN206335598U CN 206335598 U CN206335598 U CN 206335598U CN 201621462698 U CN201621462698 U CN 201621462698U CN 206335598 U CN206335598 U CN 206335598U
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- CN
- China
- Prior art keywords
- gear
- bevel gear
- spur gear
- pitch axis
- shaft
- 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 provides a kind of robot rotary luffing articulation mechanism, including：Turret base, first bevel gear, the first spur gear, lid, pitching platform housing, second bevel gear, pitch axis, rotary shaft, third hand tap gear, the second spur gear, the 3rd spur gear, pinion shaft, the 4th bevel gear on turntable.According to robot rotary luffing articulation mechanism described in the utility model, structure simplifies, low cost；Motor is located at homonymy, is easy to structure to arrange；Rotate flexible.
Description
Technical field
The utility model is related to robot field, more particularly to a kind of robot rotary luffing articulation mechanism.
Background technology
In the joint of rotary machine people, rotary luffing mechanism generally realizes two free degree sides respectively using two motors
To driving, such as MAARS robots, its pitching motor be located at top, turning motor be located at bottom, respectively up and down two aspects
The upper respective gear mechanism of driving.Such design make it that integrally-built steering precision is relatively low, malfunction.
In view of this, it is necessary to be improved to prior art, robot especially robot rotation is bowed at present with meeting
Face upward the use requirement of articulation mechanism.
Utility model content
Technical problem to be solved in the utility model is to overcome the deficiencies in the prior art to be bowed there is provided a kind of rotation of robot
Articulation mechanism is faced upward, simple in construction, system stiffness is high, it is more flexible to turn to.
To achieve the above object, utility model provides following technical scheme：
On a kind of robot rotary luffing articulation mechanism, including turret base, first bevel gear, the first spur gear, turntable
Lid, pitching platform housing, second bevel gear, pitch axis, rotary shaft, third hand tap gear, the second spur gear, the 3rd spur gear, small tooth
Wheel shaft, the 4th bevel gear.
Further, turret base constitutes the rotating box of bottom with lid on turntable, and its top is to be arranged on pitching platform shell
The luffing mechanism in internal portion.
Further, turret base center is fixed with vertical rotary shaft by bearing, and the top of rotary shaft passes through bearing
It is arranged with the middle part of horizontal pitch axis, rotary shaft and third hand tap gear is provided with by bearing holder (housing, cover), third hand tap gear is with being installed in pitching
Second bevel gear engagement on axle, pitching platform housing is installed on pitch axis.
Further, first bevel gear is installed in Large Gear Shaft together with the first spur gear, and Large Gear Shaft passes through two ends
Bearing be arranged on turret base and turntable cover between, the first spur gear is nibbled with fixed the 3rd spur gear on the rotary shaft
Close.
Further, third hand tap gear is tightened together by fastener with the second spur gear, the second spur gear and small tooth
Little gear engagement on wheel shaft, pinion shaft is arranged in turret base and turntable between lid by the bearing at two ends.
Brief description of the drawings
Fig. 1 is robot rotary luffing articulation mechanism overall schematic of the present utility model.
Fig. 2 is robot rotary luffing articulation mechanism structure chart of the present utility model.
(note：Shown structure in accompanying drawing is simply to illustrate that the signal of utility model feature, is not intended to according to accompanying drawing
Shown structure.)
Embodiment
As shown in figure 1, according to robot rotary luffing articulation mechanism described in the utility model, with rotation and pitching two
The individual free degree, is driven by two motors positioned at homonymy respectively, overcomes existing two drivings of rotary luffing articulation mechanism
Motor is located at the structure arrangement of not homonymy respectively.
As shown in Fig. 2 the concrete structure of rotary luffing articulation mechanism includes：Turret base 1, first bevel gear 2, first are straight
Lid 4, pitching platform housing 5, second bevel gear 6, pitch axis 7, rotary shaft 8, third hand tap gear 9, the second straight-tooth on gear 3, turntable
Take turns the 10, the 3rd spur gear 11, pinion shaft 12, the 4th bevel gear 13.
Wherein, turret base 1 constitutes the rotating box of bottom with lid 4 on turntable, and its top is to be arranged on pitching platform housing 5
Internal luffing mechanism.
The center of turret base 1 is fixed with vertical rotary shaft 8 by bearing, and the top of rotary shaft 8 is provided with by bearing holder (housing, cover)
The pitch axis 7 of level.The middle part of rotary shaft 8 is provided with third hand tap gear 9 by bearing holder (housing, cover), and third hand tap gear 9 is with being installed in pitch axis 7
On second bevel gear 6 engage.Because pitching platform housing 5 is equally installed on pitch axis 7, therefore when second bevel gear 6 and the
When gear motion occurs for third hand tap gear 9, third hand tap gear 9 will drive second bevel gear 6 and whole luffing mechanism to produce around bowing
Face upward the elevating movement of axle 7.
It is preferred that, second bevel gear 6 is installed on pitch axis 7 by being bonded to connect, and pitch axis 7 passes through with pitching platform housing 5
Fastener is solid-located.
Further, the output shaft of two motors passes through respective gear and the bevel gear of first bevel gear 2 and the 4th respectively
13 engagements, so that the rotation of motor is delivered to the bevel gear 13 of first bevel gear 2 and the 4th.
Wherein, first bevel gear 2 is installed in Large Gear Shaft together with the first spur gear 3, and Large Gear Shaft passes through two ends
Bearing is arranged on turret base 1 and turntable between lid 4.First spur gear 3 and fixed the 3rd spur gear 11 on rotating shaft 8
Engagement.
It is preferred that, the 3rd spur gear 11 by be bonded connect it is fixed on rotating shaft 8.
Third hand tap gear 9 is tightened together by fastener with the second spur gear 10, the second spur gear 10 and pinion shaft
Little gear engagement on 12, similarly, pinion shaft 12 by the bearing at two ends be arranged on turret base 1 and turntable lid 4 it
Between.
Thus, driven by two two motors for being located at homonymy, the bevel gear 13 of first bevel gear 2 and the 4th is driven respectively
Rotation, so as to drive the 3rd spur gear 11 or the second spur gear 10 to rotate, and then is rotated axle 8 and rotates, whole rotation can be achieved
Turn pitching motion and the horizontal rotation action of pitching articulation mechanism.
According to robot rotary luffing articulation mechanism described in the utility model, with traditional robot rotary luffing joint
Mechanism is compared, and is had the characteristics that：
(1) structure simplification, low cost；(2) motor is located at homonymy, is easy to structure to arrange；(3) rotate flexible.
The above, the only preferred embodiment of utility model is not intended to limit the protection domain of utility model,
All any modification, equivalent and improvement made within the spirit and principle of utility model etc., should be included in practical new
Within the protection domain of type.
Claims (3)
1. a kind of robot rotary luffing articulation mechanism, including turret base (1), first bevel gear (2), the first spur gear (3),
(4), pitching platform housing (5), second bevel gear (6), pitch axis (7), rotary shaft (8), third hand tap gear (9), the are covered on turntable
Two spur gears (10), the 3rd spur gear (11), pinion shaft (12), the 4th bevel gear (13), it is characterised in that：
Turret base (1) constitutes the rotating box of bottom with lid (4) on turntable, and its top is interior to be arranged on pitching platform housing (5)
The luffing mechanism in portion；
Turret base (1) center is fixed with vertical rotary shaft (8) by bearing, and the top of rotary shaft (8) is arranged by bearing
Having be provided with third hand tap gear (9) by bearing holder (housing, cover) in the middle part of horizontal pitch axis (7), rotary shaft (8), and third hand tap gear (9) is with consolidating
Second bevel gear (6) engagement on pitch axis (7) is located at, pitching platform housing (5) is installed on pitch axis (7)；
First bevel gear (2) is installed in Large Gear Shaft together with the first spur gear (3), and Large Gear Shaft is set by the bearing at two ends
Put and covered in turret base (1) and turntable between (4), the first spur gear (3) and the 3rd spur gear being installed in rotary shaft (8)
(11) engage；
Third hand tap gear (9) is tightened together by fastener with the second spur gear (10), the second spur gear (10) and little gear
Little gear engagement on axle (12), pinion shaft (12) is arranged on turret base (1) with covering (4) on turntable by the bearing at two ends
Between.
2. robot rotary luffing articulation mechanism according to claim 1, it is characterised in that：
Second bevel gear (6) is installed on pitch axis (7) by being bonded to connect, and pitch axis (7) passes through fastening with pitching platform housing (5)
Part is solid-located.
3. robot rotary luffing articulation mechanism according to claim 2, it is characterised in that：
3rd spur gear (11) is installed in rotary shaft (8) by being bonded to connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621462698.XU CN206335598U (en) | 2016-12-29 | 2016-12-29 | Robot rotary luffing articulation mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621462698.XU CN206335598U (en) | 2016-12-29 | 2016-12-29 | Robot rotary luffing articulation mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206335598U true CN206335598U (en) | 2017-07-18 |
Family
ID=59302832
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621462698.XU Expired - Fee Related CN206335598U (en) | 2016-12-29 | 2016-12-29 | Robot rotary luffing articulation mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206335598U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110815196A (en) * | 2019-10-18 | 2020-02-21 | 平安科技（深圳）有限公司 | Waist structure of robot |
| CN113927624A (en) * | 2021-10-18 | 2022-01-14 | 九江学院 | Extendable quadruped robot based on rollable thin-walled tube |
| CN114074725A (en) * | 2021-11-29 | 2022-02-22 | 北京理工大学 | Wheel-foot switching device suitable for wheel-foot robot |
-
2016
- 2016-12-29 CN CN201621462698.XU patent/CN206335598U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110815196A (en) * | 2019-10-18 | 2020-02-21 | 平安科技（深圳）有限公司 | Waist structure of robot |
| CN113927624A (en) * | 2021-10-18 | 2022-01-14 | 九江学院 | Extendable quadruped robot based on rollable thin-walled tube |
| CN113927624B (en) * | 2021-10-18 | 2023-04-07 | 九江学院 | Extendable quadruped robot based on rollable thin-walled tube |
| CN114074725A (en) * | 2021-11-29 | 2022-02-22 | 北京理工大学 | Wheel-foot switching device suitable for wheel-foot robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170718 Termination date: 20191229 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |