CN206647504U - Planetary gear ankle double freedom steering wheel and robot - Google Patents
Planetary gear ankle double freedom steering wheel and robot Download PDFInfo
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- CN206647504U CN206647504U CN201720284532.1U CN201720284532U CN206647504U CN 206647504 U CN206647504 U CN 206647504U CN 201720284532 U CN201720284532 U CN 201720284532U CN 206647504 U CN206647504 U CN 206647504U
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Abstract
The utility model discloses a kind of planetary gear ankle double freedom steering wheel and robot.Included according to planetary gear ankle double freedom steering wheel of the present utility model：Motor, ankle steering wheel rear shell, gear shaft, travelling gear, planetary gear, pinion frame, steering wheel circuit board, ankle steering wheel fore shell and sole board mount；Wherein, ankle steering wheel rear shell and ankle steering wheel fore shell are arranged on sole board mount；Motor is arranged in inside ankle steering wheel rear shell, and motor connection is to gear shaft；Gear shaft engages with travelling gear, and travelling gear engages with the planetary gear being arranged on pinion frame；And wherein, gear shaft, travelling gear, planetary gear, pinion frame and steering wheel circuit board layout are inside ankle steering wheel fore shell, and steering wheel circuit board is in the side relative with motor of pinion frame.
Description
Technical field
The utility model is related to Robot Design field, more particularly to a kind of planetary gear ankle with double freedom steering wheel with
A kind of and robot equipped with the planetary gear ankle double freedom steering wheel.
Background technology
Steering wheel (Servo) applies the control direction in model plane in early days, in model airplane, the flight attitude of aircraft
Realized by adjusting engine and each control multiaspect, later it has been found that the small volume of this machine, in light weight, torsion
Square is big, precision is high, due to possessing the advantages of such, is well suited for applying the driving as robot with robot.
In the prior art, steering wheel is a kind of simple and easy robot control method.But typically, in humanoid machine
In people, can exist for the ankle of the steering wheel containing two frees degree, in steering wheel cabling line can be turned round to the problem of.
Therefore, those skilled in the art is directed to developing one kind and can effectively solve the problem that containing two in anthropomorphic robot certainly
Line present in steering wheel cabling by the ankle for the steering wheel spent by turn round to the problem of technical scheme.
Utility model content
In view of the drawbacks described above of prior art, technical problem to be solved in the utility model, which is to provide one kind, to be had
Effect solve the problems, such as line present in the steering wheel cabling of the ankle of steering wheel containing two frees degree in anthropomorphic robot turned round to
Planetary gear ankle double freedom steering wheel.
To achieve the above object, the utility model provides a kind of planetary gear ankle double freedom steering wheel, including：Electricity
Machine, ankle steering wheel rear shell, gear shaft, travelling gear, planetary gear, pinion frame, steering wheel circuit board, ankle steering wheel fore shell and
Sole board mount；Wherein, ankle steering wheel rear shell and ankle steering wheel fore shell are arranged on sole board mount；Motor is arranged in ankle rudder
Inside machine rear shell, and motor connection is to gear shaft；Gear shaft engages with travelling gear, and travelling gear is with being arranged in planet
Planetary gear engagement on tooth rest；And wherein, gear shaft, travelling gear, planetary gear, pinion frame and steering wheel circuit
Plate is arranged in inside ankle steering wheel fore shell, and steering wheel circuit board is in the side relative with motor of pinion frame.
In preferred embodiment of the planetary gear ankle with double freedom steering wheel, motor is the steering wheel of drag cup 020.
In preferred embodiment of the planetary gear ankle with double freedom steering wheel, planetary gear ankle double freedom
Steering wheel is using 4 grades of transmissions, wherein by the power output of input to gear shaft, planetary gear steering wheel will be dynamic by 3 grades of gear drives
Power is delivered to planetary central pinion, then transfers power to planetary ring gear by planetary gear, and
Ring gear is fixed with steering wheel.
In preferred embodiment of the planetary gear ankle with double freedom steering wheel, the mould of 1 grade of transmission of travelling gear
Number and gearratio are respectively 0.2,12/56；The modulus and gearratio of 2 grades of transmissions of travelling gear are respectively 0.2,14/64；Transmission
The modulus and gearratio of 3 grades of transmissions of gear are respectively 0.3,12/40.
In preferred embodiment of the planetary gear ankle with double freedom steering wheel, planetary gear modulus and transmission score
Wei 0.4,12/66.
In preferred embodiment of the planetary gear ankle with double freedom steering wheel, planetary central pinion tooth
Number is 12, and planetary planetary rotation number of gear teeth is 27, and planetary ring gear number is 66.
In preferred embodiment of the planetary gear ankle with double freedom steering wheel, planetary gear uses Y types angle 120
Degree.
Moreover, in another preferred embodiment of the present utility model, the utility model additionally provides one kind equipped with above-mentioned
The robot of planetary gear ankle double freedom steering wheel.
In the utility model, it is designed on the basis of original monomer single-degree-of-freedom steering wheel, designs two freedom
The ankle part steering wheel of degree, the structure can depart from the circuit board of steering wheel and steering gear body, facilitate cabling and control, turn in steering wheel
Dynamic place adds rolling bearing, the smoothness of increase steering wheel rotation etc..Thus, the utility model provides one kind and can effectively solve the problem that
Line present in the steering wheel cabling of the ankle of steering wheel containing two frees degree in anthropomorphic robot by turn round to the problem of planet
Gear ankle double freedom steering wheel.
Design, concrete structure and caused technique effect of the present utility model are made furtherly below with reference to accompanying drawing
It is bright, to be fully understood from the purpose of this utility model, feature and effect.
Brief description of the drawings
With reference to accompanying drawing, and by reference to following detailed description, it will more easily have to the utility model more complete
Understand and be more easily understood its with the advantages of and feature, wherein：
Fig. 1 is shown according to the external perspective of the planetary gear ankle double freedom steering wheel of the utility model preferred embodiment
It is intended to.
Fig. 2 is to be cutd open according to the planetary gear ankle of the utility model preferred embodiment with the planetary gear of double freedom steering wheel
View.
Fig. 3 is shown according to the overall sectional of the planetary gear ankle double freedom steering wheel of the utility model preferred embodiment
Figure.
It should be noted that accompanying drawing is used to illustrate the utility model, and unrestricted the utility model.Pay attention to, represent structure
Accompanying drawing may be not necessarily drawn to scale.Also, in accompanying drawing, same or similar element indicates same or similar mark
Number.
Embodiment
Fig. 1 is shown according to the external perspective of the planetary gear ankle double freedom steering wheel of the utility model preferred embodiment
It is intended to.Fig. 2 is the planetary gear section view according to the planetary gear ankle double freedom steering wheel of the utility model preferred embodiment
Figure.Fig. 3 is the overall sectional diagram according to the planetary gear ankle double freedom steering wheel of the utility model preferred embodiment.
As shown in Figure 1, Figure 2 and Figure 3, according to the planetary gear ankle double freedom rudder of the utility model preferred embodiment
Machine includes：Motor 1, ankle steering wheel rear shell 2, gear shaft 3, travelling gear 4, planetary gear 5, pinion frame 6, steering wheel circuit board
7th, ankle steering wheel fore shell 8 and sole board mount 9.
Wherein, ankle steering wheel rear shell 2 and ankle steering wheel fore shell 8 are arranged on sole board mount 9.
Motor 1 is arranged in inside ankle steering wheel rear shell 2, and motor 1 is connected to gear shaft 3.
Gear shaft 3 engages with travelling gear 4, and travelling gear 4 and the planetary gear 5 that is arranged on pinion frame 6
Engagement.
And wherein, gear shaft 3, travelling gear 4, planetary gear 5, pinion frame 6 and steering wheel circuit board 7 are arranged in pin
Inside ankle steering wheel fore shell 8, and steering wheel circuit board 7 is in the side relative with motor 1 of pinion frame 6.
For choice of electrical machine, when robot weight is in 2.4kg, ankle steering wheel needs to reach 24kg/cm, consider cost and
Motor performance, preferably 020 steering wheel from drag cup.
Preferably, according to the working method of the planetary gear ankle double freedom steering wheel of the utility model preferred embodiment
Can be：Using 4 grades of transmissions, torque output shaft (gear shaft) is output power to, planetary gear steering wheel, is passed by 3 grades of gears
It is dynamic to transfer power to, this wheel centre tooth of planet, then ring gear is transferred power to by planetary gear, due to ring gear with
130 steering wheels fix difference, complete the rotation of 130 steering wheels, have relative rotation between sole support and 130 steering wheels, a position device is put
At rotation.
For gearratio distribution and modulus selection, on the basis of 020 motor is selected, gearratio is allocated, gear
The efficiency of transmission calculates with 90%, and from 1 grade to 3 grades, modulus and gearratio are respectively 0.2,12/56 to gearratio；0.2、14/64；
0.3、12/40；Planetary gear modulus and gearratio are 0.4,12/66.
Preferably, planetary gear arrangement mode can be：Planetary gear is uniformly 0.4 from modulus, central pinion tooth
Number is 12, and planetary rotation number of gear teeth is 27, and ring gear number is 66, and planetary gear uses 120 degree of Y types angle.
In addition, for example, it is contemplated that the characteristics of in the design of anthropomorphic robot instep, the characteristics of human foot should be met as far as possible, will
The instep of robot as far as possible can design of thin, while coordinate this wheel carrier of planet design sole support will to designing final shell
Steering wheel is held up, and convenient for assembly, routing of layout groove position facilitates cabling in sole support, prevents line ball situation from occurring.
In the utility model, it is designed on the basis of original monomer single-degree-of-freedom steering wheel, designs two freedom
The ankle part steering wheel of degree, the structure can depart from the circuit board of steering wheel and steering gear body, facilitate cabling and control, turn in steering wheel
Dynamic place adds rolling bearing, the smoothness of increase steering wheel rotation etc..Thus, the utility model provides one kind and can effectively solve the problem that
Line present in the steering wheel cabling of the ankle of steering wheel containing two frees degree in anthropomorphic robot by turn round to the problem of planet
Gear ankle double freedom steering wheel.
Moreover, in another preferred embodiment of the present utility model, the utility model additionally provides one kind equipped with above-mentioned
The robot of planetary gear ankle double freedom steering wheel.
Preferred embodiment of the present utility model has shown and described in described above, as previously described, it should be understood that this practicality is new
Type is not limited to form disclosed herein, is not to be taken as the exclusion to other embodiment, and available for various other groups
Conjunction, modification and environment, and above-mentioned teaching or the technology of association area can be passed through in utility model contemplated scope described herein
Or knowledge is modified.And the change and change that those skilled in the art are carried out do not depart from spirit and scope of the present utility model, then
All should be in the protection domain of the appended claims for the utility model.
Claims (8)
- A kind of 1. planetary gear ankle double freedom steering wheel, it is characterised in that including：Motor, ankle steering wheel rear shell, gear shaft, Travelling gear, planetary gear, pinion frame, steering wheel circuit board, ankle steering wheel fore shell and sole board mount；Wherein, ankle rudder Machine rear shell and ankle steering wheel fore shell are arranged on sole board mount；Motor is arranged in inside ankle steering wheel rear shell, and motor connects It is connected to gear shaft；Gear shaft is engaged with travelling gear, and travelling gear is nibbled with the planetary gear being arranged on pinion frame Close；And wherein, gear shaft, travelling gear, planetary gear, pinion frame and steering wheel circuit board layout are in ankle steering wheel fore shell Inside, and steering wheel circuit board is in the side relative with motor of pinion frame.
- 2. planetary gear ankle double freedom steering wheel as claimed in claim 1, it is characterised in that motor is drag cup 020 Steering wheel.
- 3. planetary gear ankle double freedom steering wheel as claimed in claim 1 or 2, it is characterised in that planetary gear ankle With double freedom steering wheel using 4 grades of transmissions, wherein by the power output of input to gear shaft, planetary gear steering wheel passes through 3 grades of teeth Wheel transmission transfers power to planetary central pinion, then is transferred power to by planetary gear in planetary Gear ring, and ring gear is fixed with steering wheel.
- 4. planetary gear ankle double freedom steering wheel as claimed in claim 1 or 2, it is characterised in that 1 grade of travelling gear The modulus and gearratio of transmission are respectively 0.2,12/56；The modulus and gearratio of 2 grades of travelling gear transmissions be respectively 0.2, 14/64；The modulus and gearratio of 3 grades of transmissions of travelling gear are respectively 0.3,12/40.
- 5. planetary gear ankle double freedom steering wheel as claimed in claim 1 or 2, it is characterised in that planetary gear modulus And gearratio is respectively 0.4,12/66.
- 6. planetary gear ankle double freedom steering wheel as claimed in claim 1 or 2, it is characterised in that in planetary The heart little gear number of teeth is 12, and planetary planetary rotation number of gear teeth is 27, and planetary ring gear number is 66.
- 7. planetary gear ankle double freedom steering wheel as claimed in claim 1 or 2, it is characterised in that planetary gear uses Y 120 degree of type angle.
- A kind of 8. robot being equipped with just like the planetary gear ankle double freedom steering wheel described in one of claim 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720284532.1U CN206647504U (en) | 2017-03-22 | 2017-03-22 | Planetary gear ankle double freedom steering wheel and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720284532.1U CN206647504U (en) | 2017-03-22 | 2017-03-22 | Planetary gear ankle double freedom steering wheel and robot |
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| Publication Number | Publication Date |
|---|---|
| CN206647504U true CN206647504U (en) | 2017-11-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720284532.1U Active CN206647504U (en) | 2017-03-22 | 2017-03-22 | Planetary gear ankle double freedom steering wheel and robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108679203A (en) * | 2018-07-03 | 2018-10-19 | 曹林 | A kind of miniature steering engine transmission mechanism |
-
2017
- 2017-03-22 CN CN201720284532.1U patent/CN206647504U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108679203A (en) * | 2018-07-03 | 2018-10-19 | 曹林 | A kind of miniature steering engine transmission mechanism |
| CN108679203B (en) * | 2018-07-03 | 2023-09-22 | 曹林 | Miniature steering engine transmission mechanism |
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