CN207359072U - A kind of transmission housing driving structure - Google Patents
A kind of transmission housing driving structure Download PDFInfo
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- CN207359072U CN207359072U CN201720973574.6U CN201720973574U CN207359072U CN 207359072 U CN207359072 U CN 207359072U CN 201720973574 U CN201720973574 U CN 201720973574U CN 207359072 U CN207359072 U CN 207359072U
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- shell
- wrist
- driving
- forearm
- motor
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Abstract
The utility model discloses a kind of transmission housing driving structure, shell drives structure, the shell, which drives structure, includes pedestal, main drive motor is fixedly connected with pedestal, it is additionally provided with pedestal with the coaxial reduction box of chlamydate output terminal and input terminal, the input terminal of reduction box and the output axis connection of main drive motor, the output terminal of reduction box are fixedly connected with pedestal so that the output shaft that shell can be by main drive motor and around main drive motor rotates.The rotation axis connection of pedestal and pedestal, since the utility model changes the kind of drive of reduction box, thus can be in the case where adding other transmission parts, realize the power transmission after the deceleration of main drive motor, the center of rotation of the center of gravity of reduction box and main drive motor toward pedestal can be so allowed to deviate, so reduce rotary inertia, decrease occupied space.The utility model is used for robot.
Description
Technical field
It the utility model is related to a kind of transmission housing driving structure.
Background technology
Existing robot includes pedestal, and pedestal is equipped with rotation axis, pedestal is connected with rotation axis, is connected successively on pedestal
Be connected to upper arm, forearm, wrist, in order to allow upper arm, forearm, wrist composition upper action component inertia it is small, so driving upper arm,
The motor of forearm is often located on pedestal, those skilled in the art due to inertial thinking, be all by upper arm, forearm with it is electronic
The output axis connection of machine, thus occurs the symmetrically arranged structure of motor as shown in Figure 1, and such structure causes machine
The lateral dimension of people is very big, and inertia is also big, and constitutional balance also has the problem of very big.
Such structure carries out teaching programming for dragging upper action component with hand, that is, repeats manual teaching action
For robot, such structure can cause the strength spent during action component in operating personnel's dragging very big, cause teaching machine
Device human action is dumb, and the motor that both sides are laid can also take substantial amounts of space so that the activity space of operating personnel
Diminish.
Utility model content
The technical problems to be solved in the utility model is：A kind of driving knot using transmission housing for robot is provided
Structure.
The solution that the utility model solves its technical problem is：
A kind of transmission housing driving structure, shell drive structure, and the shell, which drives structure, includes pedestal, and master is fixedly connected with pedestal
Motor is driven, is additionally provided with pedestal with the coaxial reduction box of chlamydate output terminal and input terminal, the input terminal of reduction box and master
Drive the output axis connection of motor, the output terminal of reduction box is fixedly connected with pedestal so that shell can by main drive motor and around
The output shaft of main drive motor rotates.
Further as such scheme is improved, and further includes upper arm, upper arm is fixedly connected with shell so that upper arm can be around master
The output shaft of motor is driven to rotate, the shell being connected with upper arm drives structure and is known as first shell drive structure.
Further as such scheme is improved, and is further included the forearm to be linked together with shaft and upper arm, is gone back on pedestal
Motor is driven equipped with arm, the output shaft of the arm driving motor is connected with forearm so that arm driving motor can drive forearm around institute
State shaft rotation.
Further as such scheme is improved, and first shell drives the main drive motor of structure and arm driving motor is set in the same direction
Put, that is, first shell drives the main drive motor of structure and arm drives the output shaft of motor to be directed to same direction.
Further as such scheme is improved, and further includes the upper arm and forearm to be linked together with shaft, shell is with before
Arm connects, and the shell being connected with forearm drives structure and is known as second shell drive structure so that forearm is driven the main driving electricity of structure by second shell
The driving of machine is rotated around the shaft.
Further as such scheme is improved, and goes back interlocking lever, and one end of interlocking lever and the shell of second shell drive structure are consolidated
Fixed connection, the side and forearm axis connection of the other end of interlocking lever in the shaft so that forearm passes through interlocking lever and second
Shell drives the cage connection of structure.
Further as such scheme is improved, and is further included first shell and is driven structure, first shell drives the shell and upper arm of structure
Connection so that the output shaft for the main drive motor that upper arm can drive structure around first shell rotates.
Further as such scheme is improved, and first shell drives the main drive motor of structure and second shell drives the main drive of structure
Dynamic motor is set in the same direction, that is, first shell drives the output shaft of the main drive motor of structure and the main drive motor of second shell drive structure
It is directed to same direction.
Further as such scheme is improved, and further includes wrist, upper arm, forearm, wrist are connected in turn, forearm
Front end be equipped with axis hole, is equipped with wrist axis in axis hole, the wrist axis is connected with wrist so that wrist can be connected around wrist axis, on wrist
Equipped with end shaft；The rear end of forearm is equipped with wrist driving motor and end driving motor, and wrist biography is sequentially connected with wrist driving motor
Moving part, wrist driving member are sequentially connected with wrist axis, and last driving member, last driving member and end shaft are sequentially connected with end driving motor
It is sequentially connected；Wrist driving member and last driving member are each provided in forearm and extend along the extending direction of forearm；Wrist driving member and end pass
Moving part is socketed, that is, wrist driving member entangles last driving member or last driving member entangles wrist driving member.
Further as such scheme is improved, and wrist driving motor and end driving motor are referred to as wrist driver, wrist driving
Device and wrist are respectively provided at the both sides of the shaft.
The beneficial effects of the utility model are：A kind of transmission housing driving structure, shell drive structure, and the shell, which drives structure, to be included
Pedestal, is fixedly connected with main drive motor on pedestal, is additionally provided with pedestal and subtracts with chlamydate output terminal and input terminal are coaxial
Fast case, the input terminal of reduction box and the output axis connection of main drive motor, the output terminal of reduction box are fixedly connected with pedestal so that
Shell can be by main drive motor and around the output shaft rotation of main drive motor.The rotation axis connection of pedestal and pedestal, due to this reality
With the new kind of drive for changing reduction box, thus main driving can be realized in the case where adding other transmission parts
Power transmission after the deceleration of motor, can so allow the center of gravity of reduction box and main drive motor inclined toward the center of rotation of pedestal
Move, so reduce rotary inertia, decrease occupied space, other transmission parts are added due to avoiding, so this reality
It can reduce rotary inertia in the case where not increasing the system friction of teaching robot with new, decrease occupancy
Space.The utility model is used for robot.
Brief description of the drawings
It is required in being described below to embodiment in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing to be used is briefly described.Obviously, described attached drawing is the part of the embodiment of the utility model, rather than entirely
Portion's embodiment, those skilled in the art without creative efforts, can also obtain it according to these attached drawings
His designing scheme and attached drawing.
Fig. 1 is the stereoscopic schematic diagram of the utility model embodiment；
Fig. 2 is the structure diagram that the upper arm of the utility model embodiment and shell are fixedly connected；
Fig. 3 is the attachment structure schematic diagram of the wrist driver of the utility model embodiment；
Fig. 4 is the attachment structure schematic diagram of the wrist of the utility model embodiment；
Fig. 5 is the stereoscopic schematic diagram of prior art teaching robot.
Embodiment
Carried out below with reference to the technique effect of the design of embodiment and attached drawing to the utility model, concrete structure and generation
Clearly and completely describe, to be completely understood by the purpose of this utility model, feature and effect.Obviously, described embodiment
It is the part of the embodiment of the utility model, rather than whole embodiments, the embodiment based on the utility model, the skill of this area
The other embodiment that art personnel are obtained without creative efforts, belongs to the model of the utility model protection
Enclose.In addition, all connection/connection relations being previously mentioned in text, not singly refer to component and directly connect, and refer to can be according to specific reality
Situation is applied, by adding or reducing couple auxiliary, to form more preferably draw bail.Each technology in the utility model is special
Sign, can be with combination of interactions on the premise of not conflicting conflict.
Referring to figs. 1 to Fig. 4, this is the embodiment of the utility model, specifically：
A kind of transmission housing driving structure, shell drive structure, and the shell, which drives structure, includes pedestal 100, fixed company on pedestal 100
Main drive motor 101 is connected to, output terminal with shell 31 and the coaxial reduction box of input terminal are additionally provided with pedestal 100, is slowed down
The input terminal of case and the output axis connection of main drive motor 101, the output terminal of reduction box are fixedly connected with pedestal 100 so that outer
Shell 31 can be by main drive motor 101 and around the output shaft rotation of main drive motor 101.The rotation axis connection of pedestal and pedestal, by
The kind of drive of reduction box is changed in the utility model, can thus be realized in the case where adding other transmission parts
Power transmission after the deceleration of main drive motor, can so allow the center of gravity of reduction box and main drive motor toward the rotation of pedestal
Off-centring, so reduces rotary inertia, decreases occupied space, adds other transmission parts due to avoiding, institute
It can be reduced rotary inertia in the case where not increasing teaching robot system friction, also reduced with the utility model
Occupied space.
The present embodiment further includes upper arm 2, and upper arm 2 is fixedly connected with shell 31 so that upper arm 2 can be around main drive motor 101
Output shaft rotate, the shell that be connected with upper arm 2 drives structure and is known as first shell drive structure.
The upper arm 2 and forearm 3 to be linked together with shaft is further included, shell 31 is connected with forearm 3, is connected with forearm 3
Shell drives structure and is known as second shell drive structure so that forearm 3 is driven the driving of the main drive motor 101 of structure by second shell around described turn
Axis rotates.The main drive motor 101 that the second shell drives structure drives motor (not shown) for arm.
First shell drives the main drive motor 101 of structure and arm driving motor is set in the same direction, that is, first shell drives the master of structure
Driving motor 101 and the output shaft of arm driving motor are directed to same direction.Accounting for for space can be thus reduced to greatest extent
With.
For the ease of controlling the rotation of forearm 3, interlocking lever 4 is gone back, one end of interlocking lever 4 drives the shell 31 of structure with second shell
It is fixedly connected, the side and the axis connection of forearm 3 of the other end of interlocking lever 4 in the shaft so that forearm 3 passes through interlocking lever 4
The shell 31 that structure is driven with second shell is connected.
The present embodiment further includes wrist 5, and upper arm 2, forearm 3, wrist 5 are connected in turn, and the front end of forearm 3 is equipped with axis
Hole, axis hole is interior to be equipped with wrist axis 6, and the wrist axis 6 is connected with wrist 5 so that wrist 5 can be connected around wrist axis 6, and wrist 5 is equipped with end
Hold shaft 7；The rear end of forearm 3 is equipped with wrist driving motor 81 and end driving motor 82, and wrist is sequentially connected with wrist driving motor 81
Driving member 83, wrist driving member 83 are sequentially connected with wrist axis 6, and last driving member 84, end transmission are sequentially connected with end driving motor 82
Part 84 is sequentially connected with end shaft 7；Wrist driving member 83 and last driving member 84 are each provided in forearm 3 and along the extension sides of forearm 3
To extension；Wrist driving member 83 and last driving member 84 are socketed, that is, wrist driving member 83 entangles last driving member 84 or last 84 sets of driving member
Firmly wrist driving member 83.The movement inertia of wrist can thus be reduced, allow teaching robot action it is sensitiveer, activity freely,
Operating force is small.
Wrist drives motor 81 and end driving motor 82 to be referred to as wrist driver, and wrist driver and wrist are respectively provided at described turn
The both sides of axis.It so can further reduce the movement inertia of forearm 3.
The better embodiment of the utility model is illustrated above, but the utility model be not limited to it is described
Embodiment, those skilled in the art can also make a variety of equivalent changes on the premise of without prejudice to the utility model spirit
Type or replacement, these equivalent modifications or replacement are all contained in the application claim limited range.
Claims (10)
1. a kind of transmission housing driving structure, shell drives structure, it is characterised in that：The shell, which drives structure, includes pedestal (100), pedestal
(100) main drive motor (101) is fixedly connected with, the output terminal with shell (31) and input are additionally provided with pedestal (100)
Hold coaxial reduction box, the input terminal of reduction box and the output axis connection of main drive motor (101), the output terminal and base of reduction box
Frame (100) is fixedly connected so that shell (31) can be by main drive motor (101) driving and around the output of main drive motor (101)
Axis rotates.
A kind of 2. transmission housing driving structure according to claim 1, it is characterised in that：Further include upper arm (2), upper arm
(2) it is fixedly connected with shell (31) so that upper arm (2) can be rotated around the output shaft of main drive motor (101), with upper arm (2) even
The shell connect drives structure and is known as first shell drive structure.
A kind of 3. transmission housing driving structure according to claim 2, it is characterised in that：Further include and use shaft and upper arm
(2) forearm (3) to link together, arm driving motor is additionally provided with pedestal (100), the output shaft of the arm driving motor is with before
Arm (3) connects so that arm driving motor can drive forearm (3) to be rotated around the shaft.
A kind of 4. transmission housing driving structure according to claim 3, it is characterised in that：First shell drives the main driving of structure
Motor (101) is set in the same direction with arm driving motor, that is, first shell drives the main drive motor (101) and arm driving motor of structure
Output shaft is directed to same direction.
A kind of 5. transmission housing driving structure according to claim 1, it is characterised in that：Further include and be connected to one with shaft
The upper arm (2) and forearm (3) risen, shell (31) are connected with forearm (3), and the shell being connected with forearm (3) drives structure and is known as second shell
Drive structure so that the driving that forearm (3) is driven the main drive motor (101) of structure by second shell is rotated around the shaft.
A kind of 6. transmission housing driving structure according to claim 5, it is characterised in that：Interlocking lever (4) is further included, is interlocked
The shell (31) that one end of bar (4) and second shell drive structure is fixedly connected, the side of the other end of interlocking lever (4) in the shaft
With forearm (3) axis connection so that the shell (31) that forearm (3) drives structure by interlocking lever (4) with second shell is connected.
A kind of 7. transmission housing driving structure according to claim 5, it is characterised in that：Further include first shell and drive structure,
The shell (31) that first shell drives structure is connected with upper arm (2) so that upper arm (2) can drive the main drive motor of structure around first shell
(101) output shaft rotates.
A kind of 8. transmission housing driving structure according to claim 7, it is characterised in that：First shell drives the main driving of structure
The main drive motor (101) that motor (101) and second shell drive structure is set in the same direction, that is, first shell drives the main drive motor of structure
(101) drive the output shaft of main drive motor (101) of structure with second shell and be directed to same direction.
A kind of 9. transmission housing driving structure according to claim 3 to 8 any one, it is characterised in that：Further include wrist
Portion (5), upper arm (2), forearm (3), wrist (5) are connected in turn, and the front end of forearm (3) is equipped with axis hole, is equipped with axis hole
Wrist axis (6), the wrist axis (6) are connected with wrist (5) so that wrist (5) can be connected around wrist axis (6), and wrist (5) is equipped with end
Shaft (7)；The rear end of forearm (3) is equipped with wrist driving motor (81) and end driving motor (82), is driven on wrist driving motor (81)
Wrist driving member (83) is connected with, wrist driving member (83) is sequentially connected with wrist axis (6), and end is sequentially connected with end driving motor (82)
Driving member (84), last driving member (84) are sequentially connected with end shaft (7)；Wrist driving member (83) and last driving member (84) are each provided at
Extend in forearm (3) and along the extending direction of forearm (3)；Wrist driving member (83) and last driving member (84) socket, that is, wrist is driven
Part (83) entangles last driving member (84) or last driving member (84) entangles wrist driving member (83).
A kind of 10. transmission housing driving structure according to claim 9, it is characterised in that：Wrist driving motor (81) and end
Driving motor (82) is referred to as wrist driver, and wrist driver and wrist (5) are respectively provided at the both sides of the shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720973574.6U CN207359072U (en) | 2017-08-04 | 2017-08-04 | A kind of transmission housing driving structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720973574.6U CN207359072U (en) | 2017-08-04 | 2017-08-04 | A kind of transmission housing driving structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207359072U true CN207359072U (en) | 2018-05-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720973574.6U Active CN207359072U (en) | 2017-08-04 | 2017-08-04 | A kind of transmission housing driving structure |
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| CN (1) | CN207359072U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113618701A (en) * | 2021-10-12 | 2021-11-09 | 深圳市越疆科技有限公司 | Teleoperation manipulator, rotary table thereof and teleoperation equipment |
-
2017
- 2017-08-04 CN CN201720973574.6U patent/CN207359072U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113618701A (en) * | 2021-10-12 | 2021-11-09 | 深圳市越疆科技有限公司 | Teleoperation manipulator, rotary table thereof and teleoperation equipment |
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