CN209007549U - Intelligent nursing robot arm driving mechanism - Google Patents
Intelligent nursing robot arm driving mechanism Download PDFInfo
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- CN209007549U CN209007549U CN201821537900.XU CN201821537900U CN209007549U CN 209007549 U CN209007549 U CN 209007549U CN 201821537900 U CN201821537900 U CN 201821537900U CN 209007549 U CN209007549 U CN 209007549U
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- 230000000474 nursing effect Effects 0.000 title claims abstract description 40
- 230000007246 mechanism Effects 0.000 title claims abstract description 18
- 238000000576 coating method Methods 0.000 claims abstract description 40
- 238000009434 installation Methods 0.000 claims description 20
- 230000000694 effects Effects 0.000 abstract description 3
- 210000000245 forearm Anatomy 0.000 description 12
- 230000003321 amplification Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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Abstract
Intelligent nursing robot arm driving mechanism, including bottom plate, left side above bottom plate is rotationally equipped with left power output shaft along left and right horizontal direction, right side above bottom plate is rotationally equipped with right power output shaft along left and right horizontal direction, right power output shaft is coaxially set with left power output shaft, the left end of right power output shaft is fixed with right power output shaft gear, the front end of right power output shaft gear is meshed with the rear end of intermediate coatings cylinder right gear, intermediate coatings cylinder right gear is fixed on the right end of intermediate coatings cylinder, intermediate coatings cylinder is installed in rotation on the top of bottom plate along left and right horizontal direction, it is gap-matched in intermediate coatings cylinder and is rotationally fitted with intermediate middle sleeve, intermediate coatings cylinder is stretched out at two end of left and right of intermediate middle sleeve respectively.It is compact-sized its purpose is to provide a kind of small in size, can allow robot efficiently, quickly complete mopping up work, mop floor cleaner, the extraordinary intelligent nursing robot arm driving mechanism of the effect to mop floor.
Description
Technical field
The utility model relates to a kind of intelligent nursing robot arm driving mechanisms.
Background technique
Existing robot arm driving mechanism causes existing robot difficult due to combining design aspect unreasonable
To be engaged in the work to mop floor in the room, it is unable to satisfy the basic demand of people.
Utility model content
It is compact-sized the purpose of this utility model is to provide a kind of small in size, can allow robot efficiently, quickly complete
Mopping up work mops floor cleaner, the extraordinary intelligent nursing robot arm driving mechanism of the effect to mop floor.
The plate face of the intelligent nursing robot arm driving mechanism of the utility model, including bottom plate, bottom plate is located at level
Direction, the left side above bottom plate are rotationally equipped with left power output shaft along left and right horizontal direction, and the right side above bottom plate is along a left side
Right horizontal direction is rotationally equipped with right power output shaft, and right power output shaft is coaxially set with left power output shaft, and the right side is dynamic
The left end of power output shaft is fixed with right power output shaft gear, the front end of right power output shaft gear and intermediate coatings cylinder right gear
Rear end be meshed, intermediate coatings cylinder right gear is fixed on the right end of intermediate coatings cylinder, and intermediate coatings cylinder is along left and right horizontal direction
It is installed in rotation on the top of bottom plate, is gap-matched in intermediate coatings cylinder and is rotationally fitted with intermediate middle sleeve, in
Between two end of left and right of middle sleeve stretch out intermediate coatings cylinder respectively, be gap-matched in intermediate middle sleeve in being rotationally fitted with
Between inner sleeve, two end of left and right of intermediate inner sleeve stretches out intermediate middle sleeve respectively, is gap-matched and can turn in intermediate middle sleeve
It is fitted with jackshaft dynamicly, intermediate inner sleeve is stretched out at two end of left and right of jackshaft respectively；
The left end of the intermediate coatings cylinder is fixed with intermediate coatings cylinder left gear, the rear end and a left side of intermediate coatings cylinder left gear
The front end of power output shaft gear is meshed, and left power output shaft gear is fixed on the right end of left power output shaft, and left power is defeated
It is gap-matched in the middle part of shaft lateral wall and is rotationally set with left inside sleeve, between the middle part of left inside sleeve lateral wall uses
Gap cooperation is rotationally set with left sleeve, is gap-matched in the middle part of left sleeve lateral wall and is rotationally set with a left side
Outer sleeve；
It is gap-matched in the middle part of the right power output shaft lateral wall and is rotationally set with right inner sleeve, right inner sleeve
It is gap-matched in the middle part of cylinder lateral wall and is rotationally set with right middle sleeve, the middle part of right middle sleeve lateral wall uses gap
Cooperation is rotationally set with right outer sleeve；
The left end of the right inner sleeve is fixed with right inner sleeve gear, and the front end of right inner sleeve gear and intermediate middle sleeve are right
The rear end of gear is meshed, and intermediate middle sleeve right gear is fixed on the right end of intermediate middle sleeve, and the left end of intermediate middle sleeve is fixed
There is intermediate middle sleeve left gear, the rear end of intermediate middle sleeve left gear is meshed with the front end of left inside sleeve gear, left inside sleeve
Gear is fixed on the right end of left inside sleeve；
The left end of the right middle sleeve is fixed with right middle sleeve gear, and the front end of right middle sleeve gear and intermediate inner sleeve are right
The rear end of gear is meshed, and intermediate inner sleeve right gear is fixed on the right end of intermediate inner sleeve, and the left end of intermediate inner sleeve is fixed
There is intermediate inner sleeve left gear, the rear end of intermediate inner sleeve left gear is meshed with the front end of left sleeve gear, left sleeve
Gear is fixed on the right end of left sleeve；
The left end of the right outer sleeve is fixed with right outer sleeve gear, and the periphery of right outer sleeve gear is located at front and back
To the front end of right outer sleeve gear is meshed with the rear end of jackshaft right gear, and jackshaft right gear is fixed on the right side of jackshaft
End, the left end of jackshaft are fixed with jackshaft left gear, and the periphery of jackshaft left gear is located at front-rear direction, the left tooth of jackshaft
The rear end of wheel is meshed with the front end of left outside sleeve gear, and left outside sleeve gear is fixed on the right end of left outside sleeve；
The right end of the right power output shaft is power output end, and the power output end of right power output shaft is set with right dynamic
The left end of power output shaft belt pulley, left power output shaft is power output end, and the power output end of left power output shaft is set with
Left power takeoff pulley；
The right end of the right inner sleeve is power output end, and the power output end of right inner sleeve is set with right inner sleeve belt
The left end of wheel, left inside sleeve is power output end, and the power output end of left inside sleeve is set with left inside sleeve belt pulley；
The right end of the right middle sleeve is power output end, and the power output end of right middle sleeve is set with right middle sleeve belt
The left end of wheel, left sleeve is power output end, and the power output end of left sleeve is set with left sleeve belt pulley；
The right power output shaft gear or left power output shaft gear are meshed with power output shaft driving gear, power
Output shaft drives geared sleeve on the power output shaft of power output shaft driving motor, power output shaft driving motor and bottom plate
Installation is connected；
The right inner sleeve gear or left inside sleeve gear are meshed with inner sleeve driving gear, and inner sleeve drives geared sleeve
On the power output shaft of inner sleeve driving driving motor, inner sleeve drives driving motor to be connected with bottom plate installation；
The right middle sleeve gear or left sleeve gear are meshed with middle sleeve driving gear, and middle sleeve drives geared sleeve
On the power output shaft of middle sleeve driving driving motor, middle sleeve drives driving motor to be connected with bottom plate installation；
The right outer sleeve gear or left outside sleeve gear are meshed with outer sleeve driving gear, and outer sleeve drives geared sleeve
On the power output shaft of outer sleeve driving driving motor, outer sleeve drives driving motor to be connected with bottom plate installation.
Preferably, the right outer sleeve is connected by right plain bearing housing with bottom plate installation, and left outside sleeve passes through left sliding
Bearing block is connected with bottom plate installation.
Preferably, the intermediate coatings cylinder is connected by multiple middle slip bearing blocks with bottom plate installation.
When in use, starting power output shaft driving is electric for the intelligent nursing robot arm driving mechanism of utility model
Machine can be rotated by the right power output shaft gear of power output shaft sliding tooth wheel drive, and drive right power output shaft in
Between outer sleeve rotate, intermediate coatings cylinder drives the rotation of left power output shaft gear by intermediate coatings cylinder left gear, and drives a left side
Power output shaft rotation, and then realize and outputed power by the left power takeoff pulley of left power output shaft left end, it uses
It rotates in the Wiping roller of the intelligent nursing robot of driving, and defeated by the right power of right power output shaft right end
Shaft pulley outputs power out, for driving the Wiping roller of intelligent nursing robot to rotate；
Start inner sleeve and drive driving motor, can be rotated by the left inside sleeve gear of inner sleeve sliding tooth wheel drive, and
Left inside sleeve and intermediate middle sleeve rotation are driven, intermediate middle sleeve drives right inner sleeve gear to turn by intermediate middle sleeve right gear
It is dynamic, and drive right inner sleeve to rotate, and then realize and output power by the left inside sleeve belt pulley of left inside sleeve left end, it is used for
The left forearm of intelligent nursing robot is driven to make to change the stretching motion of length, and the right inner sleeve by right inner sleeve right end
Cylinder belt pulley outputs power, for driving the right forearm of intelligent nursing robot to make the stretching motion of change length；
Start middle sleeve and drive driving motor, can be rotated by the right middle sleeve gear of middle sleeve sliding tooth wheel drive, and
Right middle sleeve and intermediate inner sleeve rotation are driven, intermediate inner sleeve drives left socket teeth to rotate by intermediate inner sleeve left gear
It is dynamic, and drive left sleeve to rotate, and then realize and output power by the left sleeve belt pulley of left sleeve left end, it is used for
The left forearm of intelligent nursing robot is driven to swing up and down movement, and the right middle sleeve belt for passing through right middle sleeve right end
Wheel outputs power, for driving the right forearm of intelligent nursing robot to swing up and down movement；
Start outer sleeve and drive driving motor, can be rotated by the right outer sleeve gear of outer sleeve sliding tooth wheel drive, and
Right outer sleeve and jackshaft is driven to rotate, jackshaft drives left outside sleeve gear rotation by jackshaft left gear, and drives a left side
Outer sleeve rotation, and then realize and outputed power by the left end of left outside sleeve, for driving a left side for intelligent nursing robot
Large arm swings up and down movement, and is outputed power by the right end of right outer sleeve, for driving intelligent nursing robot
Right large arm swing up and down movement；
Therefore, the intelligent nursing robot arm driving mechanism of the utility model has small in size, compact-sized, can allow
Robot is efficient, quickly completes mopping up work, mops floor cleaner, the extraordinary feature of the effect to mop floor.
The intelligent nursing robot arm driving mechanism of the utility model is described further with reference to the accompanying drawing.
Detailed description of the invention
Fig. 1 is the perspective view that the intelligent nursing robot arm driving mechanism of the utility model looks to the front after；
Fig. 2 is the perspective view that the intelligent nursing robot arm driving mechanism of the utility model was seen from after the previous dynasty
Fig. 3 is the main view of the intelligent nursing robot arm driving mechanism of the utility model；
Fig. 4 is the top cross-sectional view of right power output shaft in Fig. 3, left power output shaft and intermediate shaft portion amplification.
Specific embodiment
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, the intelligent nursing robot arm driving mechanism of the utility model, including
Bottom plate 80, the plate face of bottom plate 80 are located at horizontal direction, and the left side of 80 top of bottom plate is rotationally equipped with a left side along left and right horizontal direction
The right side of power output shaft 81,80 top of bottom plate is rotationally equipped with right power output shaft 82, right power along left and right horizontal direction
Output shaft 82 is coaxially set with left power output shaft 81, and the left end of right power output shaft 82 is fixed with right power output shaft gear
83, the periphery of right power output shaft gear 83 is located at front-rear direction, the front end of right power output shaft gear 83 and intermediate coatings
The rear end of cylinder right gear 113 is meshed, and the periphery of intermediate coatings cylinder right gear 113 is located at front-rear direction, and intermediate coatings cylinder is right
Gear 113 is fixed on the right end of intermediate coatings cylinder 84, and intermediate coatings cylinder 84 is installed in rotation on bottom plate along left and right horizontal direction
80 top is gap-matched in intermediate coatings cylinder 84 and is rotationally fitted with intermediate middle sleeve 85, intermediate middle sleeve 85
Intermediate coatings cylinder 84 is stretched out at two ends of left and right respectively, is gap-matched in intermediate middle sleeve 85 and is rotationally fitted with intermediate inner sleeve
Intermediate middle sleeve 85 is stretched out at cylinder 86, two end of left and right of intermediate inner sleeve 86 respectively, and being gap-matched in intermediate middle sleeve 85 can
It is rotationally fitted with jackshaft 87, intermediate inner sleeve 86 is stretched out at two end of left and right of jackshaft 87 respectively；
The left end of the intermediate coatings cylinder 84 is fixed with intermediate coatings cylinder left gear 114, intermediate coatings cylinder left gear 114
Rear end is meshed with the front end of left power output shaft gear 115, and left power output shaft gear 115 is fixed on left power output shaft 81
Right end, be gap-matched in the middle part of left 81 lateral wall of power output shaft and be rotationally set with left inside sleeve 88, left inside set
It is gap-matched in the middle part of 88 lateral walls of cylinder and is rotationally set with left sleeve 89, adopted in the middle part of left 89 lateral wall of sleeve
Left outside sleeve 90 is rotationally set with clearance fit；
It is gap-matched in the middle part of 82 lateral wall of right power output shaft and is rotationally set with right inner sleeve 91, it is right
It is gap-matched in the middle part of 91 lateral wall of inner sleeve and is rotationally set with right middle sleeve 92, in right 92 lateral wall of middle sleeve
Portion, which is gap-matched, is rotationally set with right outer sleeve 93；
The left end of the right inner sleeve 91 is fixed with right inner sleeve gear 94, before the periphery of right inner sleeve gear 94 is located at
Rear direction, the front end of right inner sleeve gear 94 are meshed with the rear end of intermediate middle sleeve right gear 95, intermediate middle sleeve right gear
95 periphery is located at front-rear direction, and intermediate middle sleeve right gear 95 is fixed on the right end of intermediate middle sleeve 85, intermediate middle sleeve
85 left end is fixed with intermediate middle sleeve left gear 96, and the periphery of intermediate middle sleeve left gear 96 is located at front-rear direction, intermediate
The rear end of middle sleeve left gear 96 is meshed with the front end of left inside sleeve gear 97, and left inside sleeve gear 97 is fixed on left inside sleeve
88 right end；
The left end of the right middle sleeve 92 is fixed with right middle sleeve gear 98, before the periphery of right middle sleeve gear 98 is located at
Rear direction, the front end of right middle sleeve gear 98 are meshed with the rear end of intermediate inner sleeve right gear 99, intermediate inner sleeve right gear
99 periphery is located at front-rear direction, and intermediate inner sleeve right gear 99 is fixed on the right end of intermediate inner sleeve 86, intermediate inner sleeve
86 left end is fixed with intermediate inner sleeve left gear 100, and the periphery of intermediate inner sleeve left gear 100 is located at front-rear direction, in
Between the rear end of inner sleeve left gear 100 be meshed with the front end of left sleeve gear 101, left sleeve gear 101 is fixed on a left side
The right end of middle sleeve 89；
The left end of the right outer sleeve 93 is fixed with right outer sleeve gear 102, and the periphery of right outer sleeve gear 102 is located at
The front end of front-rear direction, right outer sleeve gear 102 is meshed with the rear end of jackshaft right gear 103, jackshaft right gear 103
Periphery is located at front-rear direction, and jackshaft right gear 103 is fixed on the right end of jackshaft 87, during the left end of jackshaft 87 is fixed with
Between axis left gear 104, the periphery of jackshaft left gear 104 is located at front-rear direction, the rear end of jackshaft left gear 104 with it is left outside
The front end of sleeve gear 105 is meshed, and the periphery of left outside sleeve gear 105 is located at front-rear direction, and left outside sleeve gear 105 is solid
It is scheduled on the right end of left outside sleeve 90；
The right end of the right power output shaft 82 is power output end, and the power output end of right power output shaft 82 is set with
The left end of right power takeoff pulley 106, left power output shaft 81 is power output end, and the power of left power output shaft 81 is defeated
Outlet is set with left power takeoff pulley 107；
The right end of the right inner sleeve 91 is power output end, and the power output end of right inner sleeve 91 is set with right inner sleeve
The left end of belt pulley 112, left inside sleeve 88 is power output end, and the power output end of left inside sleeve 88 is set with left inside sleeve skin
Belt wheel 125；
The right end of the right middle sleeve 92 is power output end, and the power output end of right middle sleeve 92 is set with right middle sleeve
The left end of belt pulley 110, left sleeve 89 is power output end, and the power output end of left sleeve 89 is set with left sleeve skin
Belt wheel 111；
The right power output shaft gear 83 or left power output shaft gear 115 and power output shaft driving 116 phase of gear
Engagement, power output shaft driving gear 116 are sleeved on the power output shaft of power output shaft driving motor 117, power output
Axis driving motor 117 is connected with the installation of bottom plate 80；
The right inner sleeve gear 94 or left inside sleeve gear 97 are meshed with inner sleeve driving gear 118, and inner sleeve drives
Moving gear 118 is sleeved on the power output shaft of inner sleeve driving driving motor 119, and inner sleeve drives driving motor 119 and bottom
The installation of plate 80 is connected；
The right middle sleeve gear 98 or left sleeve gear 101 are meshed with middle sleeve driving gear 120, and middle sleeve drives
Moving gear 120 is sleeved on the power output shaft of middle sleeve driving driving motor 121, and middle sleeve drives driving motor 121 and bottom
The installation of plate 80 is connected；
The right outer sleeve gear 102 or left outside sleeve gear 105 are meshed with outer sleeve driving gear 108, outer sleeve
Driving gear 108 be sleeved on outer sleeve driving driving motor 109 power output shaft on, outer sleeve drive driving motor 109 with
The installation of bottom plate 80 is connected.
Above-mentioned right outer sleeve 93 is connected by right plain bearing housing 122 with the installation of bottom plate 80, and left outside sleeve 90 passes through left cunning
Dynamic bearing seat 123 is connected with the installation of bottom plate 80.
Above-mentioned intermediate outer sleeve 84 is connected by multiple middle slip bearing blocks 124 with the installation of bottom plate 80.
The intelligent nursing robot arm driving mechanism of utility model when in use, starts power output shaft driving motor
117, it can drive gear 116 that right power output shaft gear 83 is driven to rotate by power output shaft, and drive right power output
Axis 82 and intermediate coatings cylinder 84 rotate, and intermediate coatings cylinder 84 drives left power output shaft tooth by intermediate coatings cylinder left gear 114
115 rotation of wheel, and drive left power output shaft 81 to rotate, and then realize the left power output by left 81 left end of power output shaft
Shaft pulley 107 outputs power, and for driving the Wiping roller of intelligent nursing robot to rotate, and passes through the right side
The right power takeoff pulley 106 of 82 right end of power output shaft outputs power, for driving intelligent nursing robot
Wiping roller rotates；
Above-mentioned power output shaft driving motor 117 is also possible to drive gear 116 to drive left power by power output shaft
Output shaft gear 115 rotates, and finally realizes that the left power takeoff pulley 107 for passing through left 81 left end of power output shaft will move
Power output, it is right for driving the Wiping roller of intelligent nursing robot to rotate, and by right power output shaft 82
The right power takeoff pulley 106 at end outputs power, for driving the Wiping roller of intelligent nursing robot to rotate
Movement.
Start inner sleeve and drive driving motor 119, gear 118 can be driven to drive left inside sleeve gear 97 by inner sleeve
Rotation, and left inside sleeve 88 and intermediate middle sleeve 85 is driven to rotate, intermediate middle sleeve 85 is driven by intermediate middle sleeve right gear 95
It moves right inner sleeve gear 94 to rotate, and right inner sleeve 91 is driven to rotate, and then realize the left inside set for passing through left inside 88 left end of sleeve
Cylinder belt pulley 125 outputs power, for driving the left forearm of intelligent nursing robot to make the stretching motion of change length, with
And outputed power by the right inner sleeve belt pulley 112 of right 91 right end of inner sleeve, for driving intelligent nursing robot
Right forearm is made to change the stretching motion of length；
Above-mentioned inner sleeve driving driving motor 119 is also possible to drive gear 118 to drive right inner sleeve tooth by inner sleeve
94 rotation of wheel, and finally realize and outputed power by the left inside sleeve belt pulley 125 of left inside 88 left end of sleeve, for driving intelligence
The left forearm of energy type nursing robot is made to change the stretching motion of length, and the right inner sleeve skin by right 91 right end of inner sleeve
Belt wheel 112 outputs power, for driving the right forearm of intelligent nursing robot to make the stretching motion of change length.
Start middle sleeve and drive driving motor 121, gear 120 can be driven to drive right middle sleeve gear 98 by middle sleeve
Rotation, and right middle sleeve 92 and intermediate inner sleeve 86 is driven to rotate, intermediate inner sleeve 86 is driven by intermediate inner sleeve left gear 100
It moves left sleeve gear 101 to rotate, and left sleeve 89 is driven to rotate, and then realize the left set for passing through left 89 left end of sleeve
Cylinder belt pulley 111 outputs power, and for driving the left forearm of intelligent nursing robot to swing up and down movement, and passes through
The right middle sleeve belt pulley 110 of right 92 right end of middle sleeve outputs power, for driving the right forearm of intelligent nursing robot
Swing up and down movement；
Above-mentioned middle sleeve driving driving motor 121 is also possible to drive gear 120 to drive left socket teeth by middle sleeve
101 rotation of wheel, and finally realize and outputed power by the left sleeve belt pulley 111 of left 89 left end of sleeve, for driving
The left forearm of intelligent nursing robot swings up and down movement, and the right middle sleeve belt pulley by right 92 right end of middle sleeve
110 output power, for driving the right forearm of intelligent nursing robot to swing up and down movement.
Start outer sleeve and drive driving motor 109, gear 108 can be driven to drive right outer sleeve gear by outer sleeve
102 rotations, and right outer sleeve 93 and jackshaft 87 is driven to rotate, jackshaft 87 drives left outside set by jackshaft left gear 104
Cylinder gear 105 rotates, and left outside sleeve 90 is driven to rotate, and then realizes and outputed power by the left end of left outside sleeve 90, uses
Movement is swung up and down in the left large arm of the intelligent nursing robot of driving, and by the right end of right outer sleeve 93 that power is defeated
Out, for driving the right large arm of intelligent nursing robot to swing up and down movement；
Above-mentioned outer sleeve driving driving motor 109 is also possible to drive gear 108 to drive left outside socket teeth by outer sleeve
105 rotation of wheel, and finally realize and outputed power by the left end of left outside sleeve 90, for driving intelligent nursing robot
Left large arm swings up and down movement, and is outputed power by the right end of right outer sleeve 93, for driving intelligent nurse's machine
The right large arm of device people swings up and down movement.
Embodiment described above is only that preferred embodiments of the present invention are described, not practical to this
Novel range is defined, under the premise of not departing from the spirit of the design of the utility model, this field ordinary engineering and technical personnel pair
The various changes and improvements that technical solutions of the utility model are made should all fall into the guarantor that claims of the utility model determine
It protects in range.
Claims (2)
1. intelligent nursing robot arm driving mechanism, it is characterised in that: including bottom plate (80), the plate face of bottom plate (80) is located at
Horizontal direction, the left side above bottom plate (80) are rotationally equipped with left power output shaft (81), bottom plate along left and right horizontal direction
(80) right side above is rotationally equipped with right power output shaft (82) along left and right horizontal direction, right power output shaft (82) and a left side
Power output shaft (81) is coaxially set, and the left end of right power output shaft (82) is fixed with right power output shaft gear (83), right
The front end of power output shaft gear (83) is meshed with the rear end of intermediate coatings cylinder right gear (113), intermediate coatings cylinder right gear
(113) it is fixed on the right end of intermediate coatings cylinder (84), intermediate coatings cylinder (84) is installed in rotation on bottom along left and right horizontal direction
The top of plate (80), interior be gap-matched of intermediate coatings cylinder (84) is rotationally fitted with intermediate middle sleeve (85), in centre
Two end of left and right of sleeve (85) is stretched out intermediate coatings cylinder (84) respectively, is gap-matched rotationally in intermediate middle sleeve (85)
It is fitted with intermediate inner sleeve (86), intermediate middle sleeve (85) is stretched out at two end of left and right of intermediate inner sleeve (86) respectively, is covered in centre
It is gap-matched and is rotationally fitted with jackshaft (87) in cylinder (85), centre is stretched out at two end of left and right of jackshaft (87) respectively
Inner sleeve (86)；
The left end of the intermediate coatings cylinder (84) is fixed with intermediate coatings cylinder left gear (114), intermediate coatings cylinder left gear (114)
Rear end be meshed with the front end of left power output shaft gear (115), it is defeated that left power output shaft gear (115) is fixed on left power
The right end of shaft (81) is gap-matched in the middle part of left power output shaft (81) lateral wall and is rotationally set with left inside sleeve
(88), it is gap-matched in the middle part of left inside sleeve (88) lateral wall and is rotationally set with left sleeve (89), left sleeve
(89) it is gap-matched in the middle part of lateral wall and is rotationally set with left outside sleeve (90)；
It is gap-matched and is rotationally set with right inner sleeve (91) in the middle part of right power output shaft (82) lateral wall, it is right
It is gap-matched and is rotationally set with right middle sleeve (92) in the middle part of inner sleeve (91) lateral wall, on the outside of right middle sleeve (92)
It is gap-matched in the middle part of wall and is rotationally set with right outer sleeve (93)；
The left end of the right inner sleeve (91) is fixed with right inner sleeve gear (94), the front end and centre of right inner sleeve gear (94)
The rear end of middle sleeve right gear (95) is meshed, and intermediate middle sleeve right gear (95) is fixed on the right end of intermediate middle sleeve (85),
The left end of intermediate middle sleeve (85) is fixed with intermediate middle sleeve left gear (96), the rear end and a left side of intermediate middle sleeve left gear (96)
The front end of inner sleeve gear (97) is meshed, and left inside sleeve gear (97) is fixed on the right end of left inside sleeve (88)；
The left end of the right middle sleeve (92) is fixed with right middle sleeve gear (98), the front end and centre of right middle sleeve gear (98)
The rear end of inner sleeve right gear (99) is meshed, and intermediate inner sleeve right gear (99) is fixed on the right end of intermediate inner sleeve (86),
The left end of intermediate inner sleeve (86) is fixed with intermediate inner sleeve left gear (100), the rear end of intermediate inner sleeve left gear (100) with
The front end of left sleeve gear (101) is meshed, and left sleeve gear (101) is fixed on the right end of left sleeve (89)；
The left end of the right outer sleeve (93) is fixed with right outer sleeve gear (102), the periphery position of right outer sleeve gear (102)
It is meshed in the front end of front-rear direction, right outer sleeve gear (102) with the rear end of jackshaft right gear (103), the right tooth of jackshaft
Wheel (103) is fixed on the right end of jackshaft (87), and the left end of jackshaft (87) is fixed with jackshaft left gear (104), jackshaft
The periphery of left gear (104) is located at front-rear direction, rear end and left outside sleeve gear (105) of jackshaft left gear (104)
Front end is meshed, and left outside sleeve gear (105) is fixed on the right end of left outside sleeve (90)；
The right end of the right power output shaft (82) is power output end, and the power output end of right power output shaft (82) is set with
Right power takeoff pulley (106), the left end of left power output shaft (81) are power output end, left power output shaft (81)
Power output end is set with left power takeoff pulley (107)；
The right end of the right inner sleeve (91) is power output end, and the power output end of right inner sleeve (91) is set with right inner sleeve
The left end of belt pulley (112), left inside sleeve (88) is power output end, and the power output end of left inside sleeve (88) is set with left inside
Sleeve belt pulley (125)；
The right end of the right middle sleeve (92) is power output end, and the power output end of right middle sleeve (92) is set with right middle sleeve
The left end of belt pulley (110), left sleeve (89) is power output end, and the power output end of left sleeve (89) is set with left
Sleeve belt pulley (111)；
The right power output shaft gear (83) or left power output shaft gear (115) and power output shaft driving gear (116)
It is meshed, power output shaft driving gear (116) is sleeved on the power output shaft of power output shaft driving motor (117), is moved
Power output shaft driving motor (117) is connected with bottom plate (80) installation；
The right inner sleeve gear (94) or left inside sleeve gear (97) are meshed with inner sleeve driving gear (118), inner sleeve
Driving gear (118) is sleeved on the power output shaft of inner sleeve driving driving motor (119), and inner sleeve drives driving motor
(119) it is connected with bottom plate (80) installation；
The right middle sleeve gear (98) or left sleeve gear (101) are meshed with middle sleeve driving gear (120), middle sleeve
Driving gear (120) is sleeved on the power output shaft of middle sleeve driving driving motor (121), and middle sleeve drives driving motor
(121) it is connected with bottom plate (80) installation；
The right outer sleeve gear (102) or left outside sleeve gear (105) are meshed with outer sleeve driving gear (108), housing
Cylinder driving gear (108) is sleeved on the power output shaft of outer sleeve driving driving motor (109), and outer sleeve drives driving motor
(109) it is connected with bottom plate (80) installation.
2. intelligent nursing robot arm driving mechanism according to claim 1, it is characterised in that: the right outer sleeve
(93) it is connected by right plain bearing housing (122) with bottom plate (80) installation, left outside sleeve (90) passes through left plain bearing housing (123)
It is connected with bottom plate (80) installation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821537900.XU CN209007549U (en) | 2018-09-19 | 2018-09-19 | Intelligent nursing robot arm driving mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821537900.XU CN209007549U (en) | 2018-09-19 | 2018-09-19 | Intelligent nursing robot arm driving mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209007549U true CN209007549U (en) | 2019-06-21 |
Family
ID=66833669
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821537900.XU Expired - Fee Related CN209007549U (en) | 2018-09-19 | 2018-09-19 | Intelligent nursing robot arm driving mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209007549U (en) |
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2018
- 2018-09-19 CN CN201821537900.XU patent/CN209007549U/en not_active Expired - Fee Related
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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: 20190621 |