CN212146409U - Novel humanoid double-arm intelligent teaching robot based on rapid prototyping technology - Google Patents
Novel humanoid double-arm intelligent teaching robot based on rapid prototyping technology Download PDFInfo
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- CN212146409U CN212146409U CN201821746058.0U CN201821746058U CN212146409U CN 212146409 U CN212146409 U CN 212146409U CN 201821746058 U CN201821746058 U CN 201821746058U CN 212146409 U CN212146409 U CN 212146409U
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Abstract
The utility model discloses a novel humanoid double-arm intelligent teaching robot based on rapid prototyping technology, which comprises a base, two driving components and two mechanical arms, wherein the two mechanical arms and the two driving components are respectively fixedly installed on the top of the base through the two driving components, the driving components comprise a motor, a first driving wheel, a first toothed chain, a second driving wheel, a transmission shaft, a first driven wheel, a second toothed chain and a second driven wheel, the motor is fixed on the top of the base, and the output end of the motor is fixed with the first driving wheel through a coupler, the two mechanical arms of the utility model are respectively fixed with the base through the two driving components and are driven by the motor to rotate, and the robot motion is realized through the connection of the gear and the toothed chain transmission, the device has compact structural design, large reduction ratio and high transmission precision, and replaces expensive harmonic speed reducers, the cost of the product is effectively reduced.
Description
Technical Field
The utility model relates to a teaching robot technical field specifically is a novel imitative people both arms intelligence teaching robot based on rapid prototyping technique.
Background
The development of the robot industry in China presents a strong situation and is the largest robot application market in the world, but the contradiction of talent loss is increasingly revealed after the rapid development of the robot industry, more and more colleges and universities open up the professional directions related to robots, and many professional colleges see the market prospect and have increasingly greater requirements as core equipment of training equipment and teaching robots.
Double-arm robot in market can two directions simultaneous working, and is more efficient than traditional single-arm robot, but double-arm robot in market is because its harmonic speed reducer device that assembles the height, and manufacturing cost is big for the teaching is too extravagant, for this reason, we propose a novel imitative people both arms intelligence teaching robot based on rapid prototyping.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a novel imitative people both arms intelligence teaching robot based on rapid prototyping technique to solve the problem that proposes in the above-mentioned background art.
In order to achieve the above object, the utility model provides a following technical scheme: a novel humanoid double-arm intelligent teaching robot based on a rapid prototyping technology comprises a base, two driving assemblies and two mechanical arms, wherein the two mechanical arms and the two driving assemblies are respectively fixedly installed on the top of the base through the two driving assemblies, the driving assemblies comprise a motor, a first driving wheel, a first toothed chain, a second driving wheel, a transmission shaft, a first driven wheel, a second toothed chain and a second driven wheel, the motor is fixed on the top of the base, the output end of the motor is fixed with the first driving wheel through a coupler, the first driving wheel is in transmission connection with the second driving wheel through the first toothed chain, the second driving wheel and the first driven wheel are respectively fixedly sleeved on the outer sides of the two ends of the transmission shaft, the two ends of the transmission shaft are in rotational connection with an equipment inner shell through bearings, and the first driven wheel is in transmission connection with the second driven wheel through the second toothed chain, and the second driven wheel is fixedly sleeved outside one end of the mechanical arm.
Preferably, a protective shell is arranged on the outer side of the driving assembly, and the bottom of the protective shell is fixed with the top of the base.
Preferably, limiting plates are fixed to two ends of the first driving wheel and two ends of the first driven wheel, and the adjacent sides of the two limiting plates are connected with the first toothed chain and the second toothed chain in a sliding mode.
Preferably, the second toothed chain is provided with a guide part on the outer side, the guide part comprises a guide shaft and a guide wheel, the guide wheel is sleeved on the outer side of the guide shaft through a bearing, and two ends of the guide shaft are fixed with the inner shell of the equipment.
Preferably, the width of the guide wheel is larger than that of the second toothed chain.
Compared with the prior art, the beneficial effects of the utility model are that:
1. the utility model discloses two arms are fixed with the base through two drive assembly respectively, and rethread motor drive gear rotates, thereby realizes the robot motion through gear and profile of tooth chain drive connection, and device structural design is compact, and the reduction ratio is big, and transmission precision is high, has replaced expensive harmonic speed reducer, the effectual cost that reduces the product.
2. The utility model discloses first drive wheel and first all are fixed with the limiting plate from driving wheel both ends, prevent that first profile of tooth chain and second profile of tooth chain and first drive wheel and first break away from the driving wheel, and the second profile of tooth chain outside is equipped with leads a position spare, makes second profile of tooth chain and first follow driving wheel and second follow driving wheel contact inseparabler through leading a position spare, contact failure during the rotation prevention.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a schematic structural view of the present invention;
fig. 3 is an enlarged view of a portion a in fig. 2.
In the figure: 1-a base; 2-a drive assembly; 3, a mechanical arm; 4-a motor; 5-a first drive wheel; 6-a first toothed chain; 7-a second drive wheel; 8-a transmission shaft; 9-a first driven wheel; 10-a second toothed chain; 11-a second driven wheel; 12-a protective shell; 13-a limiting plate; 14-a guide member; 15-a guide shaft; 16-guide wheel.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1-3, the present invention provides a technical solution: a novel humanoid double-arm intelligent teaching robot based on a rapid prototyping technology comprises a base 1, two driving assemblies 2 and two mechanical arms 3, wherein the two mechanical arms 3 and the two driving assemblies 2 are respectively installed and fixed on the top of the base 1 through the two driving assemblies 2, the driving assemblies 2 are composed of a motor 4, a first driving wheel 5, a first toothed chain 6, a second driving wheel 7, a transmission shaft 8, a first driven wheel 9, a second toothed chain 10 and a second driven wheel 11, the motor 4 is fixed on the top of the base 1, the output end of the motor 4 is fixed with the first driving wheel 5 through a coupler, the first driving wheel 5 is in transmission connection with the second driving wheel 7 through the first toothed chain 6, the second driving wheel 7 and the first driven wheel 9 are respectively fixedly sleeved on the outer sides of two ends of the transmission shaft 8, the two ends of the transmission shaft 8 are in rotation connection with an equipment inner shell through a bearing, the first driven wheel 9 is in transmission connection with a second driven wheel 11 through a second toothed chain 10, and the second driven wheel 11 is fixedly sleeved on the outer side of one end of the mechanical arm 3.
The outer side of the driving assembly 2 is provided with a protective shell 12, the bottom of the protective shell 12 is fixed with the top of the base 1, and the internal driving assembly 2 is protected.
Limiting plates 13 are fixed at two ends of the first driving wheel 5 and the first driven wheel 9, adjacent sides of the two limiting plates 13 are in sliding connection with the first toothed chain 6 and the second toothed chain 10, and the first toothed chain 6 and the second toothed chain 10 are prevented from being separated from the first driving wheel 5 and the first driven wheel 9.
The outer side of the second toothed chain 10 is provided with a guide part 14, the guide part 14 is composed of a guide shaft 15 and a guide wheel 16, the guide wheel 16 is sleeved on the outer side of the guide shaft 15 through a bearing, two ends of the guide shaft 15 are fixed with an equipment inner shell, the second toothed chain 10 is in closer contact with the first driven wheel 9 and the second driven wheel 11 through the guide part 14, and poor contact during rotation is prevented.
The width of the guide wheel 16 is larger than that of the second toothed chain 10, so that the second toothed chain 10 can be effectively prevented from being separated from the first driven wheel 9 and the second driven wheel 11.
The working principle is as follows: when the utility model is used, the motor 4 in the protective shell 12 rotates to drive the first driving wheel 5 with fixed output end to rotate, the first driving wheel 5 is connected with the second driving wheel 7 through the first toothed chain 6 in a transmission way, the second driving wheel 7 rotates, the second driving wheel 7 is fixed with the first driven wheel 9 through the transmission shaft 8, so the first driven wheel 9 rotates, the second toothed chain 10 drives the second driven wheel 11 to rotate, the second driven wheel 11 is fixed with the outer side of one end of the mechanical arm 3 through the outer side, so one end of the mechanical arm 3 is driven to move, in the process of driving the gear and the toothed chain, the second toothed chain 10 is contacted with the second toothed chain 10 through the guide part 14, so that the second toothed chain 10 is contacted with the first driven wheel 9 and the second driven wheel 11 tightly, and a limit function is played for the first toothed chain 6 and the second toothed chain 10 through the limit plate 13 fixed at two ends of the first driving wheel 5 and the first driven wheel 9, prevent to drop off, make the transmission more stable accurate.
In this scheme, the preferred Y80M1-2 model of motor 4, motor 4 operation circuit are the positive and negative control program of 4 normal motors, and the circuit operation is current conventional circuit, the utility model discloses circuit and control that relate to are prior art, do not carry out too much repetitious description here.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The utility model provides a novel imitative people both arms intelligence teaching robot based on rapid prototyping technique, includes base (1), drive assembly (2) and arm (3), its characterized in that: the two mechanical arms (3) and the two driving assemblies (2) are respectively provided with two mechanical arms (3), the two mechanical arms (3) are respectively fixedly installed on the top of the base (1) through the two driving assemblies (2), the driving assemblies (2) are composed of a motor (4), a first driving wheel (5), a first toothed chain (6), a second driving wheel (7), a transmission shaft (8), a first driven wheel (9), a second toothed chain (10) and a second driven wheel (11), the motor (4) is fixed on the top of the base (1), the output end of the motor (4) is fixed with the first driving wheel (5) through a coupler, the first driving wheel (5) is in transmission connection with the second driving wheel (7) through the first toothed chain (6), the second driving wheel (7) and the first driven wheel (9) are respectively fixedly sleeved on the outer sides of two ends of the transmission shaft (8), two ends of the transmission shaft (8) are rotatably connected with the inner shell of the equipment through bearings, the first driven wheel (9) is in transmission connection with a second driven wheel (11) through a second toothed chain (10), and the second driven wheel (11) is fixedly sleeved on the outer side of one end of the mechanical arm (3).
2. The novel humanoid double-arm intelligent teaching robot based on the rapid prototyping technology as claimed in claim 1, wherein: the outer side of the driving assembly (2) is provided with a protective shell (12), and the bottom of the protective shell (12) is fixed with the top of the base (1).
3. The novel humanoid double-arm intelligent teaching robot based on the rapid prototyping technology as claimed in claim 1, wherein: limiting plates (13) are fixed to two ends of the first driving wheel (5) and two ends of the first driven wheel (9), and adjacent sides of the two limiting plates (13) are connected with the first toothed chain (6) and the second toothed chain (10) in a sliding mode.
4. The novel humanoid double-arm intelligent teaching robot based on the rapid prototyping technology as claimed in claim 1, wherein: the second profile of tooth chain (10) outside is equipped with leads position spare (14), lead position spare (14) and constitute by leading position axle (15) and leading position wheel (16), lead position wheel (16) and pass through the bearing housing and lead position axle (15) outside, and lead position axle (15) both ends and fixed with equipment inner shell.
5. The novel humanoid double-arm intelligent teaching robot based on the rapid prototyping technology as claimed in claim 4, wherein: the width of the guide wheel (16) is larger than that of the second gear chain (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821746058.0U CN212146409U (en) | 2018-10-26 | 2018-10-26 | Novel humanoid double-arm intelligent teaching robot based on rapid prototyping technology |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821746058.0U CN212146409U (en) | 2018-10-26 | 2018-10-26 | Novel humanoid double-arm intelligent teaching robot based on rapid prototyping technology |
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| CN212146409U true CN212146409U (en) | 2020-12-15 |
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| CN201821746058.0U Active CN212146409U (en) | 2018-10-26 | 2018-10-26 | Novel humanoid double-arm intelligent teaching robot based on rapid prototyping technology |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112811165A (en) * | 2021-02-04 | 2021-05-18 | 深圳新益昌科技股份有限公司 | Double-arm type crystal ring replacing mechanism |
-
2018
- 2018-10-26 CN CN201821746058.0U patent/CN212146409U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112811165A (en) * | 2021-02-04 | 2021-05-18 | 深圳新益昌科技股份有限公司 | Double-arm type crystal ring replacing mechanism |
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