CN213562598U - Closed gear drive's robot waist rotary mechanism - Google Patents
Closed gear drive's robot waist rotary mechanism Download PDFInfo
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- CN213562598U CN213562598U CN202022325161.1U CN202022325161U CN213562598U CN 213562598 U CN213562598 U CN 213562598U CN 202022325161 U CN202022325161 U CN 202022325161U CN 213562598 U CN213562598 U CN 213562598U
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Abstract
The utility model discloses a closed gear drive's robot waist rotary mechanism, include: a chassis; a driving mechanism: the double-shaft motor is fixed on a chassis through a motor bracket, and two output shafts of the double-shaft motor are respectively connected with a forward rotation clutch and a reverse rotation clutch through shaft sleeves; positive and negative rotation transmission mechanism: the forward and reverse rotation transmission mechanism comprises a forward rotation transmission mechanism and a reverse rotation transmission mechanism, the forward rotation transmission mechanism is meshed with the forward rotation clutch, and the reverse rotation transmission mechanism is meshed with the reverse rotation clutch; the cover plate structure: the cover plate structure is arranged at the top end of the opening of the base plate and is respectively meshed with the forward rotation transmission mechanism and the reverse rotation transmission mechanism. The utility model discloses the motor only need start in the mechanism, need not turn to the regulation, just can realize the positive and negative rotation of waist, and positive and negative drive mechanism utilizes the actuation and the disconnection of clutch, and the state of control gear transmission motion has the simple characteristics of single drive, structural design principle.
Description
Technical Field
The utility model belongs to the technical field of the robot structure relates to, specifically speaking relates to a closed gear drive's robot waist rotary mechanism.
Background
Along with the rise of the scientific and technological level of China, the development and research of the robot industry are more and more emphasized. At present, small-scale robot products are formed in the market, but the application range and the scale of the robot products are still limited, the scale is small, for example, a family sweeping robot, a military exploration robot trolley, an intelligent navigation robot in a market and the like, the application range of the robot is more and more extensive, and the robot can assist or replace human beings to complete corresponding tasks and works to some extent. Along with the guidance of policy of 2025 (Chinese manufacturing), the robot intelligence is rapidly developed, so that research and development of robot products are enhanced by various colleges, research institutes, scientific research institutions, enterprises and the like, and the robot products which are widely applied at present are researched and analyzed, and the following problems are found:
1. although the robot, especially the humanoid robot, in the market at present has powerful functions, the structural design is more traditional, the study and design on the waist of the robot are few, and most of the robots use the cooperation of upper limbs and legs to replace the function of the waist. In fact, the waist structure of the robot is crucial to the improvement of the overall stability, on one hand, the robot action is more anthropomorphic, and on the other hand, the center of gravity shift caused by the movement of the upper limbs can also be compensated.
2. Most of robots have the number of degrees of freedom equal to the number of drives, and as the functions of the robots are increased, the number of finished actions is increased, and the number of drives is increased, so that the robot control system has low robustness and low stability, and the cost of products is increased.
3. The stability of a robot product and the utilization efficiency of core components are not high, and the complex control system causes the overall stability of the robot to be poor and the maintenance to be difficult; the core components of some products are high in cost, but only can complete a certain specific action, and the utilization rate of the core components is low, so that the use performance of the core components cannot be exerted.
4. The robot has poor structural design innovation, most of the robots utilize a national standard traditional mechanical structure and cannot be matched with advanced software, so that the function of the robot is not stably exerted, and the quality and the service life of products are influenced.
Disclosure of Invention
The utility model aims at providing a closed gear drive's waist rotary mechanism of robot has single drive, characteristics that structural design principle is simple.
In order to solve the technical problem, the utility model discloses a closed gear drive's robot waist rotary mechanism, include:
a chassis: the top end is open;
a driving mechanism: the double-shaft motor is fixed on a chassis through a motor bracket, and two output shafts of the double-shaft motor are respectively connected with a forward rotation clutch and a reverse rotation clutch through shaft sleeves;
positive and negative rotation transmission mechanism: the forward and reverse rotation transmission mechanism comprises a forward rotation transmission mechanism and a reverse rotation transmission mechanism, the forward rotation transmission mechanism is meshed with the forward rotation clutch, and the reverse rotation transmission mechanism is meshed with the reverse rotation clutch;
the cover plate structure: the cover plate structure is arranged at the top end of the opening of the base plate and is respectively meshed with the forward rotation transmission mechanism and the reverse rotation transmission mechanism.
Furthermore, the forward rotation clutch is fixed on the chassis through a forward rotation clutch support, and a forward rotation clutch gear is connected to the forward rotation clutch.
Furthermore, a reverse clutch is fixed on the chassis through a reverse clutch bracket, and a reverse clutch gear is connected to the reverse clutch.
Furthermore, the positive rotation transmission mechanism comprises a positive rotation input gear which is vertically meshed with the positive rotation clutch gear and is mutually meshed, and a positive rotation output gear is connected above the positive rotation input gear through a positive rotation support shaft.
Furthermore, the forward rotation clutch gear and the forward rotation input gear are both bevel gears, and the forward rotation output gear is a straight gear.
Furthermore, the forward rotation input gear and the forward rotation output gear are respectively fixed on the forward rotation support shaft through flat keys, and the forward rotation support shaft is connected with the chassis through a bearing.
Furthermore, the reverse rotation transmission mechanism comprises a reverse rotation input gear which is vertically meshed with the reverse rotation clutch gear and is meshed with the reverse rotation clutch gear, and a reverse rotation output gear is connected above the reverse rotation input gear through a reverse rotation support shaft.
Further, the reverse clutch gear and the reverse input gear are both bevel gears, and the reverse output gear is a spur gear.
Further, the reverse rotation input gear and the reverse rotation output gear are respectively fixed on a reverse rotation support shaft through flat keys, and the reverse rotation support shaft is connected with the chassis through a bearing.
Furthermore, the cover plate structure comprises a cover plate and an inner gear ring in interference fit with the cover plate, the inner gear ring is respectively meshed with the forward rotation output gear and the reverse rotation output gear, the middle position of the cover plate is connected with a cover plate support through a thrust ball bearing, and the cover plate support is fixed on the motor support.
Compared with the prior art, the utility model discloses can obtain including following technological effect:
1) the utility model discloses closed gear drive's robot waist rotary mechanism has carried out certain innovative development in drive and drive mechanism design, and the motor only need start, need not turn to the regulation, just can realize the positive and negative rotation of waist, and positive and negative drive mechanism utilizes the actuation and the disconnection of clutch, the state of control gear transmission motion.
2) The utility model discloses the structure belongs to closed gear drive, and actuating mechanism and drive mechanism work in relative inclosed space, are located between confined chassis and the apron, and mechanism's transmission efficiency is high, has good lubricating condition and clear operational environment, and stability is than higher, can guarantee that the mechanism has reasonable working life.
3) The utility model discloses closed gear drive's robot waist rotary mechanism, application range has certain openness, can carry on robotic arm as "joint", uses in enterprise or mill to carry the goods; the upper limbs and the lower limbs of the robot can be carried to serve as waist structures of the humanoid robot, so that the overall stability of the humanoid robot and the compensation of gravity center deviation are improved; the platform trolley and the camera can be carried to realize the patrol or monitoring function.
Drawings
The accompanying drawings, which are described herein, serve to provide a further understanding of the invention and constitute a part of this specification, and the exemplary embodiments and descriptions thereof are provided for explaining the invention without unduly limiting it. In the drawings:
fig. 1 is a front view of the driving and transmission mechanism of the waist rotation mechanism of the robot of the present invention;
figure 2 is a 45 ° isometric view of the waist of the robot of the present invention;
figure 3 is a 45 axonometric view of the robot waist apron of the utility model.
Detailed Description
The following embodiments will be described in detail with reference to the accompanying drawings, so that how to implement the technical means of the present invention to solve the technical problems and achieve the technical effects can be fully understood and implemented.
The utility model discloses a closed gear drive's robot waist rotary mechanism, as shown in figure 1, 2 and 3, include:
the chassis 19: the top end is open, is mainly applied to a support driving mechanism, a positive and negative transmission mechanism and a cover plate structure, and can also reduce the gravity center of the whole structure and improve the structural stability;
a driving mechanism: the device comprises a double-shaft motor 17, wherein the double-shaft motor 17 is fixed on a chassis 19 through a motor bracket 16, and two output shafts of the double-shaft motor 17 are respectively connected with a forward rotation clutch 5 and a reverse rotation clutch 11 through shaft sleeves 18; specifically, the forward rotation output shaft 7 of the dual-shaft motor 17 is connected with the forward rotation clutch 5 through a shaft sleeve 18, and the reverse rotation output shaft 9 of the dual-shaft motor 17 is connected with the reverse rotation clutch 11 through the shaft sleeve 18;
positive and negative rotation transmission mechanism: the forward and reverse rotation transmission mechanism is fixed on the chassis 19 and comprises a forward rotation transmission mechanism and a reverse rotation transmission mechanism, the forward rotation transmission mechanism is meshed with the forward rotation clutch 5, and the reverse rotation transmission mechanism is meshed with the reverse rotation clutch 11;
the cover plate structure: is arranged at the top end of the opening of the chassis 19, and the cover plate structure is respectively meshed with the forward rotation transmission mechanism and the reverse rotation transmission mechanism.
Wherein the forward rotation clutch 5 and the reverse rotation clutch 11 are both electromagnetic clutches.
The utility model discloses a robot waist rotary mechanism key feature is only by a biax motor 17 drive, when the robot operates, need not change turning to of motor, and control clutch's state can realize about the robot (positive and negative) rotation, and the waist structure mainly passes through straight-gear drive motion and power, changes the direction of transfer of motion through the bevel gear transmission, and the rotation of robot can be realized to collocation control system.
The utility model discloses the design has broken through traditional mechanical structure's restriction, has utilized electromagnetic clutch as core speed governing component, and the motion of better control mechanism utilizes fixed, the transmission motion of gear drive's drive ratio characteristics direct, efficient, full play each structure spare part's advantage.
The utility model discloses robot waist rotary mechanism mainly includes the chassis, actuating mechanism, positive reverse drive mechanism and apron structure four bibliographic categories divide to constitute, actuating mechanism mainly comprises double-shaft motor, corotation clutch and reversal clutch, drive mechanism mainly comprises bevel gear and straight-teeth gear, through control motor and clutch, realize corotation and reversal, will move through bevel gear and straight-teeth gear and transmit the apron to, finally realize the rotation of robot, whole mechanism is all fixed on the chassis.
The forward rotation clutch 5 is fixed on the chassis 19 through a forward rotation clutch bracket 6, and a forward rotation clutch gear 3 is connected to the forward rotation clutch 5; the reverse clutch 11 is fixed to the chassis 19 via a reverse clutch holder 10, and a reverse clutch gear 12 is connected to the reverse clutch 11.
The working principle of the driving mechanism is as follows: the double-shaft motor 17 generates motion and power, when the forward rotation clutch 5 is in a power-on suction state, and the reverse rotation clutch 11 is in a power-off state, the motion and power torque is transmitted to the forward rotation clutch gear 3 through the double-shaft motor 17, so that the motion and power torque is continuously transmitted to the forward rotation transmission mechanism, and finally the waist is rotated forwardly; since the reverse clutch 11 is de-energized, only motion can be transmitted at this time and no power torque can be generated, and therefore, the reverse clutch gear 12 is in an idle state; when the forward rotation clutch 5 is in a power-off state and the reverse rotation clutch 11 is in a power-on suction state, the transmission of motion and power is just opposite, at the moment, the forward rotation clutch gear 3 is in an idle state, and the reverse rotation clutch gear 12 transmits the motion and the power to the reverse rotation transmission mechanism, so that the waist performs reverse rotation motion.
Further, the positive rotation transmission mechanism comprises a positive rotation input gear 2 which is vertically meshed with the positive rotation clutch gear 3 and is mutually meshed, and a positive rotation output gear 4 is connected above the positive rotation input gear 2 through a positive rotation support shaft 1. The forward rotation input gear 2 and the forward rotation output gear 4 are fixed on the forward rotation support shaft 1 through flat keys respectively, and the forward rotation support shaft 1 is connected with the chassis 19 through a bearing, so that the forward rotation support shaft 1 can rotate on the chassis 19.
Further, the forward rotation clutch gear 3 and the forward rotation input gear 2 are both bevel gears, and the forward rotation output gear 4 is a spur gear.
Further, the reverse rotation transmission mechanism includes a reverse rotation input gear 15 which is engaged with the reverse rotation clutch gear 12 and vertically arranged and engaged with each other, and a reverse rotation output gear 13 is connected to an upper portion of the reverse rotation input gear 15 through a reverse rotation support shaft 14. The counter input gear 15 and the counter output gear 13 are fixed to a counter support shaft 14 by flat keys, respectively, and the counter support shaft 14 is connected to a chassis 19 by a bearing so that the counter support shaft 14 can rotate on the chassis 19.
Further, the reverse clutch gear 12 and the reverse input gear 15 are both bevel gears, and the reverse output gear 13 is a spur gear.
Further, the cover plate structure comprises a cover plate 21 and an inner gear ring 22 in interference fit with the cover plate 21, the inner gear ring 22 is respectively meshed with the forward rotation output gear 4 and the reverse rotation output gear 13, a thrust ball bearing hole is formed in the middle of the cover plate 21, a thrust ball bearing 20 is arranged in the thrust ball bearing hole, the thrust ball bearing 20 is connected with the cover plate support 8, the cover plate support 8 is fixed on the motor support 16, and the cover plate 21 can rotate forward and reversely according to different control commands in the movement process.
The working principle of the forward and reverse rotation transmission mechanism is as follows: when the forward rotation clutch 5 is in a power-on suction state and the reverse rotation clutch 11 is in a power-off state, the motion and power are further transmitted to the inner gear ring 22 through the forward rotation clutch gear 3, the forward rotation input gear 2 and the forward rotation output gear 4 to drive the cover plate (waist) to perform forward rotation motion, and at the moment, the reverse rotation clutch gear 12 is in idle operation; when the forward rotation clutch 5 is in a power-off state and the reverse rotation clutch 11 is in a power-on suction state, the motion and power are further transmitted to the inner gear ring 22 through the reverse rotation clutch gear 12, the reverse rotation input gear 15 and the reverse rotation output gear 13 to drive the cover plate (waist) to perform reverse rotation motion, and at the moment, the forward rotation clutch gear 3 is in an idle running state.
The waist rotating mechanism of the robot has the advantages that the positive rotation structure and the reverse rotation structure are symmetrically designed, when the positive rotation clutch 3 is electrified and attracted, and the reverse rotation clutch 11 is in a power-off separation state, the movement sequentially passes through the double-shaft motor 17, the positive rotation clutch gear 3, the positive rotation input gear 2 and the positive rotation output gear 4 and is transmitted to the inner gear ring 22, the cover plate 21 is finally driven to rotate positively, and the reverse rotation transmission mechanism part does not participate in the transmission of power; when the forward rotation clutch 3 is disconnected, the reverse rotation clutch 11 is in an electrified attraction state, the motion is transmitted to the inner gear ring 22 through the motor 17, the reverse rotation clutch gear 12, the reverse rotation input gear 15 and the reverse rotation output gear 13 in sequence, the cover plate 21 is driven to rotate reversely, and at the moment, the forward rotation transmission mechanism part does not participate in power transmission.
The waist rotating mechanism of the robot has simple structure and good symmetry, mainly applies gear trains to transmit motion, has high transmission efficiency, ensures that core parts are in a closed space, and has clean working environment, good lubrication and higher stability; furthermore, the utility model discloses a structure has certain openness, carries on different product annex or mechanism and can use in different occasions, for robot product development and popularization, provides a simple, the accurate structure of transmission.
While the foregoing description shows and describes several preferred embodiments of the invention, it is to be understood, as noted above, that the invention is not limited to the forms disclosed herein, but is not to be construed as excluding other embodiments and is capable of use in various other combinations, modifications, and environments and is capable of changes within the scope of the inventive concept as expressed herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The utility model provides a closed geared robot waist rotary mechanism which characterized in that includes:
a chassis: the top end is open;
a driving mechanism: the double-shaft motor is fixed on the chassis through a motor support, and two output shafts of the double-shaft motor are respectively connected with a forward rotation clutch and a reverse rotation clutch through shaft sleeves;
positive and negative rotation transmission mechanism: the forward and reverse rotation transmission mechanism comprises a forward rotation transmission mechanism and a reverse rotation transmission mechanism, the forward rotation transmission mechanism is meshed with the forward rotation clutch, and the reverse rotation transmission mechanism is meshed with the reverse rotation clutch;
the cover plate structure: the cover plate structure is arranged at the top end of the opening of the base plate, and is respectively meshed with the forward rotation transmission mechanism and the reverse rotation transmission mechanism.
2. The closed geared robot waist rotation mechanism of claim 1, wherein the forward rotation clutch is fixed to the chassis by a forward rotation clutch bracket, the forward rotation clutch being connected to a forward rotation clutch gear.
3. The closed geared robot lumbar rotary mechanism of claim 1, wherein the reversing clutch is secured to the chassis by a reversing clutch bracket, the reversing clutch having a reversing clutch gear attached thereto.
4. The closed geared robot waist rotating mechanism according to claim 2, wherein the forward rotation transmission mechanism includes a forward rotation input gear vertically engaged with the forward rotation clutch gear and engaged with each other, and a forward rotation output gear is connected above the forward rotation input gear through a forward rotation support shaft.
5. The closed geared robot waist rotation mechanism of claim 4, wherein the forward rotation clutch gear and the forward rotation input gear are both bevel gears and the forward rotation output gear is a spur gear.
6. The closed geared robot waist rotating mechanism according to claim 4 or 5, wherein the forward rotation input gear and the forward rotation output gear are fixed to the forward rotation support shaft through a flat key, respectively, and the forward rotation support shaft is connected to the chassis through a bearing.
7. The closed geared robot waist rotating mechanism according to claim 3 or 4, wherein the reverse gear mechanism includes a reverse input gear engaged with the reverse clutch gear and vertically disposed, and a reverse output gear is connected to an upper portion of the reverse input gear through a reverse support shaft.
8. The closed geared robot lumbar rotary mechanism of claim 7, wherein the contra-rotating clutch gear and the contra-rotating input gear are both bevel gears and the contra-rotating output gear is a spur gear.
9. The closed geared robot waist rotating mechanism according to claim 8, wherein the counter input gear and the counter output gear are fixed to the counter support shaft by flat keys, respectively, and the counter support shaft is connected to the chassis by a bearing.
10. The closed geared robot waist rotating mechanism according to claim 7, wherein the cover plate structure includes a cover plate and an inner gear ring in interference fit with the cover plate, the inner gear ring is respectively engaged with the forward rotation output gear and the reverse rotation output gear, the cover plate is connected at a middle position to a cover plate support through a thrust ball bearing, and the cover plate support is fixed to the motor support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022325161.1U CN213562598U (en) | 2020-10-19 | 2020-10-19 | Closed gear drive's robot waist rotary mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022325161.1U CN213562598U (en) | 2020-10-19 | 2020-10-19 | Closed gear drive's robot waist rotary mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213562598U true CN213562598U (en) | 2021-06-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022325161.1U Active CN213562598U (en) | 2020-10-19 | 2020-10-19 | Closed gear drive's robot waist rotary mechanism |
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| Country | Link |
|---|---|
| CN (1) | CN213562598U (en) |
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- 2020-10-19 CN CN202022325161.1U patent/CN213562598U/en active Active
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