CN213674130U - Robot driving device - Google Patents
Robot driving device Download PDFInfo
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- CN213674130U CN213674130U CN202021547617.2U CN202021547617U CN213674130U CN 213674130 U CN213674130 U CN 213674130U CN 202021547617 U CN202021547617 U CN 202021547617U CN 213674130 U CN213674130 U CN 213674130U
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- fixedly connected
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- worm
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Abstract
The utility model discloses a robot driving device, which comprises an outer shell, two baffles of shell one side fixed connection, shell bottom fixed connection drive case, drive case one side fixed connection motor, the one end fixedly connected with worm in the drive case is stretched into to the main shaft of motor, the worm wheel is connected in the worm meshing, the worm wheel middle part is equipped with the pilot hole, fixedly connected with transmission shaft in the pilot hole, an installation axle is connected respectively at the transmission shaft both ends, one side of every baffle all is equipped with a first through-hole, two installation axles pass two first through-holes respectively, the coaxial fixed connection walking wheel of one end of transmission shaft is kept away from to every installation axle, drive case one side is equipped with the circular slot, the transmission shaft passes through the bearing and rotates and is connected with the disc, disc one side is equipped with the mounting hole. The utility model discloses a set up disc and oil filler point, can conveniently add lubricating oil to worm wheel and worm, and installation axle and transmission shaft are separable, conveniently change the walking wheel.
Description
Technical Field
The utility model relates to a humanoid robot field especially relates to a robot driving device.
Background
In recent years, with the continuous progress of science and technology, robots are widely popularized, however, at present, walking wheels on the left side and the right side of the robot respectively correspond to independent driving motors, and the driving modes of the driving motors and the walking wheels are also relatively complex, so that the working load is increased for machining and assembling of a driving device of the robot, the production efficiency and the assembly efficiency of the robot are reduced, and the damage rate of the robot in the using process is improved.
In the prior art, a driving device of a robot, as disclosed in chinese patent application No. CN206544187U, includes a base shell of the robot, the base shell is provided with an inner cavity, a motor is fixed on the top end of the inner cavity, the motor is connected with a bevel gear a, the bevel gear a is connected with a rotating shaft a, the top end of the rotating shaft a is connected with an output shaft of the motor, and the middle part of the outer circumference of the rotating shaft a is provided with an annular groove; two ends of the base shell are provided with wheel cavities, walking wheels are arranged in the wheel cavities, the walking wheels are connected with a rotating shaft B, and the middle part of the rotating shaft B is provided with a conical gear B meshed with the conical gear A; the bottom of the base shell is provided with an inner shell, and the bevel gear A and the bevel gear B are both arranged inside the inner shell; one side of the inner shell is provided with a buckling shell which is fixed on the base shell through a bolt.
Lubricating oil can not be conveniently added to the internal structure of the robot, and the traveling wheels are difficult to clean and disassemble when being arranged in the wheel cavities, so that the time required by robot maintenance is prolonged.
SUMMERY OF THE UTILITY MODEL
The utility model aims at solving the defects existing in the prior art and providing a robot driving device, thereby solving the problems existing in the prior art.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a robot driving device comprises a shell, wherein two baffles are fixedly connected to one side of the shell, a driving box is fixedly connected to the bottom of the shell, a motor is fixedly connected to one side of the driving box, a worm is fixedly connected to one end, extending into the driving box, of a main shaft of the motor, the worm is meshed with a worm wheel, an assembly hole is formed in the middle of the worm wheel, and a transmission shaft is fixedly connected in the assembly hole;
two ends of the transmission shaft are respectively connected with a mounting shaft, one side of each baffle is provided with a first through hole, the two mounting shafts respectively penetrate through the two first through holes, and one end of each mounting shaft, which is far away from the transmission shaft, is coaxially and fixedly connected with a travelling wheel;
the improved oil injection device is characterized in that a circular groove is formed in one side of the driving box, a circular through groove is formed in the inner wall of the circular groove, the transmission shaft is rotatably connected with a disc through a bearing, a mounting hole is formed in one side of the disc, an oil injection nozzle is fixedly connected into the mounting hole, a fixing plate is fixedly connected to one side of the disc, a second through hole is formed in the fixing plate, a first threaded hole is formed in one side of the driving box, and the first threaded hole corresponds to the second through hole.
Preferably, the mounting panel of two symmetries of baffle both sides fixedly connected with, every mounting panel one side is equipped with a third through-hole, shell one side symmetry is equipped with two second screw holes, two second screw hole and two third through-hole one-to-ones, the baffle upside is equipped with two locating pins, shell one side is equipped with two pinholes, two the first spring of hole bottom fixedly connected with of pinhole, two pinhole and two locating pins phase-match respectively.
Preferably, the both ends of transmission shaft all are equipped with a first slide opening, sliding connection has the connecting axle in the first slide opening, every the one end that the installation axle is close to the transmission shaft all is equipped with a second slide opening, second slide opening and connecting axle phase-match, the lateral wall fixedly connected with axle key of connecting axle, the inner wall of first slide opening is equipped with first keyway, first keyway and axle key phase-match, the inner wall of second slide opening is equipped with the second keyway, second keyway and axle key phase-match, the one end of connecting axle and the hole bottom fixedly connected with second spring of first slide opening, one side fixedly connected with dismounting rod of axle key is kept away from to the connecting axle, one side that first keyway was kept away from to the transmission shaft inner wall is equipped with the spout, spout and dismounting rod sliding connection.
Preferably, disc fixedly connected with backup pad, one side of backup pad is equipped with the slide rail, sliding connection has the slider on the slide rail, one side fixedly connected with assembly plate of backup pad, one side of assembly plate is equipped with the via hole, sliding connection has the push rod in the via hole, the one end fixed connection slider that the via hole was passed to the push rod, one side and the assembly plate fixedly connected with third spring of slider, the third spring housing is on the push rod, slider one side fixedly connected with push pedal, push pedal one side are equipped with the extrusion groove, be equipped with the syringe between extrusion groove and the oiling mouth.
The utility model has the advantages that: the utility model provides a pair of robot drive arrangement can conveniently add lubricating oil to worm wheel and worm through setting up disc and glib talker, and installation axle is connected through the connecting axle with the transmission shaft, is convenient for will install the axle and separate with the transmission shaft, can conveniently change the walking wheel.
Drawings
Fig. 1 is a schematic diagram of the basic structure of the present invention;
FIG. 2 is a schematic structural diagram of a driving box of the present invention;
fig. 3 is a partial enlarged view at E in fig. 2;
fig. 4 is a partial enlarged view of fig. 2 at F;
FIG. 5 is a sectional view A-A of FIG. 1;
FIG. 6 is a cross-sectional view B-B of FIG. 1;
fig. 7 is a schematic structural view of the mounting shaft and the transmission shaft.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
As shown in fig. 1-7, the utility model provides a robot driving device, which comprises a housing 1, two baffles 2 are fixedly connected to one side of the housing 1, a driving box 3 is fixedly connected to the bottom of the housing 1, a motor 11 is fixedly connected to one side of the driving box 3, a worm 4 is fixedly connected to one end of a main shaft of the motor 11 extending into the driving box 3, the worm 4 is engaged with a worm wheel 5, an assembly hole is arranged at the middle part of the worm wheel 5, a transmission shaft 6 is fixedly connected in the assembly hole, two ends of the transmission shaft 6 are respectively connected with an installation shaft 7, one side of each baffle 2 is provided with a first through hole, the two installation shafts 7 respectively pass through the two first through holes, one end of each installation shaft 7 far away from the transmission shaft 6 is coaxially and fixedly connected with a travelling wheel 8, a circular groove 31 is arranged at one side of the driving box, disc 9 one side is equipped with mounting hole 92, fixedly connected with oil nipple 91 in mounting hole 92, disc 9 one side fixedly connected with fixed plate 10, be equipped with second through-hole 101 on the fixed plate 10, drive case 3 one side is equipped with first screw hole, first screw hole is corresponding with second through-hole 101, through inserting the double-screw bolt in second through-hole 101, make and form fixed connection between fixed plate 10 and the drive case 3, simultaneously because fixed plate 10 is fixed connection with disc 9, so form fixed connection between disc 9 and the drive case 3, thereby can prevent that disc 9 from rotating around transmission shaft 6, the loss of reduction energy.
Both ends of transmission shaft 6 all are equipped with a first slide opening 61, sliding connection has connecting axle 64 in first slide opening 61, every installation axle 7 all is equipped with a second slide opening 71 near the one end of transmission shaft 6, second slide opening 71 and connecting axle 64 phase-match, one side fixedly connected with axle key 65 of connecting axle 64, the inner wall of first slide opening 61 is equipped with first keyway 62, first keyway 62 and axle key 65 phase-match, the inner wall of second slide opening 71 is equipped with second keyway 72, second keyway 72 and axle key 65 phase-match, the one end of connecting axle 64 and the hole bottom fixedly connected with second spring of first slide opening 61, one side fixedly connected with disassembling rod 63 of axle key 65 is kept away from to connecting axle 64, one side that first keyway 62 was kept away from to transmission shaft 6 inner wall is equipped with spout 66, spout 66 and disassembling rod 63 sliding connection.
The disc 9 is fixedly connected with a supporting plate 12, one side of the supporting plate 12 is provided with a slide rail 18, the slide rail 18 is connected with a slide block 14 in a sliding manner, one side of the supporting plate 12 is fixedly connected with an assembly plate 20, one side of the assembly plate 20 is provided with a through hole, a push rod 13 is connected in the through hole in a sliding manner, one end of the push rod 13 penetrating through the through hole is fixedly connected with the slide block 14, one side of the slide block 14 and the assembly plate 20 are fixedly connected with a third spring, the third spring is sleeved on the push rod 13, one side of the slide block 14 is fixedly connected with a push plate 15, one side of the push plate 15 is provided with an extrusion groove 21, an injector 16 is arranged between the extrusion groove 21 and an oil injection nozzle 91, the injector 16 is in a hollow cylindrical needle tube structure, a piston is arranged in the injector 16, one side of the piston, which is far, so that the disc 9 can rotate around the transmission shaft 6, the push rod 13 is pulled to enable the third spring to be in a compressed state, the push rod 13 is pulled to drive the slide block 14 to move towards the direction close to the assembling plate 20, the slide block 14 moves to drive the push plate 15 to move, at the moment, the injector 16 can be installed between the extrusion groove 21 and the oil injection nozzle 91, the push rod 13 is loosened after the installation, at the moment, the third spring extends to push the slide block 14 to move towards the direction far away from the assembling plate 20, the slide block 14 moves to drive the push plate 15 to move, thereby make extrusion groove 21 produce the extrusion to the base of syringe 16, drive the piston motion, extrude lubricating oil in the oil nozzle 91 from syringe 16, rethread oil nozzle 91 injects lubricating oil for worm wheel 5, rotates disc 9 this moment, just can carry out even oiling to worm wheel 5, required time when having reduced the maintenance robot, has improved the efficiency of work.
The end of the push rod 13 remote from the slide 14 is fixedly connected with a pull ring 19.
When the robot is used, the motor 11 rotates to drive the worm 4 to rotate, the worm 4 rotates to drive the worm wheel 5 to rotate, the worm wheel 5 rotates to drive the transmission shaft 6 to rotate, because both ends of the transmission shaft 6 are respectively provided with a first sliding hole 61, the first sliding hole 61 is connected with the connecting shaft 64 in a sliding manner, one end of each mounting shaft 7, which is close to the transmission shaft 6, is provided with a second sliding hole 71, the second sliding hole 71 is matched with the connecting shaft 64, the side wall of the connecting shaft 64 is fixedly connected with a shaft key 65, the inner wall of the first sliding hole 61 is provided with a first key groove 62, the first key groove 62 is matched with the shaft key 65, the inner wall of the second sliding hole 71 is provided with a second key groove 72, the second key groove 72 is matched with the shaft key 65, so that the transmission shaft 6 rotates to drive the connecting shaft 64 and the shaft key 65 to rotate together, the connecting shaft 64 and the shaft, the dismounting rod 63 slides towards the transmission shaft 6, the second spring can be further compressed, the connecting shaft 64 is withdrawn from the second sliding hole 71, the mounting shaft 7 can be separated from the transmission shaft 6, the travelling wheels 8 can be replaced conveniently, and the working efficiency of the maintenance robot is improved.
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. A robot drive device comprising a housing (1), characterized in that: the motor is characterized in that two baffles (2) are fixedly connected to one side of the shell (1), the bottom of the shell (1) is fixedly connected with a driving box (3), one side of the driving box (3) is fixedly connected with a motor (11), one end, extending into the driving box (3), of a main shaft of the motor (11) is fixedly connected with a worm (4), the worm (4) is meshed with a worm wheel (5), an assembling hole is formed in the middle of the worm wheel (5), and a transmission shaft (6) is fixedly connected in the assembling hole;
two ends of the transmission shaft (6) are respectively connected with a mounting shaft (7), one side of each baffle (2) is provided with a first through hole, the two mounting shafts (7) respectively penetrate through the two first through holes, and one end, far away from the transmission shaft (6), of each mounting shaft (7) is coaxially and fixedly connected with a travelling wheel (8);
drive case (3) one side is equipped with circular slot (31), circular slot (31) inner wall is equipped with circular logical groove (32), transmission shaft (6) rotate through the bearing and are connected with disc (9), disc (9) one side is equipped with mounting hole (92), fixedly connected with oil filler point (91) in mounting hole (92), disc (9) one side fixedly connected with fixed plate (10), be equipped with second through-hole (101) on fixed plate (10), drive case (3) one side is equipped with first screw hole, first screw hole is corresponding with second through-hole (101).
2. A robot driving apparatus according to claim 1, wherein: mounting panel (22), every of two symmetries of baffle (2) both sides fixedly connected with mounting panel (22) one side is equipped with one third through-hole (23), shell (1) one side symmetry is equipped with two second screw holes, two second screw hole and two third through-holes (23) one-to-one, baffle (2) upside is equipped with two locating pins (24), shell (1) one side is equipped with two pinhole (17), two the first spring of hole bottom fixedly connected with of pinhole (17), two pinhole (17) and two locating pins (24) phase-match respectively.
3. A robot driving apparatus according to claim 1, wherein: the both ends of transmission shaft (6) all are equipped with one first slide opening (61), sliding connection has connecting axle (64) in first slide opening (61), every the one end that installation axle (7) is close to transmission shaft (6) all is equipped with one second slide opening (71), second slide opening (71) and connecting axle (64) phase-match, the lateral wall fixedly connected with axle key (65) of connecting axle (64), the inner wall of first slide opening (61) is equipped with first keyway (62), first keyway (62) and axle key (65) phase-match, the inner wall of second slide opening (71) is equipped with second keyway (72), second keyway (72) and axle key (65) phase-match, the one end of connecting axle (64) and the hole bottom fixedly connected with second spring of first slide opening (61), one side fixedly connected with disassembling rod (63) of axle key (65) are kept away from to axle key (64), one side of the inner wall of the transmission shaft (6) far away from the first key groove (62) is provided with a sliding groove (66), and the sliding groove (66) is in sliding connection with the dismounting rod (63).
4. A robot driving apparatus according to claim 1, wherein: disc (9) fixedly connected with backup pad (12), one side of backup pad (12) is equipped with slide rail (18), sliding connection has slider (14) on slide rail (18), one side fixedly connected with mounting plate (20) of backup pad (12), one side of mounting plate (20) is equipped with the via hole, sliding connection has push rod (13) in the via hole, one end fixed connection slider (14) of via hole are passed in push rod (13), one side and mounting plate (20) fixedly connected with third spring of slider (14), the third spring housing is on push rod (13), slider (14) one side fixedly connected with push pedal (15), push pedal (15) one side is equipped with extrusion groove (21), be equipped with syringe (16) between extrusion groove (21) and oiling mouth (91).
5. A robot driving apparatus according to claim 4, wherein: one end of the push rod (13) far away from the slide block (14) is fixedly connected with a pull ring (19).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021547617.2U CN213674130U (en) | 2020-07-30 | 2020-07-30 | Robot driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021547617.2U CN213674130U (en) | 2020-07-30 | 2020-07-30 | Robot driving device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213674130U true CN213674130U (en) | 2021-07-13 |
Family
ID=76742834
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021547617.2U Active CN213674130U (en) | 2020-07-30 | 2020-07-30 | Robot driving device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213674130U (en) |
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2020
- 2020-07-30 CN CN202021547617.2U patent/CN213674130U/en active Active
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