CN215395223U

CN215395223U - Driving mechanism and robot with same

Info

Publication number: CN215395223U
Application number: CN202121758641.5U
Authority: CN
Inventors: 高小云; 冯仕伟; 张志波; 马俊杰; 郭东生; 文辉
Original assignee: Gree Electric Appliances Inc of Zhuhai; Zhuhai Gree Intelligent Equipment Co Ltd
Current assignee: Gree Electric Appliances Inc of Zhuhai; Zhuhai Gree Intelligent Equipment Co Ltd
Priority date: 2021-07-29
Filing date: 2021-07-29
Publication date: 2022-01-04
Anticipated expiration: 2031-07-29

Abstract

The utility model provides a driving mechanism and a robot with the same, wherein the driving mechanism comprises: the first driving part comprises a driving shaft which can rotate around the axis of the first driving part; the second driving part comprises a transmission gear and an output shaft, and the output shaft is respectively connected with the transmission gear and the part to be driven; the shaft body of the driving shaft is provided with a sunken part, at least part of the sunken part is sunken from the circumferential surface of the shaft body towards the direction of the shaft axis, and at least part of the sunken part is meshed with the transmission gear. The utility model solves the problem of high noise when the motor drives the speed reducer in the prior art.

Description

Driving mechanism and robot with same

Technical Field

The utility model relates to the technical field of robots, in particular to a driving mechanism and a robot with the same.

Background

At present, in the production process of various industries, industrial robots are mostly adopted to replace manual labor, so that labor force is saved, and working efficiency is improved.

However, in the existing industrial robot, the built-in servo motor is easily damaged due to oil feeding inside the motor due to abrasion of an oil seal, in addition, the motor is connected with the speed reducer through the coupler, the installation gap between the motor and the coupler easily causes the stress of the motor shaft to be uniform, the motor shaft is broken, the motor input shaft is not completely meshed with the speed reducer when meshed with the speed reducer, or the meshing is deviated, and great noise is generated when the motor drives the speed reducer.

SUMMERY OF THE UTILITY MODEL

The utility model mainly aims to provide a driving mechanism and a robot with the same, and aims to solve the problem that noise is high when a motor drives a speed reducer in the prior art.

In order to achieve the above object, according to one aspect of the present invention, there is provided a drive mechanism including: the first driving part comprises a driving shaft which can rotate around the axis of the first driving part; the second driving part comprises a transmission gear and an output shaft, and the output shaft is respectively connected with the transmission gear and the part to be driven; the shaft body of the driving shaft is provided with a sunken part, at least part of the sunken part is sunken from the circumferential surface of the shaft body towards the direction of the shaft axis, and at least part of the sunken part is meshed with the transmission gear.

Further, the depressed part includes the recess, and the recess is a plurality of, and a plurality of recesses set gradually along the circumference of axis body.

Further, along the direction from the axis line of the shaft body to the circumferential surface of the shaft body, the distance between the two opposite side walls of the groove is gradually increased.

Further, a groove wall surface of the groove is disposed obliquely with respect to a groove bottom surface of the groove to guide the transmission gear through the groove wall surface.

Further, the drive mechanism further includes: the bearing component is sleeved on the shaft body, an inner ring of the bearing component is attached to the shaft body, and an outer ring of the bearing component is attached to the component to be driven.

Furthermore, a positioning step is arranged on the part to be driven, and at least part of the bearing part is arranged on the step end face of the positioning step.

Further, the drive mechanism further includes: the sealing device comprises at least two sealing parts, wherein the at least two sealing parts are sleeved on the driving shaft and are arranged at intervals in sequence along the axis direction of the driving shaft.

Furthermore, a positioning part is arranged on the driving shaft, the positioning part is provided with a positioning end face, and at least part of the sealing component is attached to the positioning end face.

Furthermore, the positioning part is a positioning bulge, the positioning bulge protrudes relative to the circumferential surface of the shaft body so as to form a step structure between the positioning bulge and the circumferential surface of the shaft body, and at least part of the positioning end surface is positioned on the step end surface of the step structure; or the positioning part is a positioning groove which is sunken from the circumferential surface of the shaft body towards the direction of the shaft axis, and at least part of the positioning end surface is positioned on the groove wall surface of the positioning groove.

According to another aspect of the present invention, there is provided a robot comprising a driving mechanism and a robot arm, the driving mechanism being mounted in the robot arm, the driving mechanism being the above-mentioned driving mechanism.

The technical scheme of the utility model is applied, the driving mechanism comprises a first driving part and a second driving part, and the first driving part comprises a driving shaft which can rotate around the axis of the first driving part; the second driving part comprises a transmission gear and an output shaft, and the output shaft is respectively connected with the transmission gear and the part to be driven; the shaft body of the driving shaft is provided with a sunken part, at least part of the sunken part is sunken from the circumferential surface of the shaft body towards the direction of the shaft axis, and at least part of the sunken part is meshed with the transmission gear. The shaft body of the driving shaft is provided with the sunken part, so that the driving shaft is directly meshed with the transmission gear, the condition that the meshing end of the driving shaft caused by axial jumping is incompletely meshed to generate noise is avoided, and the problem of large noise when the motor drives the speed reducer in the prior art is effectively solved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the utility model and, together with the description, serve to explain the utility model and not to limit the utility model. In the drawings:

fig. 1 shows a schematic structural view of an embodiment of the drive mechanism according to the utility model;

FIG. 2 shows a side view of a drive mechanism according to the present invention;

fig. 3 shows a schematic construction of a first drive member in the drive mechanism according to the utility model; and

fig. 4 shows a schematic construction of a drive shaft in the drive mechanism according to the utility model.

Wherein the figures include the following reference numerals:

100. a member to be driven; 200. positioning a step; 1. a first drive member; 10. a drive shaft; 2. a second drive member; 20. a transmission gear; 101. a shaft body; 102. a recessed portion; 103. a groove; 104. a positioning part; 105. positioning the end face; 3. a bearing member; 4. and a sealing member.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The present invention provides a driving mechanism, please refer to fig. 1 to 4, including: a first drive member 1, the first drive member 1 comprising a drive shaft 10 rotatable about its axis; the second driving part 2, the second driving part 2 includes the drive gear 20 and output shaft, the output shaft is connected with drive gear 20 and waiting to drive the part 100 separately; the shaft body 101 of the driving shaft 10 is provided with a recessed portion 102, at least a part of the recessed portion 102 is recessed from the circumferential surface of the shaft body 101 toward the axial center line, and at least a part of the recessed portion 102 is engaged with the transmission gear 20.

The driving mechanism provided by the utility model comprises a first driving part 1 and a second driving part 2, wherein the first driving part 1 comprises a driving shaft 10 which can rotate around the axis of the first driving part; the second driving part 2 comprises a transmission gear 20 and an output shaft, and the output shaft is respectively connected with the transmission gear 20 and the part to be driven 100; the shaft body 101 of the driving shaft 10 is provided with a recessed portion 102, at least a part of the recessed portion 102 is recessed from the circumferential surface of the shaft body 101 toward the axial center line, and at least a part of the recessed portion 102 is engaged with the transmission gear 20. The concave part 102 is arranged on the shaft body 101 of the driving shaft 10, so that the driving shaft 10 is directly meshed with the transmission gear 20, the condition that noise is generated due to incomplete meshing of the meshing end caused by axial jumping of the driving shaft 10 is avoided, and the problem of high noise when the motor drives the speed reducer in the prior art is effectively solved.

In the embodiment provided by the utility model, the first driving part 1 is a driving motor, the second driving part 2 is a speed reducer, and the motor shaft of the driving motor is provided with the concave part 102 meshed with the speed reducer, so that the connection structure between the driving motor and the speed reducer is simplified, the driving force of the motor shaft directly acts on the speed reducer, and the problems that the input shaft of the speed reducer deviates from the rotation center of the motor due to errors of installation, processing and the like when the motor shaft and the input shaft of the speed reducer are installed are effectively reduced.

Specifically, the recess 102 includes a plurality of grooves 103, and the plurality of grooves 103 are arranged in sequence along the circumferential direction of the shaft body 101. The recess 103 is simple in structure and easy to implement, and the teeth of the transmission gear 20 are inserted into the recess 103, so that the driving shaft 10 drives the transmission gear 20 to rotate.

In order to facilitate the engagement of the transmission gear 20 with the plurality of recesses 103, the distance between the opposite side walls of the recesses 103 is gradually increased in the direction from the axis line of the shaft body 101 to the circumferential surface of the shaft body 101. Since the driving shaft 10 has a high rotation speed in the driving process, the notch of the groove 103 is enlarged, so that the transmission gear 20 can be accurately inserted into the groove 103, and the transmission precision of the driving shaft 10 is improved.

The groove wall surface of the groove 103 is disposed obliquely with respect to the groove bottom surface of the groove 103 to guide the transmission gear 20 through the groove wall surface. Therefore, the transmission gear 20 and the driving shaft 10 are prevented from being blocked and abraded in the operation process through the guiding effect of the groove wall surface of the groove 103, and the service lives of the driving motor and the speed reducer are prolonged.

In order to prevent the driving shaft 10 from being worn or interfered with the member to be driven 100 when the driving shaft 10 is directly connected to the transmission gear 20, the driving mechanism further includes: the bearing component 3 is sleeved on the shaft body 101, the inner ring of the bearing component 3 is attached to the shaft body 101, and the outer ring of the bearing component 3 is attached to the component to be driven 100. This ensures that the drive shaft 10 rotates relative to the member to be driven 100, while effectively alleviating the problem of slight rattling of the drive shaft 10 during high speed operation, and allowing the output end of the drive shaft 10 to be efficiently engaged with the transmission gear 20.

In the implementation, the to-be-driven member 100 is provided with a positioning step 200, and at least a part of the bearing member 3 is mounted on a step end face of the positioning step 200. The bearing component 3 is positioned through the step end face so as to prevent the bearing component 3 from moving in the rotating process of the driving shaft 10, and the installation stability of the bearing component 3 is improved.

In the embodiment provided by the present invention, in order to prevent the lubricating oil on the drive shaft 10 from entering the interior of the first drive component 1, the drive mechanism further includes: at least two sealing components 4, at least two sealing components 4 all overlap and establish on drive shaft 10, and at least two sealing components 4 set up along the axis direction of drive shaft 10 interval in proper order. Preferably, sealing member 4 is two, adopts the high-efficient sealed mode of doublestage, has greatly reduced the inside oil feed risk of driving motor.

As shown in fig. 3, in order to facilitate mounting of the seal member 4, the drive shaft 10 is provided with a positioning portion 104, the positioning portion 104 has a positioning end surface 105, and at least a part of the seal member 4 is fitted to the positioning end surface 105.

Specifically, the positioning portion 104 is a positioning protrusion that protrudes with respect to the circumferential surface of the shaft body 101 to form a stepped structure between the positioning protrusion and the circumferential surface of the shaft body 101, and at least a part of the positioning end surface 105 is located on a stepped end surface of the stepped structure; two adjacent sealing members 4 are separated by a positioning protrusion, and the sealing members 4 are positioned by the positioning protrusion, or the positioning portion 104 is a positioning groove recessed from the circumferential surface of the shaft body 101 toward the direction of the shaft axis, and at least a part of the positioning end surface 105 is located on a groove wall surface of the positioning groove. Wherein at least part of the sealing member 4 can be mounted in the positioning groove, by means of which the sealing member 4 is positioned.

The utility model also provides a robot, which comprises a driving mechanism and the mechanical arm, wherein the driving mechanism is arranged in the mechanical arm, and the driving mechanism is the driving mechanism of the embodiment.

In the practical application process, the driving mechanism is arranged at the joint of the mechanical arm, and the driving shaft 10 is directly meshed with the transmission gear 20, so that the problem of motor shaft fracture caused by coupling installation deviation is avoided, and the rigidity of the robot joint is improved.

From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A drive mechanism, comprising:

a first drive component (1), the first drive component (1) comprising a drive shaft (10) rotatable about its axis;

the second driving part (2), the second driving part (2) comprises a transmission gear (20) and an output shaft, and the output shaft is respectively connected with the transmission gear (20) and the part (100) to be driven;

a shaft body (101) of the driving shaft (10) is provided with a concave part (102), at least part of the concave part (102) is concave from the circumferential surface of the shaft body (101) towards the direction of a shaft axis, and at least part of the concave part (102) is meshed with the transmission gear (20).

2. The drive mechanism according to claim 1, wherein the recess (102) includes a plurality of grooves (103), and the plurality of grooves (103) are arranged in sequence in a circumferential direction of the shaft body (101).

3. The drive mechanism according to claim 2, wherein a distance between two opposite side walls of the groove (103) is gradually increased in a direction from an axis of the shaft body (101) to a circumferential surface of the shaft body (101).

4. The drive mechanism according to claim 2, characterized in that a groove wall surface of the groove (103) is arranged obliquely with respect to a groove bottom surface of the groove (103) to guide the transmission gear (20) through the groove wall surface.

5. The drive mechanism as recited in claim 1, further comprising:

the bearing component (3) is sleeved on the shaft body (101), the inner ring of the bearing component (3) is attached to the shaft body (101), and the outer ring of the bearing component (3) is attached to the component to be driven (100).

6. The drive mechanism according to claim 5, wherein a positioning step (200) is provided on the member to be driven (100), and at least a part of the bearing member (3) is mounted on a step end surface of the positioning step (200).

7. The drive mechanism as recited in any one of claims 1 to 6, further comprising:

the sealing device comprises at least two sealing parts (4), wherein the sealing parts (4) are sleeved on the driving shaft (10), and the sealing parts (4) are sequentially arranged at intervals along the axis direction of the driving shaft (10).

8. The drive mechanism according to claim 7, characterized in that a positioning portion (104) is provided on the drive shaft (10), the positioning portion (104) having a positioning end face (105), at least a portion of the sealing member (4) being in abutment with the positioning end face (105).

9. The drive mechanism according to claim 8, wherein the positioning portion (104) is a positioning protrusion that protrudes with respect to a circumferential surface of the shaft body (101) to form a stepped structure between the positioning protrusion and the circumferential surface of the shaft body (101), at least a portion of the positioning end surface (105) being located on a stepped end surface of the stepped structure; or the like, or, alternatively,

the positioning portion (104) is a positioning groove, the positioning groove is recessed from the circumferential surface of the shaft body (101) towards the direction of the shaft axis, and at least part of the positioning end surface (105) is located on the groove wall surface of the positioning groove.

10. A robot comprising a drive mechanism and a robot arm, said drive mechanism being mounted within said robot arm, characterized in that said drive mechanism is a drive mechanism according to any of claims 1 to 9.