CN215806091U

CN215806091U - Gear belt conveying and tightening device for robot

Info

Publication number: CN215806091U
Application number: CN202121803464.8U
Authority: CN
Inventors: 余东辉; 朱剑波; 郭栋
Original assignee: China Airborne Missile Academy
Current assignee: China Airborne Missile Academy
Priority date: 2021-07-27
Filing date: 2021-07-27
Publication date: 2022-02-11
Anticipated expiration: 2031-07-27

Abstract

The utility model discloses a gear belt conveying and tightening device for a robot, which comprises a thigh assembly and a shank assembly, wherein a driving gear is arranged at one end in the thigh assembly through a transmission shaft, a driven gear is arranged at the other end in the thigh assembly through the transmission shaft, the driving gear is in transmission connection with the driven gear through a gear belt, the transmission shaft of the driven gear penetrates through the thigh assembly and is fixedly connected with the shank assembly, the device also comprises a pressing handle, a pressing handle is arranged in the thigh assembly, a first supporting lug and a second supporting lug are fixed on two sides of the end part of the pressing handle corresponding to the surface of the gear belt, a pressing bushing is arranged between the first supporting lug and the second supporting lug, and the pressing bushing is correspondingly parallel to the driving gear. According to the gear belt conveying and tightening device for the robot, after the tightening device is installed in place, the tightening force of the belt can be adjusted by means of the tightening device, the tightening screw is screwed in and out to change the pressing force applied to the pressing handle, so that the tightening force is changed, and finally the tightening function of the belt is achieved.

Description

Gear belt conveying and tightening device for robot

Technical Field

The utility model relates to the technical field of tensioning and adjusting of gear belts, in particular to a gear belt conveying and tightening device for a robot.

Background

In recent years, the robot industry has been vigorously developed, and the quadruped robot is rapidly developed and widely applied. Conventional robots, such as wheeled, tracked, while having a fast speed of movement, are terrain constrained. The quadruped robot is a bionic robot, has great advantages in the aspect of crossing terrain obstacles, has low requirements on walking pavements, can cross obstacles and travels on various rugged and complicated pavements. In the open air, vehicles or tracked robots cannot deal with most of complicated and rugged terrains, and the four-legged robot plays an important role in field exploration and information transmission due to the flexible and mobile characteristic of the four-legged robot. The quadruped robot is a research product with extremely strong comprehensiveness, takes an electromechanical integration technology as a leading factor, and comprehensively applies knowledge in various aspects such as a single chip microcomputer technology, hydraulic pressure, a sensor and the like. The four-legged bionic robot has high maneuverability, strong loading capacity and adaptability, can be applied to aspects of material transportation, emergency rescue and the like, and has wide prospect.

The quadruped robot has the advantages that quadruped advancing is usually realized through gear and rack transmission or belt wheel transmission, the up-and-down lifting and the front-and-back movement of each leg are realized through the transmission of the motor and the gear and rack, but the gear and rack transmission has the characteristics of stable transmission ratio and stable and reliable work, the limitation that the manufacturing and mounting precision is high and the quadruped robot is not suitable for remote transmission still exists, and when the legs are in gear and rack transmission, the quadruped robot is difficult to realize the jumping function. Therefore, in order to realize flexible jumping of the quadruped robot, the last stage of transmission adopts belt transmission, avoids direct engagement of gear deceleration, realizes stable flexible recoil of landing of crus by means of loosening and tensioning of the belt, and really realizes soft landing. The belt tightening device provides tension for the operation of the belt, and slipping or idle return is avoided. In view of the importance of the tightening device, such as the installation position, the size, the operation practicability, etc., the problem that designers need to research and solve is always urgent.

SUMMERY OF THE UTILITY MODEL

The utility model aims to overcome the technical problem of the prior art and provides a gear belt conveying and tightening device for a robot, after the tightening device is installed in place, the tightening device can be used for adjusting the tension of a belt, a tightening screw is screwed in and out to change the pressure applied to a pressing handle, so that the tension is changed, the tightening function of the belt is finally realized, and the problems in the background art can be effectively solved.

In order to achieve the purpose, the utility model provides the following technical scheme: the utility model provides a tight device is transferred with gear belt conveying to robot, including the thigh subassembly, the shank subassembly, one end is equipped with the driving gear through the transmission shaft in the thigh subassembly, the other end is equipped with driven gear through the transmission shaft in the thigh subassembly, the driving gear passes through gear belt transmission with driven gear and is connected, thigh subassembly and fixedly connected with shank subassembly are worn out to driven gear's transmission shaft, still including pressing the handle, be equipped with in the thigh subassembly and press the handle, the tip both sides that press the handle to correspond the gear belt surface are fixed with first support ear and second support ear, be equipped with the compressing bushing between first support ear and the second support ear, the compressing bushing corresponds and is on a parallel with the driving gear, and compress bushing and gear belt laminating, thigh subassembly roof threaded connection has adjusting screw, and adjusting screw bottom butt is pressed the handle and is close to compressing bushing's handle body.

Furthermore, the end part of the pressing handle far away from the pressing bush is provided with a through hole, and the thigh component is provided with a pressing handle fulcrum shaft penetrating through the opposite two side walls and the through hole.

Furthermore, the first supporting lug and the second supporting lug are respectively provided with a matching hole corresponding to two ends of the bushing main shaft, the bushing main shaft is in interference fit with the matching holes, and the pressing bushing is rotatably sleeved on the bushing main shaft body.

Further, the number of the adjusting screws is at least two, and the adjusting screws are arranged in parallel corresponding to the axis of the pressing bush.

Further, the bush main shaft is in interference fit with the first support lug.

Furthermore, one end of the adjusting screw, which is abutted against the pressing handle, is spherical.

Further, the gear belt corresponds between the first support lug and the second support lug.

Compared with the prior art, the utility model has the beneficial effects that: the gear belt is pressed through the pressing bush, the driving gear drives the driven gear to rotate through the gear belt, the pressing bush rolls along with the gear belt, the height of the adjusting screw on the thigh assembly is adjusted, the degree of pressing the thigh assembly through the adjusting screw is adjusted, and then the adjusting of pressing the gear belt through the pressing bush is adjusted, so that the tensioning of the adjusting gear belt is facilitated, and the transmission efficiency of the gear belt is guaranteed.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the internal structure of the thigh assembly of the present invention;

FIG. 3 is a schematic view of the bushing spindle assembly of the present invention;

FIG. 4 is a schematic view of the explosive structure of the pressing handle of the present invention;

FIG. 5 is a schematic view of the press handle structure of the present invention;

fig. 6 is a schematic view of the structure of the adjusting screw of the present invention.

In the figure: 101. a thigh assembly; 102. a lower leg assembly; 103. a driving gear; 104. a driven gear; 105. a gear belt; 106. pressing the handle; 107. an adjusting screw; 108. a first support ear; 109. compressing the bushing; 110. a bushing spindle; 111. perforating; 112. a pressing handle fulcrum; 113. a second support ear; 114. a mating hole.

Detailed Description

In the following description, the technical solutions of the present invention will be described with reference to the drawings of the embodiments of the present invention, and it should be understood that, if there is an orientation or positional relationship indicated by terms such as "upper", "lower", "front", "rear", "left", "right", etc., it is only corresponding to the drawings of the present invention, and it is convenient to describe the present invention, but it is not necessary to indicate or imply that the indicated devices or elements have a specific orientation.

Referring to fig. 1-6, the present invention provides a technical solution: a gear belt conveying and tightening device for a robot comprises a thigh assembly 101 and a shank assembly 102, wherein a driving gear 103 is arranged at one end in the thigh assembly 101 through a transmission shaft, a driven gear 104 is arranged at the other end in the thigh assembly 101 through a transmission shaft, the driving gear 103 is in transmission connection with the driven gear 104 through a gear belt 105, the transmission shaft of the driven gear 104 penetrates through the thigh assembly 101 and is fixedly connected with the shank assembly 102, the gear belt conveying and tightening device further comprises a pressing handle 106, a pressing handle 106 is arranged in the thigh assembly 101, a first supporting lug 108 and a second supporting lug 113 are fixed on two sides of the end part of the pressing handle 106 corresponding to the surface of the gear belt 105, a pressing bushing 109 is arranged between the first supporting lug 108 and the second supporting lug 113, the pressing bushing 109 is correspondingly parallel to the driving gear 103, and the pressing bush 109 is attached to the gear belt 105, the upper wall of the thigh assembly 101 is screwed with an adjusting screw 107, and the bottom end of the adjusting screw 107 abuts against the handle body of the pressing handle 106 close to the pressing bush 109.

Preferably, the end of the pressing handle 106 remote from the pressing bush 109 is provided with a through hole 111, and the thigh assembly 101 is provided with a pressing handle fulcrum 112 passing through the opposite side walls and the through hole 111.

Preferably, the first support lug 108 and the second support lug 113 are respectively provided with a matching hole 114 corresponding to two ends of the bushing main shaft 110, the bushing main shaft 110 is in interference fit with the matching hole 114, and the pressing bushing 109 is rotatably sleeved on the shaft body of the bushing main shaft 110.

Preferably, the number of adjusting screws 107 is at least two, and they are juxtaposed in correspondence to the axis of the pressing bush 109, increasing the stability of the positive adjustment.

Preferably, the bushing main shaft 110 is in interference fit with the first support lug 108, and the bushing main shaft 110 is fixed on the press handle 106 to support the pressing bushing 109 for rotation.

Preferably, the end of the adjusting screw 107 abutting the press handle 106 is spherical to reduce wear on the contact surface when pressing the handle 106.

Preferably, the gear belt 105 corresponds to the space between the first supporting lug 108 and the second supporting lug 113, and the first supporting lug 108 and the second supporting lug 113 can limit the position of the gear belt 105.

When in use: press the gear area 105 through compressing tightly bush 109, when the driving gear 103 drives driven gear 104 through gear area 105 and rotates, compress tightly bush 109 and follow gear area 105 and roll, adjust the height of adjusting screw 107 on thigh subassembly 101 to adjust the degree that adjusting screw 107 pressed thigh subassembly 101, and then adjust the regulation that compresses tightly bush 109 and press gear area 105, consequently conveniently adjust the tensioning in gear area 105, guarantee gear area 105's transmission efficiency.

The utility model is not described in detail in the prior art, and it is apparent to a person skilled in the art that the utility model is not limited to details of the above-described exemplary embodiments, but that the utility model can be embodied in other specific forms without departing from the spirit or essential characteristics thereof; the present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the scope of the claims concerned.

Claims

1. The utility model provides a gear belt conveying tightening device for robot, including thigh subassembly (101), shank subassembly (102), one end is equipped with driving gear (103) through the transmission shaft in thigh subassembly (101), the other end is equipped with driven gear (104) through the transmission shaft in thigh subassembly (101), driving gear (103) are connected through gear belt (105) transmission with driven gear (104), thigh subassembly (101) and fixedly connected with shank subassembly (102) are worn out to the transmission shaft of driven gear (104), its characterized in that: still include and press handle (106), be equipped with in thigh subassembly (101) and press handle (106), the tip both sides that press handle (106) to correspond gear belt (105) surface are fixed with first support ear (108) and second and support ear (113), be equipped with between first support ear (108) and second support ear (113) and compress tightly bush (109), compress tightly bush (109) and correspond and be on a parallel with driving gear (103), and compress tightly bush (109) and gear belt (105) laminating, thigh subassembly (101) roof threaded connection has adjusting screw (107), and adjusting screw (107) bottom butt presses handle (106) to be close to the handle body that compresses tightly bush (109).

2. The gear belt transmission tightening device for the robot according to claim 1, characterized in that: the end part of the pressing handle (106) far away from the pressing bush (109) is provided with a through hole (111), and the thigh component (101) is provided with a pressing handle fulcrum shaft (112) penetrating through the two opposite side walls and the through hole (111).

3. The gear belt transmission tightening device for the robot according to claim 1, characterized in that: the first supporting lug (108) and the second supporting lug (113) are respectively provided with a matching hole (114) corresponding to two ends of the bushing main shaft (110), the bushing main shaft (110) is in interference fit with the matching holes (114), and the pressing bushing (109) is rotatably sleeved on the shaft body of the bushing main shaft (110).

4. The gear belt transmission tightening device for the robot according to claim 1, characterized in that: the number of the adjusting screws (107) is at least two, and the adjusting screws are arranged in parallel corresponding to the axis of the pressing bush (109).

5. The gear belt transmission tightening device for the robot according to claim 3, characterized in that: the bushing main shaft (110) is in interference fit with the first support lug (108).

6. The gear belt transmission tightening device for a robot according to claim 1 or 5, characterized in that: one end of the adjusting screw (107) which is abutted against the pressing handle (106) is spherical.

7. The gear belt transmission tightening device for the robot according to claim 1, characterized in that: the gear belt (105) corresponds to the space between the first supporting lug (108) and the second supporting lug (113).