CN219007564U - Robot driving mechanism - Google Patents
Robot driving mechanism Download PDFInfo
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- CN219007564U CN219007564U CN202222777161.4U CN202222777161U CN219007564U CN 219007564 U CN219007564 U CN 219007564U CN 202222777161 U CN202222777161 U CN 202222777161U CN 219007564 U CN219007564 U CN 219007564U
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Abstract
The utility model belongs to the technical field of intelligent robot application, and particularly discloses a robot driving mechanism which comprises a first housing, a second housing, a motor support, a driving motor, a planetary reduction gear, a worm wheel, a transmission pin shaft, a group of hubs, a bearing and the like. The driving mechanism of the robot has the beneficial effects that: 1. the strip-shaped first housing and the strip-shaped second housing are assembled to form a cavity, so that the strip-shaped first housing and the strip-shaped second housing are suitable for transversely installing a motor bracket and a driving motor, the overall structure is reduced compared with the traditional design, the strip-shaped first housing and the strip-shaped second housing can be used in a narrow and limited environment such as the power of an oil cylinder detection robot, and are made of aluminum alloy, corrosion-resistant, wear-resistant and the like, the service life is long, and the internal component parts can be safely protected after being assembled; 2. compared with the traditional complex driving component mechanism with the prior design, the complex driving component mechanism has the advantages of reduced matching of component parts, convenience in installation and assembly, convenience in dimension detection, low manufacturing cost and reduced economic cost.
Description
Technical Field
The utility model belongs to the technical field of intelligent robot application, and particularly relates to a robot driving mechanism.
Background
In the application field of robots, a driving running mechanism of the robot is an important index for influencing the performance of the robot, and whether a power source running driving mechanism meets specific requirements or not in reasonable space and environment. At present, the driving modes of robots on the market are various, namely, the driving modes are driven by a motor and a synchronous pulley, the driving modes are realized by matching the motor with a gear speed change mechanism, and the other driving modes are not examples.
There are several drawbacks to this way of driving in general: firstly, compared with the common motor, the volume of the motor is larger, the occupied space is larger when the motor passes through a speed reducer, the volume of the whole mechanism is larger, and the motor is difficult to realize in a plurality of narrow and limited environments; secondly, the design complexity of the mechanism is higher, the transmission parts are matched and installed in a switching mode, the synchronous belt is worn, the gear is meshed, and the like are easy to damage, so that maintenance is difficult when faults are found, the parts are complex in design, and meanwhile, the products are easy to damage and the maintenance and repair after damage are complex.
Accordingly, based on the above-described problems, the present utility model provides a robot driving mechanism.
Disclosure of Invention
The utility model aims to: the utility model aims to provide a robot driving mechanism which solves the problems in the background technology.
The technical scheme is as follows: the utility model provides a robot driving mechanism which comprises a first housing, a second housing, a motor support, a driving motor, a planetary reduction gear, a worm wheel, a transmission pin shaft, a group of hubs and bearings, wherein the first housing is provided with a first bearing, the second housing is provided with a second bearing, and the second bearing is provided with a first bearing; the motor support is arranged in a cavity formed by the first housing and the second housing, the driving motor is arranged in the motor support, the planetary reduction gear is arranged on the driving motor, the transmission pin shafts are arranged in one end cavity formed by the first housing and the second housing, the group of hubs are arranged at two ends of the transmission pin shafts, the worm wheel is fixedly arranged on the symmetrical central line of the transmission pin shafts, the bearings are arranged at two ends of the transmission pin shafts and positioned at two sides of the worm wheel, and the worm is arranged in one end cavity formed by the first housing and the second housing and is respectively contacted with the planetary reduction gear and the worm wheel; the driving motor drives the planetary reduction gear to rotate clockwise/anticlockwise, the planetary reduction gear rotating clockwise/anticlockwise synchronously rotates through the worm linked worm wheel and the driving pin shaft, the driving pin shaft rotating clockwise/anticlockwise moves forwards/backwards by utilizing a group of hubs, and the bearing is fixedly arranged in one end cavity formed by the first housing and the second housing.
According to the technical scheme, the robot driving mechanism further comprises a gasket, a first cross groove countersunk head screw, a second cross groove countersunk head screw and an inner hexagonal cone end set screw, wherein the gasket is arranged on the transmission pin shaft and positioned between the bearing and the worm gear, the first cross groove countersunk head screw and the second cross groove countersunk head screw are used for fixedly assembling the first housing and the second housing, and the inner hexagonal cone end set screw is used for fixedly assembling the hub and the transmission pin shaft.
According to the technical scheme, the first housing and the second housing are bar-shaped with the same structure and are made of aluminum alloy.
According to the technical scheme, the robot driving mechanism further comprises a pin arranged at the other ends of the first housing and the second housing, and a torsion spring arranged on the pin and positioned in a cavity formed by the first housing and the second housing; the two ends of the pin penetrate through the side walls of the first housing and the second housing respectively, the torsion springs are V-shaped torsion springs, and the two ends of the pin protrude out of the connecting end faces of the first housing and the second housing respectively.
According to the technical scheme, the hub comprises, but is not limited to, a flexible anti-slip conical structure.
Compared with the prior art, the driving mechanism of the robot has the beneficial effects that: 1. the strip-shaped first housing and the strip-shaped second housing are assembled to form a cavity, so that the strip-shaped first housing and the strip-shaped second housing are suitable for transversely installing a motor bracket and a driving motor, the overall structure is reduced compared with the traditional design, the strip-shaped first housing and the strip-shaped second housing can be used in a narrow and limited environment such as the power of an oil cylinder detection robot, and are made of aluminum alloy, corrosion-resistant, wear-resistant and the like, the service life is long, and the internal component parts can be safely protected after being assembled; 2. compared with the traditional complex driving component mechanism with the prior design, the complex driving component mechanism has the advantages that the matching of components is reduced, the installation and the assembly are convenient, the dimension checking is convenient, the manufacturing cost is low, and the economic cost is reduced.
Drawings
FIG. 1 is a schematic top view of a robotic drive mechanism of the present utility model;
FIG. 2 is a schematic diagram of a G-G cross sectional configuration of a robotic drive mechanism of the present utility model;
FIG. 3 is a schematic H-H cross sectional view of a robotic drive mechanism of the present utility model;
fig. 4 and 5 are schematic elevation structures of a robot driving mechanism according to the present utility model;
wherein, the serial numbers in the figure are as follows: 1-first housing, 2-wheel hub, 3-driving motor, 4-motor support, 5-second housing, 6-drive pin axle, 7-gasket, 8-first cross groove countersunk head screw, 9-worm, 10-worm wheel, 11-torsional spring, 12-pin, 13-bearing, 14-hexagon socket head screw, 15-planetary reduction gear, 16-second cross groove countersunk head screw.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
A robot driving mechanism as shown in fig. 1, 2, 3, 4 and 5, comprising a first housing 1, a second housing 5, a motor support 4, a driving motor 3, a planetary reduction gear 15, a worm 9, a worm wheel 10, a transmission pin 6, a set of hubs 2 and bearings 13;
the motor bracket 4 is arranged in a cavity formed by the first housing 1 and the second housing 5,
the drive motor 3 is arranged in a motor bracket 4,
the planetary reduction gear 15 is mounted on the drive motor 3,
the transmission pin shaft 6 is arranged in an end cavity formed by the first housing 1 and the second housing 5,
a group of hubs 2 are arranged at two ends of the transmission pin shaft 6,
the worm wheel 10 is fixedly arranged on the symmetrical central line of the transmission pin shaft 6,
the worm 9 is disposed in one end cavity formed by the first housing 1 and the second housing 5, and contacts the planetary reduction gear 15 and the worm wheel 10, respectively.
The driving motor 3 drives the planetary reduction gear 15 to rotate clockwise/anticlockwise, the planetary reduction gear 15 rotating clockwise/anticlockwise is linked with the worm wheel 10 and the driving pin 6 through the worm 9, the driving pin 6 rotating clockwise/anticlockwise moves forwards/backwards by using a group of hubs 2, and the bearing 13 is fixedly arranged in an end cavity formed by the first housing 1 and the second housing 5.
The robot driving mechanism of the structure preferably further comprises a gasket 7 arranged on the transmission pin shaft 6 and positioned between the bearing 13 and the worm wheel 10, a first cross groove countersunk head screw 8 and a second cross groove countersunk head screw 16 for fixedly assembling the first housing 1 and the second housing 5, and an inner hexagonal pyramid end set screw 14 for fixedly assembling the hub 2 and the transmission pin shaft 6.
The robot driving mechanism of the present structure preferably further includes a pin 12 provided at the other end of the first housing 1 and the second housing 5, and a torsion spring 11 provided on the pin 12 and located in a cavity formed by the first housing 1 and the second housing 5.
Wherein, the two ends of the pin 12 respectively penetrate through the side wall of the first housing 1 and the side wall of the second housing 5, the torsion spring 11 is a V-shaped torsion spring, and the two ends respectively protrude out of the connecting end surfaces of the first housing 1 and the second housing 5.
In the above embodiment, the first casing 1 and the second casing 5 have the same bar shape and are made of aluminum alloy; hub 2 includes, but is not limited to, a flexible slip resistant conical structure.
The working principle or the structural principle of the robot driving mechanism with the structure is as follows:
the drive motor 3 is supplied by an external power source (neither of which is shown);
the started driving motor 3 drives the planetary reduction gear 15 to rotate clockwise/counterclockwise;
the planetary reduction gear 15 which rotates clockwise/anticlockwise is linked with the worm wheel 10 and the transmission pin shaft 6 through the worm 9 to synchronously rotate clockwise/anticlockwise;
the clockwise/counterclockwise rotation drive pin 6 performs forward/backward movement by using one set of hubs 2, so that the clockwise/counterclockwise rotation of one set of hubs 2 drives the overall structure to perform forward/backward movement.
In addition, the integral driving mechanism of the structure is installed and assembled on the robot shell through the pin 12, and meanwhile the torsion spring 11 plays a supporting role, namely one end of the torsion spring 11 of the V-shaped structure is contacted with the inner wall of the robot shell, so that a group of hubs 2 at one end of the integral driving mechanism are contacted with the surface of the detection part (such as the inner wall of a pipeline and the like).
The above embodiments are only for illustrating the technical solution of the present utility model, and are not limiting; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present utility model.
Claims (5)
1. A robot drive mechanism, characterized in that: comprises a first housing (1) and a second housing
A shell (5),
The device comprises a motor bracket (4), a driving motor (3), a planetary reduction gear (15), a worm (9), a worm wheel (10), a transmission pin shaft (6), a group of hubs (2) and a bearing (13);
the motor bracket (4) is arranged in a cavity formed by the first housing (1) and the second housing (5),
the driving motor (3) is arranged in the motor bracket (4),
the planetary reduction gear (15) is arranged on the driving motor (3),
the transmission pin shaft (6) is arranged in an end cavity formed by the first housing (1) and the second housing (5),
the group of hubs (2) are arranged at two ends of the transmission pin shaft (6),
the worm wheel (10) is fixedly arranged on the symmetrical central line of the transmission pin shaft (6),
the bearings (13) are arranged at two ends of the transmission pin shaft (6) and are positioned at two sides of the worm wheel (10),
the worm (9) is arranged in an end cavity formed by the first housing (1) and the second housing (5) and is respectively contacted with the planetary reduction gear (15) and the worm wheel (10);
the driving motor (3) drives the planetary reduction gear (15) to rotate clockwise/anticlockwise, the planetary reduction gear (15) rotating clockwise/anticlockwise is linked with the worm wheel (10) and the transmission pin shaft (6) through the worm (9), the transmission pin shaft (6) rotating clockwise/anticlockwise moves forwards/backwards by utilizing a group of hubs (2), and the bearing (13) is fixedly arranged in one end cavity formed by the first housing (1) and the second housing (5).
2. A robotic drive mechanism as claimed in claim 1, wherein: the robot driving mechanism further comprises a gasket (7) which is arranged on the transmission pin shaft (6) and positioned between the bearing (13) and the worm wheel (10), a first cross groove countersunk head screw (8) and a second cross groove countersunk head screw (16) which are used for fixedly assembling the first housing (1) and the second housing (5), and an inner hexagonal pyramid end set screw (14) which is used for fixedly assembling the hub (2) and the transmission pin shaft (6).
3. A robotic drive mechanism as claimed in claim 1 or claim 2, wherein: the first housing (1) and the second housing (5) are bar-shaped with the same structure and are made of aluminum alloy.
4. A robotic drive mechanism as claimed in claim 1, wherein: the robot driving mechanism further comprises a pin (12) arranged at the other ends of the first housing (1) and the second housing (5), and a torsion spring (11) arranged on the pin (12) and positioned in a cavity formed by the first housing (1) and the second housing (5);
the two ends of the pin (12) respectively penetrate through the side walls of the first housing (1) and the second housing (5), the torsion spring (11) is a V-shaped torsion spring, and the two ends respectively protrude out of the connecting end surfaces of the first housing (1) and the second housing (5).
5. A robotic drive mechanism as claimed in claim 1, wherein: the hub (2) includes, but is not limited to, a flexible slip resistant conical structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222777161.4U CN219007564U (en) | 2022-10-21 | 2022-10-21 | Robot driving mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222777161.4U CN219007564U (en) | 2022-10-21 | 2022-10-21 | Robot driving mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219007564U true CN219007564U (en) | 2023-05-12 |
Family
ID=86238322
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222777161.4U Active CN219007564U (en) | 2022-10-21 | 2022-10-21 | Robot driving mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219007564U (en) |
-
2022
- 2022-10-21 CN CN202222777161.4U patent/CN219007564U/en active Active
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