CN219932900U

CN219932900U - Joint driving mechanism

Info

Publication number: CN219932900U
Application number: CN202321439806.1U
Authority: CN
Inventors: 何旻烨
Original assignee: Xi'an Qingteng Chuangke Information Technology Co ltd
Current assignee: Xi'an Qingteng Chuangke Information Technology Co ltd
Priority date: 2023-06-07
Filing date: 2023-06-07
Publication date: 2023-10-31
Anticipated expiration: 2033-06-07

Abstract

The utility model discloses a joint driving mechanism, which comprises a main shell, wherein shaft grooves are formed in two sides of the main shell, a first reduction gearbox and a second reduction gearbox are respectively arranged on the inner walls of two sides of the main shell, a first joint shaft penetrating through the shaft grooves is fixed at the power output end of the first reduction gearbox, a second joint shaft penetrating through the shaft grooves is fixed at the power output end of the second reduction gearbox, the power input end of the first reduction gearbox is in transmission connection with a first motor fixed on the outer wall of the first reduction gearbox, the power input end of the second reduction gearbox is in transmission connection with a second motor fixed on the outer wall of the second reduction gearbox, a first control board electrically connected with the first motor is arranged on the first reduction gearbox, and a second control board electrically connected with the second motor is arranged on the second reduction gearbox. The utility model adopts the combination drive of the double motors and the double reduction boxes, realizes the modularization and systemization of the drive joints, reduces the development period of the robot and reduces the cost.

Description

Joint driving mechanism

Technical Field

The utility model relates to the technical field of robots, in particular to a joint driving mechanism.

Background

The biped robot is a bionic robot and can realize biped walking and related actions of the robot. As a dynamic system controlled by machinery, bipedal robots contain rich dynamics. The robot joint driving mechanism is an important component of the whole robot system and is an executor of the robot action. The stability and reliability of the joint drive controller can have an important impact on the overall robotic system.

With the continuous development of robotics and the continuous increase of user demands, robots are now being developed toward modularization and systemization. The modularization not only effectively solves the personalized requirements of users on the functions of the robot, but also greatly shortens the period of robot design and development, and the users can purchase proper robot modules according to the actual needs of the users and assemble the proper robot modules into products meeting the requirements of the users. Therefore, it is necessary to design a joint driving mechanism.

Disclosure of Invention

Aiming at the situation, in order to overcome the defects of the prior art, the utility model provides the joint driving mechanism which adopts the combination driving of the double motors and the double reduction boxes, realizes the modularization and systemization of driving joints, reduces the development period of a robot and reduces the cost.

In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a joint actuating mechanism, includes the main casing, the axle groove has all been seted up to the both sides of main casing, first reducing gear box and second reducing gear box are installed respectively to the both sides inner wall of main casing, the power take off end of first reducing gear box is fixed with the first joint axle that passes the axle groove, the power take off end of second reducing gear box is fixed with the second joint axle that passes the axle groove, the power input end of first reducing gear box is connected with the first motor drive who fixes at first reducing gear box outer wall, the power input end of second reducing gear box is connected with the second motor drive who fixes at second reducing gear box outer wall, install the first control panel with first motor electric connection on the first reducing gear box, install the second control panel with second motor electric connection on the second reducing gear box.

Preferably, the first joint shaft and the second joint shaft are coaxially and symmetrically arranged, and the axial lead of the first joint shaft and the axial lead of the second joint shaft are rotation shafts.

Preferably, the included angle between the central axes of the first motor and the second motor is 90 degrees, and the directions of the output shafts of the first motor and the second motor are opposite.

Preferably, the included angle of the axes of the power input ends of the first reduction gearbox and the second reduction gearbox is 90 degrees, and the directions of the power input ends of the first reduction gearbox and the second reduction gearbox are opposite.

Preferably, the front side of the main shell is provided with a first shell cover, a second shell cover and a third shell cover from bottom to top in sequence through screws.

Preferably, first internal thread seats are distributed at the bottoms of the first reduction gearbox and the second reduction gearbox at equal intervals, and the first reduction gearbox and the second reduction gearbox are fixed by screws penetrating through the main shell and screwed on the first internal thread seats.

Preferably, the top of first reducing gear box and second reducing gear box is provided with second internal thread seat, first control panel and second control panel pass through the screw and fix respectively on the second internal thread seat of first reducing gear box and second reducing gear box.

The beneficial effects of the utility model are as follows:

the double motors and the double reduction boxes are adopted for combined driving, so that the modularization and systemization of the driving joints are realized, the development period of the robot is shortened, and the cost is reduced.

Drawings

The accompanying drawings are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate the utility model and together with the embodiments of the utility model, serve to explain the utility model. In the drawings:

FIG. 1 is a schematic perspective view of the whole structure of the present utility model;

FIG. 2 is a schematic view of the overall internal perspective of the present utility model;

FIG. 3 is a schematic view of a first reduction gearbox area perspective structure of the present utility model;

reference numerals in the drawings: 1. a main housing; 2. a shaft groove; 3. a first cover; 4. a second cover; 5. a third cover; 6. a first joint shaft; 7. a second joint shaft; 8. a first reduction gearbox; 9. a first motor; 10. a first control board; 11. a second reduction gearbox; 12. a second motor; 13. a second control board; 14. a first internal thread seat; 15. and a second internal thread seat.

Detailed Description

Hereinafter, only certain exemplary embodiments are briefly described. As will be recognized by those of skill in the pertinent art, the described embodiments may be modified in various different ways without departing from the spirit or scope of the present utility model. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive.

In the description of the present utility model, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature.

The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings.

The utility model provides the following technical scheme as shown in fig. 1, 2 and 3: the utility model provides a joint actuating mechanism, including main casing 1, the axial slot 2 has all been seted up to the both sides of main casing 1, first reducing gear box 8 and second reducing gear box 11 are installed respectively to the both sides inner wall of main casing 1, the power take off end of first reducing gear box 8 is fixed with the first joint axle 6 that passes axial slot 2, the power take off end of second reducing gear box 11 is fixed with the second joint axle 7 that passes axial slot 2, the power input end and the first motor 9 transmission of fixing at first reducing gear box 8 outer wall of first reducing gear box 8 are connected, the power input end and the second motor 12 transmission of fixing at second reducing gear box 11 outer wall of second reducing gear box 11 of second reducing gear box are connected, install the first control panel 10 with first motor 9 electric connection on the first reducing gear box 8, install the second control panel 13 with second motor 12 electric connection, by first control panel 10 control first motor 9 work, the coaxial rotation direction of first reducing gear box 8 and second reducing gear box 11 is driven respectively to first motor 9 and second motor 12, the first joint 7 and second joint 7 have been realized the same with the two-way joint, the two-way joint of rotation of first reducing gear box 6 and two-way joint, the opposite motion system has been realized, two-phase rotation, two-swing joint system has been realized, two-to-phase joint and two-swing joint motion system has been realized, the opposite joint is realized, the two-to the joint is realized, and the opposite joint is realized, and the joint is realized.

Preferably, the first joint shaft 6 and the second joint shaft 7 are coaxially and symmetrically arranged, and the axes of the first joint shaft 6 and the second joint shaft 7 are rotation shafts.

Preferably, the angle between the central axes of the first motor 9 and the second motor 12 is 90 °, and the directions of the output shafts of the first motor 9 and the second motor 12 are opposite.

Preferably, the included angle of the axes of the power input ends of the first reduction gearbox 8 and the second reduction gearbox 11 is 90 degrees, and the directions of the power input ends of the first reduction gearbox 8 and the second reduction gearbox 11 are opposite.

Preferably, the front side of the main casing 1 is provided with a first casing cover 3, a second casing cover 4 and a third casing cover 5 from bottom to top in sequence through screws, and the first casing cover 3, the second casing cover 4 and the third casing cover 5 are convenient to mount and dismount, so that internal components are convenient to repair and maintain.

Preferably, first internal thread seats 14 are equidistantly distributed at the bottoms of the first reduction gearbox 8 and the second reduction gearbox 11, and the first reduction gearbox 8 and the second reduction gearbox 11 are fixed by screws penetrating through the main shell 1 and screwed on the first internal thread seats 14, so that the first reduction gearbox 8 and the second reduction gearbox 11 can be conveniently and quickly fixed.

Preferably, the top of first reducing gear box 8 and second reducing gear box 11 is provided with second internal thread seat 15, and first control panel 10 and second control panel 13 pass through the screw and fix respectively on first reducing gear box 8 and second reducing gear box 11's second internal thread seat 15, make things convenient for the quick fixed of first control panel 10 and second control panel 13.

Working principle:

the first motor 9 is controlled by the first control board 10 to work, the second motor 12 is controlled by the second control board 13 to work, the first motor 9 and the second motor 12 respectively drive the first reduction gearbox 8 and the second reduction gearbox 11 to coaxially rotate in opposite directions, so that the first joint shaft 6 and the second joint shaft 7 rotate in the same direction and relatively, a mechanical device connected with the first joint shaft 6 and the second joint shaft 7 can be driven to do the same direction or different direction single pendulum movement, the joint movement of the robot is realized, the combined driving of the double motors and the double reduction gearboxes is adopted, the modularization and systemization of a driving joint are realized, the development period of the robot is reduced, and the cost is reduced.

Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present utility model, and the present utility model is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present utility model has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.

Claims

1. A joint driving mechanism comprising a main housing (1), characterized in that: the utility model discloses a motor speed reducer is characterized in that shaft grooves (2) are all seted up in both sides of main casing (1), first reducing gear box (8) and second reducing gear box (11) are installed respectively to the both sides inner wall of main casing (1), the power take off end of first reducing gear box (8) is fixed with first joint axle (6) that pass shaft grooves (2), the power take off end of second reducing gear box (11) is fixed with second joint axle (7) that pass shaft grooves (2), the power input end of first reducing gear box (8) is connected with first motor (9) transmission of fixing at first reducing gear box (8) outer wall, the power input end of second reducing gear box (11) is connected with second motor (12) transmission of fixing at second reducing gear box (11) outer wall, install first control panel (10) with first motor (9) electric connection on first reducing gear box (8), install on second reducing gear box (11) with second control panel (13) of second motor (12) electric connection.

2. A joint driving mechanism according to claim 1, wherein: the first joint shaft (6) and the second joint shaft (7) are coaxially and symmetrically arranged, and the axial leads of the first joint shaft (6) and the second joint shaft (7) are rotation shafts.

3. A joint driving mechanism according to claim 1, wherein: the included angle between the central axes of the first motor (9) and the second motor (12) is 90 degrees, and the directions of the output shafts of the first motor (9) and the second motor (12) are opposite.

4. A joint driving mechanism according to claim 1, wherein: the included angle of the axes of the power input ends of the first reduction gearbox (8) and the second reduction gearbox (11) is 90 degrees, and the directions of the power input ends of the first reduction gearbox (8) and the second reduction gearbox (11) are opposite.

5. A joint driving mechanism according to claim 1, wherein: the front side of the main shell (1) is provided with a first shell cover (3), a second shell cover (4) and a third shell cover (5) from bottom to top in sequence through screws.

6. A joint driving mechanism according to claim 1, wherein: first internal thread seats (14) are distributed at the bottoms of the first reduction gearbox (8) and the second reduction gearbox (11) at equal intervals, and the first reduction gearbox (8) and the second reduction gearbox (11) are fixed by screws penetrating through the main shell (1) and screwed on the first internal thread seats (14).

7. A joint driving mechanism according to claim 1, wherein: the top of first reducing gear box (8) and second reducing gear box (11) is provided with second internal thread seat (15), first control panel (10) and second control panel (13) are fixed respectively on second internal thread seat (15) of first reducing gear box (8) and second reducing gear box (11) through the screw.