CN220410289U - Linear driving device - Google Patents
Linear driving device Download PDFInfo
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- CN220410289U CN220410289U CN202321839438.XU CN202321839438U CN220410289U CN 220410289 U CN220410289 U CN 220410289U CN 202321839438 U CN202321839438 U CN 202321839438U CN 220410289 U CN220410289 U CN 220410289U
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- guide rail
- driving
- linear guide
- linear
- double
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- 230000007246 mechanism Effects 0.000 claims abstract description 12
- 230000000149 penetrating effect Effects 0.000 claims description 7
- 239000000758 substrate Substances 0.000 abstract description 6
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
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Abstract
The utility model discloses a linear driving device, which comprises a base plate and a linear guide rail arranged on the base plate, wherein a sliding block is slidably arranged on the linear guide rail, and a driving pin is arranged on the sliding block; a double-groove belt pulley is arranged on one side of the linear guide rail, is positioned in the middle of the linear guide rail and is rotatably arranged on the substrate; the linear guide rail is characterized by further comprising two fixed pulleys, wherein the distance between the fixed pulleys and the double-groove belt pulley is consistent, and the two fixed pulleys are symmetrically arranged on two sides of the double-groove belt pulley along the length direction of the linear guide rail; pull ropes with opposite directions are respectively wound in two wheel grooves of the double-groove belt pulley, and the two pull ropes respectively bypass the two fixed pulleys and are connected to the driving pin; and a rotary driving mechanism for driving the double-groove belt pulley to rotate is also arranged on the base plate. The utility model has the advantages of meeting the swinging speed and the swinging precision, being beneficial to reducing the cost and the like.
Description
Technical Field
The utility model relates to the technical field of mechanical transmission, in particular to a linear driving device.
Background
The biped wheel leg robot combines the high-speed and high-efficiency performance of the wheel robot and the characteristic of strong adaptability of the leg robot to complex terrains, so that the robot can rapidly move on a flat ground in a wheel type movement mode, and meanwhile, the movement capacity and obstacle surmounting capacity of the biped wheel leg robot can be improved on a road surface facing a complex environment. In jolt road surface, wheel leg of wheel leg robot need be according to topography swing from top to bottom, adopts directly to drive the motor to control generally, because directly drive motor drive wheel leg swing in-process torsion arm length is shorter, need adopt the great motor of directly driving of power, simultaneously, directly drive the rotation angle of motor also can directly reflect on the swing angle of wheel leg, in order to realize the accurate swing of wheel leg, need adopt the direct motor of driving of high torque and high accuracy to can greatly increased cost.
Therefore, the applicant considers that the swing is realized by pushing and pulling the wheel legs by adopting the linear driving device, the traditional linear driving mechanism mainly comprises a screw nut mechanism, a linear motor, an air cylinder, an oil cylinder and the like, and the screw nut mechanism and the linear motor can realize accurate driving, but the driving speed is low, and the requirement of the wheel legs for adapting to the swing speed of a bumpy road surface cannot be met; the cylinder and the oil cylinder cannot meet the requirement of swing precision of the wheel leg.
Disclosure of Invention
Aiming at the defects in the prior art, the utility model aims to solve the technical problems that: how to provide a linear driving device which can meet the swinging speed and swinging precision and is beneficial to reducing the cost.
In order to solve the technical problems, the utility model adopts the following technical scheme:
the linear driving device is characterized by comprising a base plate and a linear guide rail arranged on the base plate, wherein a sliding block is slidably arranged on the linear guide rail, and a driving pin is arranged on the sliding block; a double-groove belt pulley is arranged on one side of the linear guide rail, is positioned in the middle of the linear guide rail and is rotatably arranged on the substrate; the linear guide rail is characterized by further comprising two fixed pulleys, wherein the distance between the fixed pulleys and the double-groove belt pulley is consistent, and the two fixed pulleys are symmetrically arranged on two sides of the double-groove belt pulley along the length direction of the linear guide rail; pull ropes with opposite directions are respectively wound in two wheel grooves of the double-groove belt pulley, and the two pull ropes respectively bypass the two fixed pulleys and are connected to the driving pin; and a rotary driving mechanism for driving the double-groove belt pulley to rotate is also arranged on the base plate.
Further, the top of slider is fixed with the mount pad that is the rectangle through the bolt, have the locating hole that link up the setting along thickness direction on the mount pad, the internal diameter of locating hole with the diameter of drive pin post is unanimous, the coaxial cartridge of drive pin post is in the locating hole.
Further, the mounting seat is provided with a locking screw hole vertically penetrating the positioning hole, a locking screw is arranged on the locking screw hole, and the driving pin is fixed in the positioning hole through the locking screw.
Further, the rotary driving mechanism is a driving motor arranged on the base plate, an output shaft of the driving motor penetrates through the base plate, and the double-groove belt pulley is coaxially fixed on the output shaft of the driving motor.
Further, the substrate is provided with a plurality of support columns which are vertically arranged, the other ends of the support columns are connected with positioning plates which are arranged in parallel with the substrate, and the positioning plates are provided with guide holes which are arranged corresponding to the driving pin columns.
Further, the guide hole is slidably matched with a guide block, the guide block is provided with a mounting hole which is communicated with the guide block, the inner diameter of the mounting hole is consistent with the diameter of the driving pin, and the driving pin is arranged in the mounting hole in a penetrating mode.
Further, two support columns are respectively arranged at two ends of the linear guide rail, the two support columns at the same end are symmetrically distributed at two sides of the linear guide rail, and the distance between the two support columns at the same side is matched with the length of the linear guide rail; the two fixed pulleys are rotatably arranged on the two support columns on one side of the linear guide rail, which faces the double-groove belt pulley; the driving pin is rotatably sleeved with two V-groove bearings, and the two pull ropes respectively bypass the two V-groove bearings and are connected to the support column on the other side of the linear guide rail.
In summary, the utility model has the advantages of satisfying the swing speed and the swing precision, being beneficial to reducing the cost, and the like.
Drawings
Fig. 1 is a schematic structural view of a two-legged wheeled robot.
Fig. 2 and 3 are schematic structural views of the linear driving device.
Description of the embodiments
The present utility model will be described in further detail with reference to a two-legged wheeled robot employing the structure of the present utility model.
The specific implementation method comprises the following steps: as shown in fig. 1 to 3, a bipedal leg robot comprises a frame 1 and parallel leg mechanisms 2 symmetrically arranged at two sides of the frame 1; the parallel leg mechanism 2 comprises two first leg plates 21 hinged on the frame 1, the other ends of the two first leg plates 21 deflect towards opposite and away directions, and are respectively hinged with a second leg plate 22, the end parts of the two second leg plates 22 are mutually hinged, and the driving wheel assembly 7 is coaxially arranged; the frame 1 is further provided with linear driving devices 3 corresponding to the first leg plates 21 one by one, and driving ends of the linear driving devices 3 are movably connected to the first leg plates 21 and form a triangle structure with the first leg plates 21 and the frame 1, so that the first leg plates 21 can rotate under the driving of the driving ends of the linear driving devices 3.
The linear driving device 3 comprises a base plate 31 and a linear guide rail 32 arranged on the base plate 31, wherein a sliding block 33 is slidably arranged on the linear guide rail 32, and a driving pin 34 is arranged on the sliding block 33; the frame 1 is provided with a yielding groove 11 which is arranged in parallel with the linear guide rail 31, and the first leg plate 21 is provided with a guide groove 23 which is arranged along the length direction; the driving pin 34 passes through the relief groove 11 and is slidably fitted in the guide groove 23.
A rectangular mounting seat is fixed on the top of the sliding block 33 through a bolt, a positioning hole penetrating in the thickness direction is formed in the mounting seat, and the inner diameter of the positioning hole is consistent with the diameter of the driving pin 34; the mounting seat is provided with a locking screw hole which is vertically communicated with the positioning hole, and the locking screw hole is provided with a locking screw; the driving pin 34 is coaxially inserted into the positioning hole and fixed by the locking screw.
As shown in fig. 1, the linear driving device, the first leg plate and the frame form a triangle structure, at this time, the driving end of the linear driving device is far away from the hinge joint of the first leg plate and the frame, so that the driving force arm is increased, and under the condition of the same load, the requirement on the output power of the linear driving device can be reduced. On the other hand, under the condition that the first leg plates are driven to rotate by the same angle, as the driving end of the linear driving device is far away from the hinge joint of the first leg plates and the frame, the driving stroke of the linear driving device is relatively larger, and more redundancy is provided, so that the precision requirement on the linear driving device can be reduced under the condition that the swing precision is ensured, and the cost of the linear driving device is reduced.
In this embodiment, the moving direction of the driving pin is fixed, and the driving pin rotates relatively during the swinging process of the first leg plate, so that the driving pin and the guiding slot 23 are easily worn to affect the swinging precision of the first leg plate due to the combined motion of the sliding and the rotating of the driving pin and the driving pin. For this purpose, in this embodiment, the guide groove 23 is internally fitted with an H-groove bearing 24, the groove width of the H-groove bearing 24 is matched with the thickness of the first leg plate 21, and the groove bottom diameter of the H-groove bearing 24 is matched with the width of the guide groove 23; the driving pin 34 is arranged on the inner ring of the H-groove bearing 24 in a penetrating way; at the same time, the drive pin 34 passes through the H-groove bearing 24 and is fitted with a retaining collar 25.
The bipedal wheel leg robot with the existing structure adopts a direct drive motor with high torque and high precision to drive the wheel legs, and not only the direct drive motor is considered to enable the structure to be simpler, but also the limited installation space inside the two groups of wheel leg robots is considered. In order to fully utilize the space in the length and width directions of the frame, in this embodiment, a double-groove pulley 35 is disposed on one side of the linear guide 32, and the double-groove pulley 35 is disposed at the middle position of the linear guide 32 and rotatably mounted on the base plate 31; the device also comprises two fixed pulleys 36 which are consistent with the distance between the double-groove pulleys 35, wherein the two fixed pulleys 36 are symmetrically arranged at two sides of the double-groove pulleys 35 along the length direction of the linear guide rail 32; pull ropes 37 with opposite directions are respectively wound in two wheel grooves of the double-groove belt pulley 35, and the two pull ropes respectively bypass the two fixed pulleys 36 and are connected to the driving pin 34; the base plate 31 is also provided with a rotary driving mechanism 38 for driving the double-groove belt pulley 35 to rotate; the rotary driving mechanism 38 is a driving motor mounted on the base plate 31, an output shaft of the driving motor passes through the base plate 31, and the dual-groove belt pulley 35 is coaxially fixed on the output shaft of the driving motor.
In the structure, the driving motor drives the double-groove belt pulley to rotate, the pull rope wound in one groove continuously winds and pulls the driving pin column to move along the linear guide rail, and meanwhile, the pull rope wound reversely in the other groove is synchronously released, so that the linear driving of the driving pin column is realized.
In the width direction of the frame, the driving motor is arranged along the width direction of the frame, and the structure is consistent with the arrangement mode of the direct-drive motor in the prior art, and only the thickness of the fixed pulley, the double-groove belt pulley or the linear guide rail is required to be increased. And because the driving force arm in this structure is great, can use the relatively lower driving motor of power to can reduce the size of motor, whole width dimension is less with the size phase difference of direct drive motor.
In the length direction of the frame, since the driving motor of the structure of the embodiment is located at one side of the width direction of the linear guide rail, the maximum stroke of the driving pin is consistent with the length of the linear guide rail, and therefore, the linear guide rail can be arranged as little as possible according to the swinging stroke of the first leg plate, so that the length space occupation of the linear driving device in the frame is shortened.
In addition, the double-groove belt pulley is directly driven by the driving motor, the driving pin is pulled by the pull rope, the transmission is smaller, the driving motor can quickly react to the movement of the driving pin, the response speed is high, and the requirement of the wheel leg for adapting to the swinging speed of a bumpy road surface can be met. Meanwhile, the moving distance of the driving pin is matched with the rotating angle of the driving motor, so that the moving distance of the driving pin can be accurately controlled as long as the rotating angle of the driving motor is accurately controlled, and further the swinging angle of the wheel leg is controlled, and the swinging precision of the wheel leg can be ensured.
In this embodiment, the substrate 31 is provided with a plurality of support columns that are vertically disposed, the other ends of the support columns are connected with a positioning plate 39 that is disposed parallel to the substrate 31, and the positioning plate 39 is provided with guide holes that are disposed corresponding to the driving pins 34.
Two support columns are respectively arranged at two ends of the linear guide rail 32, the two support columns at the same end are symmetrically distributed at two sides of the linear guide rail 32, and the distance between the two support columns at the same side is matched with the length of the linear guide rail 32; the two fixed pulleys are rotatably arranged on the two support columns on the side of the linear guide rail 32 facing the double-groove belt pulley 35; the driving pin is rotatably sleeved with two V-groove bearings 4, and two pull ropes 37 respectively bypass the two V-groove bearings 4 and are connected to a support column on the other side of the linear guide rail 32.
Thus, the V-shaped groove bearing sleeved on the driving pin column forms a movable pulley on the pull rope, and the moving speed of the driving pin column is half of the speed of the pull rope, so that the speed reduction is formed. In addition, through the structure, the support columns at the two ends of the linear guide rail are closer to the linear guide rail in the length direction of the linear guide rail, so that the space occupation of the linear driving device in the length direction of the frame is reduced as much as possible, and the space arrangement is better.
In a specific implementation, a guide block may be slidably fitted in the guide hole, and the guide block may have a mounting hole disposed therethrough, where the inner diameter of the mounting hole is identical to the diameter of the driving pin 34, and the driving pin 34 is installed in the mounting hole in a penetrating manner. The foregoing description of the preferred embodiments of the utility model is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the utility model.
Claims (7)
1. A linear driving device, characterized by comprising a base plate (31) and a linear guide rail (32) arranged on the base plate (31), wherein a sliding block (33) is slidably arranged on the linear guide rail (32), and a driving pin (34) is arranged on the sliding block (33); a double-groove belt pulley (35) is arranged on one side of the linear guide rail (32), and the double-groove belt pulley (35) is positioned in the middle of the linear guide rail (32) and is rotatably arranged on the base plate (31); the device also comprises two fixed pulleys (36) which are consistent with the distance between the double-groove pulleys (35), wherein the two fixed pulleys (36) are symmetrically arranged at two sides of the double-groove pulleys (35) along the length direction of the linear guide rail (32); pull ropes (37) with opposite directions are respectively wound in two wheel grooves of the double-groove belt wheel (35), and the two pull ropes respectively bypass the two fixed pulleys (36) and are connected to the driving pin (34); the base plate (31) is also provided with a rotary driving mechanism (38) for driving the double-groove belt pulley (35) to rotate.
2. The linear driving device according to claim 1, wherein a rectangular mounting seat is fixed on the top of the sliding block (33) through bolts, a positioning hole penetrating in the thickness direction is formed in the mounting seat, the inner diameter of the positioning hole is consistent with the diameter of the driving pin (34), and the driving pin (34) is coaxially inserted into the positioning hole.
3. A linear driving device as claimed in claim 2, characterized in that the mounting base is provided with a locking screw hole penetrating vertically through the positioning hole, a locking screw is mounted on the locking screw hole, and the driving pin (34) is fixed in the positioning hole through the locking screw.
4. A linear driving device according to claim 1, characterized in that the rotary driving mechanism (38) is a driving motor mounted on the base plate (31), an output shaft of the driving motor passes through the base plate (31), and the double-grooved pulley (35) is coaxially fixed on the output shaft of the driving motor.
5. The linear driving device according to claim 1, wherein the base plate (31) is provided with a plurality of vertically arranged support columns, the other ends of the support columns are connected with positioning plates (39) arranged in parallel with the base plate (31), and the positioning plates (39) are provided with guide holes corresponding to the driving pin columns (34).
6. A linear drive apparatus as claimed in claim 5, wherein the guide bore has a guide block slidably fitted thereto, the guide block having a mounting bore therethrough, the mounting bore having an inner diameter corresponding to the diameter of the drive pin (34), the drive pin (34) being received in the mounting bore.
7. The linear driving device according to claim 5, wherein two support columns are respectively arranged at two ends of the linear guide rail (32), the two support columns at the same end are symmetrically distributed at two sides of the linear guide rail (32), and the distance between the two support columns at the same side is matched with the length of the linear guide rail (32); the two fixed pulleys are rotatably arranged on the two support columns on one side of the linear guide rail (32) facing the double-groove belt pulley (35); the driving pin (34) is rotatably sleeved with two V-groove bearings (4), and the two pull ropes (37) respectively bypass the two V-groove bearings (4) and are connected to a support column on the other side of the linear guide rail (32).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321839438.XU CN220410289U (en) | 2023-07-13 | 2023-07-13 | Linear driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321839438.XU CN220410289U (en) | 2023-07-13 | 2023-07-13 | Linear driving device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220410289U true CN220410289U (en) | 2024-01-30 |
Family
ID=89659842
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321839438.XU Active CN220410289U (en) | 2023-07-13 | 2023-07-13 | Linear driving device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220410289U (en) |
-
2023
- 2023-07-13 CN CN202321839438.XU patent/CN220410289U/en active Active
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