CN220614066U

CN220614066U - Waist rotating shell

Info

Publication number: CN220614066U
Application number: CN202322317997.0U
Authority: CN
Inventors: 林建国; 陈俊培; 翟羽; 廖梦婕; 周勇; 侯放宇; 黄春龙; 康崇仁; 全致成
Original assignee: Zhongke Intelligence Technology Hunan Co ltd; Guangzhou Railway Technology Development Co ltd
Current assignee: Zhongke Intelligence Technology Hunan Co ltd; Guangzhou Railway Technology Development Co ltd
Priority date: 2023-08-28
Filing date: 2023-08-28
Publication date: 2024-03-19
Anticipated expiration: 2033-08-28

Abstract

The utility model discloses a waist rotating shell which comprises a base, wherein a driving device is arranged on the base, a first big arm support is arranged on one side of the driving device, a second big arm support is arranged on the other side of the driving device, a mounting cavity is formed between the first big arm support and the second big arm support, a pinion is arranged at the output end of the driving device, a rotating support is arranged on the lower surface of the base and fixedly connected with the base, a big gear is arranged on the rotating support, the pinion is meshed with the big gear and connected with the big gear, the driving device can drive the pinion to rotate so as to drive the big gear to rotate, and then the base is driven to rotate.

Description

Waist rotating shell

Technical Field

The utility model belongs to the field of rotating mechanisms, and particularly relates to a waist rotating shell.

Background

With the development of society and technology, robots play an increasingly important role, because they can flexibly perform various complicated production tasks, so that the robots are widely applied to various industries, wherein a waist rotating shell is an indispensable part of the robots, free rotation of the robots can be realized through the waist rotating shell, and rotation of the waist rotating shell drives a mechanical arm to rotate together and needs to complete rotation in a short time, so that rotation inertia is large, but the existing waist rotating shell is difficult to overcome the problem that the rotation inertia of the robots is large when the rotation inertia is large, so that a waist rotating shell rotating mechanism is damaged.

Disclosure of Invention

The utility model mainly aims to provide a waist rotating shell, which can overcome larger moment of inertia during rotation when a robot works, and further protect a rotating mechanism of the waist rotating shell.

In order to achieve the above purpose, the technical scheme of the utility model is as follows:

the utility model provides a rotatory shell of waist, includes the base, be equipped with drive arrangement on the base, one side of drive arrangement is equipped with first big arm support, one side in addition is equipped with the big arm support of second of drive arrangement, first big arm support with form the installation cavity between the big arm support of second, drive arrangement's output is equipped with the pinion, the base lower surface is equipped with the support that circles round, circle round support with base fixed connection, be equipped with the gear wheel on the support that circles round, the pinion is connected with the gear wheel meshing, drive arrangement can drive thereby the pinion rotates and drives the gear wheel and rotate, and then drives the base is rotary motion.

In a specific embodiment of the present utility model, the driving device includes a motor and a decelerator, a lower surface of the decelerator is in contact with an upper surface of the base, and an upper surface of the decelerator is in contact with a lower surface of the motor.

In a particular embodiment of the utility model, the motor output is connected to the reducer input and the reducer output is connected to the pinion.

In a specific embodiment of the present utility model, the first and second large arm supports are disposed perpendicular to the base.

In a particular embodiment of the utility model, the main boom support and the auxiliary boom support are parallel to each other.

In a specific embodiment of the present utility model, the top of the first large arm support and the top of the second large arm support, which are close to one side of the installation cavity, are respectively provided with an auxiliary large arm installation shaft, and the two auxiliary large arm installation shafts are symmetrically arranged.

In a specific embodiment of the utility model, an inclined table is arranged at the upper end of the first large arm support, a gesture pull rod mounting hole is arranged at one side of the inclined table, which is close to the mounting cavity, a main large arm mounting hole is arranged below the gesture pull rod mounting hole, two main large arm mounting holes are arranged, and the other main large arm mounting hole is arranged at one side of the second large arm support, which is close to the mounting cavity.

In a particular embodiment of the utility model, two of said main boom mounting holes are symmetrically arranged about said mounting cavity centerline.

In a specific embodiment of the utility model, the left side, the right side and the top of the installation cavity are provided with openings.

One of the above technical solutions of the present utility model has at least one of the following advantages or beneficial effects:

according to the utility model, the driving device and the pair of mutually meshed big and small gears are additionally arranged, wherein the driving device comprises the motor and the speed reducer, the output end of the motor is connected with the input end of the speed reducer, and the output end of the speed reducer is connected with the small gears, so that the waist rotating shell can overcome larger moment of inertia when the robot rotates during working, and the rotating mechanism of the waist rotating shell is protected.

Drawings

The utility model is further described below with reference to the drawings and examples;

FIG. 1 is an overall block diagram of one embodiment of the present utility model;

FIG. 2 is a left side view of one embodiment of the present utility model;

fig. 3 is a top view of one embodiment of the present utility model.

Detailed Description

Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present utility model and are not to be construed as limiting the present utility model.

In the description of the present utility model, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description of the present utility model and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present utility model.

In the description of the present utility model, a number means one or more, a number means two or more, and greater than, less than, exceeding, etc. are understood to not include the present number, and above, below, within, etc. are understood to include the present number. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

Furthermore, the terms "first," "second," and the like, 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, features defining "first" and "second" may explicitly or implicitly include one or more features.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the term "connected" should be construed broadly, and for example, it may be a fixed connection or an active connection, or it may be a detachable connection or a non-detachable connection, or it may be an integral connection; may be mechanically connected, may be electrically connected, or may be in communication with each other; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements, indirect communication or interaction relationship between the two elements.

The following disclosure provides many different embodiments, or examples, for implementing different aspects of the utility model.

Referring to fig. 1 to 3, in one embodiment of the present utility model, a waist rotating shell comprises a base 17, a driving device 113 is provided on the base 17, a first big arm support 11 is provided on one side of the driving device 113, a second big arm support 19 is provided on the other side of the driving device 113, a mounting cavity 110 is formed between the first big arm support 11 and the second big arm support 19, a pinion 14 is provided at an output end of the driving device 113, a rotating support 16 is provided on a lower surface of the base 17, the rotating support 16 is fixedly connected with the base 17, a big gear 15 is provided on the rotating support 16, the pinion 14 is meshed with the big gear 15, and the driving device 12 can drive the pinion 14 to rotate so as to drive the big gear 15 to rotate, thereby driving the base 17 to perform a rotating motion.

In one embodiment of the present utility model, the driving device 113 includes a motor 12 and a speed reducer 13, the lower surface of the speed reducer 13 contacts with the upper surface of the base 17, the upper surface of the speed reducer 13 contacts with the lower surface of the motor 12, the output end of the motor 12 is connected with the input end of the speed reducer 13, the output end of the speed reducer 13 is connected with a pinion 14, the motor 12 is a servo motor, when the waist rotating shell is designed in this way works, the motor 12 drives the speed reducer 13 to rotate, the output shaft of the speed reducer 13 can drive the pinion 14 to rotate, the pinion 14 and the large gear 15 are meshed so as to drive the large gear 15, the base 17 and the waist rotating shell to rotate together, and the rotation of the waist rotating shell can drive the whole robot to rotate together.

In one embodiment of the present utility model, the first large arm support 11 and the second large arm support 19 are disposed perpendicular to the base 17, and the first large arm support 11 and the second large arm support 19 are parallel to each other, because the arrangement ensures convenience in mounting the main large arm and ease of operation in consideration of the fact that the main large arm and the waist rotation housing mounting portion are mainly rectangular cubes.

In one embodiment of the present utility model, the top of the first big arm support 11 and the second big arm support 19 near one side of the installation cavity 110 are respectively provided with an auxiliary big arm installation shaft 18, and the two auxiliary big arm installation shafts 18 are symmetrically arranged, so that the reason for the arrangement is that the connection mode of the auxiliary big arm and the waist rotating shell is mostly hinged, one end of the auxiliary big arm is provided with an installation hole, and the connection part of the waist rotating shell and the auxiliary big arm is provided with the auxiliary big arm installation shaft 18, so that the two installation shafts can be conveniently connected by adopting a hinge.

In one embodiment of the present utility model, the upper end of the first big arm support 11 is provided with the inclined table 114, the side of the inclined table 114 close to the installation cavity 110 is provided with the gesture pull rod installation hole 111, the lower part of the gesture pull rod installation hole 111 is provided with the main big arm installation holes 112, two main big arm installation holes 112 are provided, the other one is arranged on the side of the second big arm support 19 close to the installation cavity 110, and the two main big arm installation holes 112 are symmetrically arranged about the central line of the installation cavity 110, because the mechanical arm is the main body of the robot motion, various working requirements and performances of the mechanical arm must be fully considered when the mechanical arm is structurally designed, factors such as stress, pipeline arrangement and wrist connection of the mechanical arm must be considered, two main big arm installation holes 112 are arranged at the installation position of the main big arm and the waist rotating shell, and hinge connection can be adopted when the main big arm is connected with the waist rotating shell so as to ensure the connection strength and the activity degree of freedom of the main big arm and the waist rotating shell.

In one embodiment of the present utility model, the servo motor 12 is an ac servo motor, the rotor inside the servo motor is a permanent magnet, three-phase electricity controlled by the driver forms an electromagnetic field, the rotor rotates under the action of the magnetic field, meanwhile, an encoder provided in the servo motor 12 feeds back a signal to the driver, the driver compares the feedback value with a target value, and adjusts the rotation angle of the rotor, because the servo motor 12 can change speed and torque force is larger than that of a common motor, when the load is larger, the servo motor 12 is damaged due to long-time operation, and a speed reducer 13 is arranged below the servo motor, so that the functions of increasing torque force and reducing speed can be achieved.

In one embodiment of the utility model, the servo motor 12 and the speed reducer 13 are connected in a clasping manner, namely, an output shaft of the servo motor 12 stretches into the speed reducer 13, the servo motor 12 and the speed reducer 13 are connected through a flange, a deformable anchor ear is arranged in the speed reducer 13, a contraction screw on the speed reducer 13 is operated to clasp the shaft of the servo motor 12, the servo motor 12 and the speed reducer 13 are positioned in the middle of the mounting cavity 110, the left side and the right side of the mounting cavity 110 and the top are both provided with openings for convenient mounting, and as the output end of the speed reducer 13 is connected with the pinion 14, the pinion 14 drives the large gear 15 to drive the whole waist rotating shell to rotate, so that the servo motor 12 and the speed reducer 13 are arranged between the two large arm brackets 11 to better control the rotation of the whole waist rotating shell.

While embodiments of the present utility model have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the utility model, the scope of which is defined by the claims and their equivalents.

Claims

1. The utility model provides a rotatory shell of waist, including base (17), its characterized in that, be equipped with drive arrangement (113) on base (17), one side of drive arrangement (113) is equipped with first big arm support (11), one side is equipped with second big arm support (19) in addition to drive arrangement (113), first big arm support (11) with form installation cavity (110) between second big arm support (19), the output of drive arrangement (113) is equipped with pinion (14), base (17) lower surface is equipped with carrier (16) that revolves, carrier (16) with base (17) fixed connection revolves, be equipped with gear wheel (15) on carrier (16), pinion (14) with gear wheel (15) meshing connection, drive arrangement (113) can drive pinion (14) rotate thereby drive gear wheel (15) and rotate, and then drive base (17) are rotary motion.

2. The lumbar rotation shell of claim 1, wherein: the driving device (113) comprises a motor (12) and a speed reducer (13), the lower surface of the speed reducer (13) is in contact with the upper surface of the base (17), and the upper surface of the speed reducer (13) is in contact with the lower surface of the motor (12).

3. The lumbar rotation shell of claim 2, wherein: the output end of the motor (12) is connected with the input end of the speed reducer (13), and the output end of the speed reducer (13) is connected with the pinion (14).

4. The lumbar rotation shell of claim 1, wherein: the first large arm support (11) and the second large arm support (19) are perpendicular to the base (17).

5. The lumbar rotating shell of claim 4, wherein: the first large arm support (11) and the second large arm support (19) are parallel to each other.

6. The lumbar rotation shell of claim 5, wherein: the top of one side of the first big arm support (11) and the top of one side of the second big arm support (19) close to the installation cavity (110) are respectively provided with an auxiliary big arm installation shaft (18), and the two auxiliary big arm installation shafts (18) are symmetrically arranged.

7. The lumbar rotation shell of claim 6, wherein: the utility model discloses a big arm support, including big arm support (11) and big arm support, first big arm support (11) upper end is equipped with sloping (114), sloping (114) be close to installation cavity (110) one side is equipped with gesture pull rod mounting hole (111), gesture pull rod mounting hole (111) below is equipped with main big arm mounting hole (112), main big arm mounting hole (112) are equipped with two, another one set up in second big arm support (19) are close to installation cavity (110) one side.

8. The lumbar rotation shell of claim 7, wherein: the two main large arm mounting holes (112) are symmetrically arranged about the central line of the mounting cavity (110).

9. The lumbar rotation shell of claim 1, wherein: the left side, the right side and the top of the installation cavity (110) are both provided with openings.