CN106313015A - Transmission and robot - Google Patents
Transmission and robot Download PDFInfo
- Publication number
- CN106313015A CN106313015A CN201610973107.3A CN201610973107A CN106313015A CN 106313015 A CN106313015 A CN 106313015A CN 201610973107 A CN201610973107 A CN 201610973107A CN 106313015 A CN106313015 A CN 106313015A
- Authority
- CN
- China
- Prior art keywords
- connecting portion
- actuating device
- transmission
- drive mechanism
- end surface
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of transmission, aims at solving the problem that a transmission in the prior art is not high in flexibility and continuity, high in cost and difficult to produce in a large-batch mode and provides a transmission. The transmission comprises multiple transmission structures and connecting supports arranged among adjacent transmission structures. Each transmission structure comprises a driving part, a first connecting portion and a second connecting portion, the first connecting portion and the second connecting portion are connected rotatably, and the driving part is fixedly arranged at the first connecting portion and is in driving connection with the second connecting portion to drive the second connecting portion to rotate with respect to the first connecting portion. The connecting supports are connected with the adjacent transmission structures. Multiple single motions are combined together through the connecting supports, the transmission flexibility and continuity are improved, and the problem that the transmission in the prior art is not high in flexibility and continuity, high in cost and difficult to produce in a large-batch mode is solved. The invention further discloses a robot.
Description
Technical field
The present invention relates to transmission field, in particular to a kind of actuating device and robot.
Background technology
Along with development and the progress of society of science and technology, robot is widely used to industry-by-industry, and people are to machine
The requirement of people is more and more higher, does not require nothing more than robot both artistic and practical, more requires that robot is flexible and efficient.Actuating device is as machine
The important component part of device people, determines the motility of robot.Actuating device is that motion and the power of prime mover are passed to work
Make the middle device of mechanism.
Along with the development of robot of China industry, the deficiency of existing actuating device also shows especially out, existing transmission
Device motility is the highest with continuity, has a strong impact on the service performance of robot, relatively costly and be difficult to produce in enormous quantities, it is impossible to
Meet people's wilderness demand to robot.
Summary of the invention
It is desirable to provide a kind of actuating device, to solve actuating device motility of the prior art with continuity not
High, high cost and be difficult to the problem produced in enormous quantities.
Another object of the present invention is to provide a kind of robot.
Embodiments of the invention are achieved in that
A kind of actuating device, props up including multiple drive mechanisms and the connection that is arranged between adjacent two drive mechanism
Frame.Drive mechanism includes actuator, the first connecting portion and the second connecting portion.First connecting portion and the second connecting portion connect rotationally
Connecing, actuator is fixedly installed on the first connecting portion, actuator and the second connecting portion and is in transmission connection to drive the second connecting portion relative
Rotate in the first connecting portion.Connecting support and possess the first connecting end surface and the second connecting end surface on the other side, first connects
First connecting portion of end face and a drive mechanism connects, and the second connecting end surface connects with the second of another adjacent drive mechanism
The portion that connects connects.
The actuating device that the present invention provides, is connected multiple drive mechanisms by connecting support, and each drive mechanism all can be single
Solely realize rotating, multiple drive mechanisms are coupled together by connecting support, by connecting support, multiple single motions are tied
It is combined, improves motility and the continuity of transmission, solve actuating device motility of the prior art and continuity
The highest, high cost and be difficult to the problem produced in enormous quantities.
In one embodiment of the invention:
First connecting end surface of above-mentioned connection support and the not parallel setting of the second connecting end surface.
In one embodiment of the invention:
Above-mentioned actuator is in transmission connection by driving member and the second connecting portion.
In one embodiment of the invention:
Above-mentioned actuator is motor.
In one embodiment of the invention:
Above-mentioned driving member is gear transmission structure.
In one embodiment of the invention:
Above-mentioned driving member includes intermeshing driving gear and driven gear；Driving gear connects with the output shaft of actuator
Connecing, driven gear and the second connecting portion connect.
In one embodiment of the invention:
Above-mentioned driving member includes intermeshing driving gear and driven ring gear；Driving gear connects with the output shaft of actuator
Connecing, driven ring gear and the second connecting portion connect.
In one embodiment of the invention:
Above-mentioned drive mechanism also includes rotating shaft；Rotating shaft is fixedly installed on the second connecting portion；Rotating shaft can turn with the first connecting portion
Connect dynamicly.
In one embodiment of the invention:
Above-mentioned drive mechanism also includes the bearing being socketed on rotating shaft, and the first connecting portion offers holding tank, and bearing is fixing to be set
It is placed in holding tank.
A kind of robot, including any one actuating device above-mentioned.
The embodiment of the present invention provides the benefit that:
The actuating device that the present invention provides, is connected multiple drive mechanisms by connecting support, and each drive mechanism all can be single
Solely realize rotating, multiple drive mechanisms are coupled together by connecting support.By connecting support, multiple single motions are tied
It is combined, improves motility and the continuity of transmission, it is achieved low cost and production in enormous quantities.Solve in prior art
Actuating device motility and continuity be the highest, high cost and be difficult to the problem produced in enormous quantities.
The robot that the present invention provides, including above-mentioned actuating device, the most also has motility and the high and low one-tenth of continuity
Basis and the beneficial effect produced in enormous quantities.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, below by embodiment required use attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, and it is right to be therefore not construed as
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to this
A little accompanying drawings obtain other relevant accompanying drawings.
The actuating device that Fig. 1 provides for the embodiment of the present invention 1 overall structure schematic diagram under the first visual angle；
The actuating device that Fig. 2 provides for the embodiment of the present invention 1 overall structure schematic diagram under the second visual angle；
Fig. 3 is the sectional view of III-III in Fig. 2；
The structural representation of the motor of the actuating device that Fig. 4 provides for the embodiment of the present invention 1；
The structural representation of the first connecting portion of the actuating device that Fig. 5 provides for the embodiment of the present invention 1；
The structural representation of the second connecting portion of the actuating device that Fig. 6 provides for the embodiment of the present invention 1；
The structural representation of the driving member of the actuating device that Fig. 7 provides for the embodiment of the present invention 1；
The structural representation of the rotating shaft of the actuating device that Fig. 8 provides for the embodiment of the present invention 1；
The structural representation connecting support of the actuating device that Fig. 9 provides for the embodiment of the present invention 1.
Icon: 10-actuating device；100-drive mechanism；110-motor；112-motor driving part；114-electric machine casing；
Hole, 116-the first motor location；120-the first connecting portion；122-the first groove；Hole, 123-the second motor location；124-first
Hole, frame location；130-the second connecting portion；132-the second groove；Hole, 133-the first rotating shaft location；134-the second rack positioning hole；
Hole, 136-first driven ring gear location；140-driving member；142-driving gear；143-gear center hole；The driven ring gear of 146-；
Hole, 147-second driven ring gear location；150-rotating shaft；152-bearing；Hole, 154-the second rotating shaft location；200-connects support；210-
First connecting end surface；212-the 3rd connects rack positioning hole；220-the second connecting end surface；222-the 4th connects rack positioning hole.
Detailed description of the invention
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
The a part of embodiment of the present invention rather than whole embodiments.Generally implement with the present invention illustrated described in accompanying drawing herein
The assembly of example can be arranged with various different configurations and design.
Therefore, detailed description to the embodiments of the invention provided in the accompanying drawings is not intended to limit claimed below
The scope of the present invention, but be merely representative of the selected embodiment of the present invention.Based on the embodiment in the present invention, this area is common
The every other embodiment that technical staff is obtained under not making creative work premise, broadly falls into the model of present invention protection
Enclose.
It should also be noted that similar label and letter represent similar terms, therefore, the most a certain Xiang Yi in following accompanying drawing
Individual accompanying drawing is defined, then need not it be defined further and explains in accompanying drawing subsequently.
In describing the invention, if it should be noted that the term " orientation of the instruction such as " center ", " interior ", " outward " occurring
Or position relationship is based on orientation shown in the drawings or position relationship, or the orientation usually put when this invention product uses
Or position relationship, it is for only for ease of and describes the present invention and simplify description rather than instruction or the device of hint indication or element
Must have specific orientation, with specific azimuth configuration and operation, be therefore not considered as limiting the invention.Additionally,
Describe if description of the invention occurring, term " first ", " second " etc. are only used for distinguishing, and it is not intended that indicate or hint
Relative importance.
If additionally, description of the invention occurring, the term such as term " level ", " vertically " is not offered as requiring that parts are absolute
Level or pendency, but can be slightly tilted.As " level " only refers to for its direction relatively " vertically " more level, not
It is to represent that this structure must be perfectly level, but can be slightly tilted.
In describing the invention, in addition it is also necessary to explanation, unless otherwise clearly defined and limited, if term occurs
" arrange ", " connection " should be interpreted broadly, and connects for example, it may be fixing, it is also possible to be to removably connect, or connect integratedly
Connect；Can be to be mechanically connected；Can be to be joined directly together, it is also possible to be indirectly connected to by intermediary, in can being two elements
The connection in portion.For the ordinary skill in the art, above-mentioned term tool in the present invention can be understood with concrete condition
Body implication.
Embodiment 1:
Refer to Fig. 1, the present embodiment provides a kind of actuating device 10, the drive mechanism 100 arranged including three stackings with
And it is arranged on the connection support 200 between adjacent two drive mechanism 100.
Refer to Fig. 2 and combine Fig. 3, drive mechanism 100 includes motor the 110, first connecting portion the 120, second connecting portion
130, driving member 140 and rotating shaft 150.
Refer to Fig. 4, motor 110 possesses motor driving part 112 and electric machine casing 114, near motor driving part 112
End face on be provided with multiple first motor location hole 116.
Refer to Fig. 5, the first connecting portion 120 is discoid, is provided centrally with circular first at the first connecting portion 120 recessed
Groove 122 and hole 123, the second motor location, position both sides, hole 123 at the first groove 122 and the second motor and be provided with multiple the
One rack positioning hole 124.
Refer to Fig. 6, the second connecting portion 130 is discoid, and the second connecting portion 130 center is provided with the second groove
132, it is internally provided with the first hole 133, rotating shaft location at the second groove 132, is provided around the second support at the second groove 132
Hole 134, location and hole 136, the first driven ring gear location.
Refer to Fig. 7, driving member 140 includes driving gear 142 and driven ring gear 146.Driving gear 142 possesses gear
Centre bore 143, driven ring gear 146 periphery is provided with the second hole 147, driven ring gear location.
Refer to Fig. 8, rotating shaft 150 is cylindric, is provided with matched bearing 152 at rotating shaft 150 outer sheath, in rotating shaft
Multiple second hole 154, rotating shaft location it is provided with on one end face of 150.
Refer to Fig. 9, connection support 200, for having certain thickness platy structure, connects support 200 and possesses the first connection
End face 210 and the second connecting end surface 220 on the other side, the first connecting end surface 210 is not parallel with the second connecting end surface 220 to be set
Put.First connecting end surface 210 is provided with the 3rd connection rack positioning hole 212, the second connecting end surface 220 is provided with the
Four connect rack positioning hole 222.
Referring once again to Fig. 2 and combine Fig. 3, the first connecting portion 120 of drive mechanism 100 passes through with the second connecting portion 130
Rotating shaft 150 is rotatably connected.Rotating shaft 150 outer sheath is provided with bearing 152, and it is first recessed that bearing 152 is connected to the first connecting portion 120
In groove 122 (figure 5 illustrates).One end face of rotating shaft 150 is provided with the second rotating shaft hole 154, location (figure 9 illustrates), should
End face is placed in the second groove 132 (figure 6 illustrates) of the second connecting portion 130, and is positioned by the second rotating shaft of rotating shaft 150
Hole 154 (figure 9 illustrates) is bolted with the first rotating shaft hole 133, location (figure 6 illustrates) of the second connecting portion 130
Connect.Motor 110 is fixing with the first connecting portion 120 to be connected, and the electric machine casing 114 (figure 4 illustrates) of motor 110 is provided with
First motor hole 116, location (figure 4 illustrates), the first motor hole 116, location (figure 4 illustrates) and the first connecting portion 120
On second motor location hole 123 (figure 5 illustrates) be bolted to connection.Motor 110 and the second connecting portion 130 transmission
Connect, to drive the second connecting portion 130 to rotate relative to the first connecting portion 120.The motor driving part 112 of motor 110 is (at Fig. 4
Shown in) output shaft outside fixed cover be provided with driving gear 142, driving gear 142 is by gear center hole 143 (in the figure 7
Illustrate) it is fixedly connected on motor driving part 112 (figure 4 illustrates) outside.Driving gear 142 is meshed with driven ring gear 146
To drive driven ring gear 146 to rotate, driven ring gear 146 is provided with the second driven ring gear hole 147, location (figure 7 illustrates),
The second driven ring gear hole 147, location (figure 7 illustrates), the first hole 136, driven ring gear location it is provided with on second connecting portion 130
(figure 6 illustrates) is bolted to connection with the second driven ring gear hole 147, location (figure 7 illustrates).Thus realize electricity
Machine 110 and the second connecting portion 130 are in transmission connection to drive the second connecting portion 130 to rotate relative to the first connecting portion 120.In this reality
The actuating device 10 executed in example connects three drive mechanisms 100 by two groups of connection supports 200.Adjacent two drive mechanisms 100
Between be symmetrical arranged two connection supports 200, connect the of the first connecting end surface 210 of support 200 and a drive mechanism 100
A junction 120 is fixing to be connected, and connects the of the second connecting end surface 220 of support 200 and another adjacent drive mechanism 100
Two connecting portions 130 are fixing to be connected.
Actuating device 10 connects support 200 by two groups and is coupled together by three drive mechanisms 100.Drive mechanism 100 exists
Under the driving of motor 110, by the transmission of driving gear 142 with driven ring gear 146, drive the second connecting portion 130 relative to the
A junction 120 rotates.Fix the connection support 200 connected on second connecting portion 130 also with the second connecting portion 130 turns simultaneously
Dynamic, connect rotating of support 200 and the another one drive mechanism 100 driving connection fixed thereto is rotated.Motion is transmitted successively,
Multiple single motions are combined, improves motility and the continuity of transmission, it is achieved low cost and high-volume are raw
Produce.Solve that drive mechanism motility of the prior art is the highest with continuity, high cost and being difficult to is produced in enormous quantities asks
Topic.
It should be noted that in the present embodiment, driving gear 142 and driven ring gear 146 collectively form possesses gear biography
The driving member 140 of dynamic structure.Driving gear 142 and driven ring gear 146 connect by the way of internal messing.It should be understood that from
Dynamic ring gear 146 can be replaced by driven gear, thus is connected by the way of external toothing with driving gear 142.Also need to
Bright, in addition to gear transmission structure, driving member 140 can also use other structures to realize, such as belt transmission structure, chain
Bar drive mechanism, frictional drive structure etc..It is in fact possible to according to the different demand of user, each transmission of actuating device 10
The driving member 140 of structure 100 can use different drive mechanisms.Such as, Fig. 1 is positioned at the drive mechanism 100 of bottom
Driving member 140 uses gear transmission structure, and the driving member 140 of the drive mechanism 100 being positioned at centre uses chain drive structure, position
Driving member 140 in the drive mechanism 100 of the top uses V belt translation structure.Which kind of drive mechanism driving member 140 uses, permissible
Being the situation bearing load according to drive mechanism 100, the factor such as situation of working environment selects.If it addition, motor 110
Output shaft be connected directly to the second connecting portion 130, in this case, it is also possible to do not use driving member 140.
It should be noted that in the present embodiment, actuator is motor 110, and it can be reducing motor, motor
Deng.It should be understood that in other detailed description of the invention, actuator can also use hydraulic motor, hydraulic jack etc. to drive dress
Put.
It should be noted that in the present embodiment, motor 110 and the first connecting portion 120, rotating shaft 150 and the second connecting portion
130, the second connecting portion 130 and driven ring gear 146, being provided with fixing connection of being connected between support 200 with drive mechanism 100
Alignment pin or location screw, it is possible to understand that, it would however also be possible to employ the mode such as weld or be wholely set connects.
It should be noted that in the present embodiment, connection support 200 possesses the first connecting end surface 210 and is connected end with second
Face 220, the first connecting end surface 210 and the second not parallel setting of connecting end surface 220.It is of course also possible to according to the different need of user
Ask, use the first connecting end surface 210 to be arranged in parallel with the second connecting end surface 220.
In the present embodiment, three drive mechanisms 100 are coupled together by actuating device 10 by two groups of connection supports 200.
It should be understood that the quantity of drive mechanism 100 is not limited to three, user can be according to actually used situation to drive mechanism 100
Quantity increase and decrease.
In the present embodiment, the first connecting portion 120 is rotatably connected, by rotating shaft 150 and axle with the second connecting portion 130
Hold what the cooperation of 152 realized.In other detailed description of the invention, it would however also be possible to employ bulb connected mode realizes the company of rotation
Connect.
In the present embodiment, sheathed bearing 152 outside rotating shaft 150, it is also possible to according to the demand of user, rotating shaft 150 with
Axle head jump ring is set between bearing 152 to strengthen the connection of rotating shaft 150 and bearing 152.
In the present embodiment, the bearing 152 outside rotating shaft 150 is connected in the first groove 122 of the first connecting portion 120,
According to the demand of client, nose end jump ring can also be set outside bearing 152 to reinforce rotating shaft 150 and the first connecting portion 120
Connect.
In the present embodiment, the bearing 152 arranged outside rotating shaft 150 is standard rolling bearing or sliding bearing.Use
Standard rolling bearing, contributes to reducing cost, and realizes standardization, production in enormous quantities.
The actuating device 10 that the present embodiment provides can be installed on the joint of robot, so that the joint motion of robot
More motility and continuity.
These are only the preferred embodiments of the present invention, be not limited to the present invention, for those skilled in the art
For Yuan, the present invention can have various modifications and variations.All within the spirit and principles in the present invention, any amendment of being made,
Equivalent, improvement etc., should be included within the scope of the present invention.
Claims (10)
1. an actuating device, it is characterised in that: described actuating device includes multiple drive mechanism and is arranged on adjacent two
Connection support between individual described drive mechanism；
Described drive mechanism includes actuator, the first connecting portion and the second connecting portion；Described first connecting portion and described second is even
The portion of connecing is rotatably coupled；Described actuator is fixedly installed on described first connecting portion；Described actuator is connected with described second
Portion is in transmission connection to drive described second connecting portion to rotate relative to described first connecting portion；
Described connection support possesses the first connecting end surface and the second connecting end surface on the other side；Described first connecting end surface with
Described first connecting portion of one described drive mechanism connects；Described second connecting end surface is tied with another adjacent described transmission
Described second connecting portion of structure connects.
Actuating device the most according to claim 1, it is characterised in that: described first connecting end surface of described connection support with
The described second not parallel setting of connecting end surface.
Actuating device the most according to claim 1, it is characterised in that: described actuator is by driving member with described second even
The portion of connecing is in transmission connection.
Actuating device the most according to claim 3, it is characterised in that: described actuator is motor.
Actuating device the most according to claim 4, it is characterised in that: described driving member is gear transmission structure.
Actuating device the most according to claim 5, it is characterised in that: described driving member includes intermeshing driving gear
And driven gear；Described driving gear is connected with the output shaft of described actuator, described driven gear and described second connecting portion
Connect.
Actuating device the most according to claim 5, it is characterised in that: described driving member includes intermeshing driving gear
With driven ring gear；Described driving gear is connected with the output shaft of described actuator, described driven ring gear and described second connecting portion
Connect.
Actuating device the most as claimed in any of claims 1 to 7, it is characterised in that: described drive mechanism also includes
Rotating shaft；Described rotating shaft is fixedly installed on described second connecting portion；Described rotating shaft is rotatably coupled with described first connecting portion.
Actuating device the most according to claim 8, it is characterised in that: described drive mechanism also includes being socketed on described rotating shaft
Bearing, described first connecting portion offers holding tank, and described bearing is fixedly installed in described holding tank.
10. robot, it is characterised in that: described robot includes that transmission as in one of claimed in any of claims 1 to 9 fills
Put.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610973107.3A CN106313015B (en) | 2016-11-04 | 2016-11-04 | A kind of transmission device and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610973107.3A CN106313015B (en) | 2016-11-04 | 2016-11-04 | A kind of transmission device and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106313015A true CN106313015A (en) | 2017-01-11 |
| CN106313015B CN106313015B (en) | 2019-01-01 |
Family
ID=57816642
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610973107.3A Expired - Fee Related CN106313015B (en) | 2016-11-04 | 2016-11-04 | A kind of transmission device and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106313015B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150258682A1 (en) * | 2014-03-13 | 2015-09-17 | Brain Corporation | Trainable modular robotic apparatus and methods |
| CN105364933A (en) * | 2015-12-17 | 2016-03-02 | 成都英博格科技有限公司 | Intelligent robot |
| CN105364916A (en) * | 2015-12-17 | 2016-03-02 | 成都英博格科技有限公司 | Robot structure |
| CN105904454A (en) * | 2016-06-12 | 2016-08-31 | 浙江工业大学 | Grabbing manipulator |
| CN106002960A (en) * | 2016-07-18 | 2016-10-12 | 佛山市联智新创科技有限公司 | Universal robot provided with swing extension arm |
| CN206123649U (en) * | 2016-11-04 | 2017-04-26 | 成都英博格科技有限公司 | Transmission and robot |
-
2016
- 2016-11-04 CN CN201610973107.3A patent/CN106313015B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150258682A1 (en) * | 2014-03-13 | 2015-09-17 | Brain Corporation | Trainable modular robotic apparatus and methods |
| CN105364933A (en) * | 2015-12-17 | 2016-03-02 | 成都英博格科技有限公司 | Intelligent robot |
| CN105364916A (en) * | 2015-12-17 | 2016-03-02 | 成都英博格科技有限公司 | Robot structure |
| CN105904454A (en) * | 2016-06-12 | 2016-08-31 | 浙江工业大学 | Grabbing manipulator |
| CN106002960A (en) * | 2016-07-18 | 2016-10-12 | 佛山市联智新创科技有限公司 | Universal robot provided with swing extension arm |
| CN206123649U (en) * | 2016-11-04 | 2017-04-26 | 成都英博格科技有限公司 | Transmission and robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106313015B (en) | 2019-01-01 |
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