CN107214733A - A kind of stretching, extension drive mechanism for robot - Google Patents
A kind of stretching, extension drive mechanism for robot Download PDFInfo
- Publication number
- CN107214733A CN107214733A CN201710635066.1A CN201710635066A CN107214733A CN 107214733 A CN107214733 A CN 107214733A CN 201710635066 A CN201710635066 A CN 201710635066A CN 107214733 A CN107214733 A CN 107214733A
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- drive
- vertical
- drive rod
- horizontal
- tooth wheel
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of stretching, extension drive mechanism for robot, including stretch motor and two transmission components；Each transmission component includes drive bevel gear, driven wheel of differential, vertical slide bar and horizontal drive bar assembly；Drive bevel gear includes driving tooth wheel portion and horizontal stud portion, and driving tooth wheel portion is fixedly installed on corresponding driving output shaft, and the reciprocating rotation on vertical guide；Each driven wheel of differential includes driven tooth wheel portion, installation portion and vertical stud portion；Driven tooth wheel portion reciprocating rotation in the horizontal plane；Horizontal drive bar assembly includes main drive rod and two secondary drive rods positioned at main drive rod both sides, and main drive rod and secondary drive rod are horizontally disposed；Vertical slide bar is located in the vertical slide opening of a corresponding vertical sleeve pipe, the vertical screw that place is provided with the bottom of vertical slide bar and vertical stud portion is adapted to, and the top of vertical slide bar is provided with the connecting portion being connected with main drive rod.The present invention is multiple functional, rational in infrastructure.
Description
Technical field
The invention belongs to robotic technology field, and in particular to a kind of stretching, extension drive mechanism for robot.
Background technology
Existing underwater robot uses fixed supporting mechanism mostly, not foldable, therefore space-consuming is larger, and is difficult to
Carry；The application is directed to disadvantages mentioned above, researches and develops the folding type supporting mechanism for robot, and for driving the collapsible branch
The stretching, extension drive mechanism that support mechanism stretches and folded.
The content of the invention
It is an object of the invention to provide a kind of multiple functional, rational in infrastructure stretching, extension drive mechanism for robot.
Realizing the technical scheme of the object of the invention is：A kind of stretching, extension drive mechanism for robot, including stretch driving
Motor and two transmission components；Each transmission component includes drive bevel gear, driven wheel of differential, vertical slide bar and horizontal drive bar group
Part；Drive bevel gear includes driving tooth wheel portion and horizontal stud portion, and driving tooth wheel portion is fixedly installed on corresponding driving output
On axle, and the reciprocating rotation on vertical guide；Each driven wheel of differential includes driven tooth wheel portion, installation portion and vertical stud portion；It is driven
Gear part reciprocating rotation in the horizontal plane；Horizontal drive bar assembly includes main drive rod and two pairs positioned at main drive rod both sides
Drive rod, main drive rod and secondary drive rod are horizontally disposed；The two side ends of main drive rod are equipped with the sliding convex of evagination
Post a, side of the main drive rod of adjoining of each secondary drive rod is provided with center slide opening, and each sliding projection, which inserts a corresponding center, to be slided
Kong Bingke reciprocatingly slides along the center slide opening；Vertical slide bar is located in the vertical slide opening of a corresponding vertical sleeve pipe, vertical slide bar
Bottom in place be provided with and vertical stud portion be adapted to vertical screw, the top of vertical slide bar is provided with the company being connected with main drive rod
Socket part.
In such scheme, it is a double shaft-protruding type motor to stretch motor, and motor is stretched out at the two ends of its drive shaft
It is outer to form two driving output shafts；The stretching, extension motor synchronously drives two transmission component actions.
In such scheme, the driving tooth wheel portion of drive bevel gear and horizontal stud portion are made into integration, each driven wheel of differential
Driven tooth wheel portion, installation portion and vertical stud portion are made into integration.
In such scheme, connecting portion is the collar being set on main drive rod.
The present invention has positive effect：It is relatively reasonable in structure compact, it is multiple functional, it can either drive outside corresponding two
Connect folding landing leg synchronous extension and folding, moreover it is possible to synchronous to drive two folding landing legs away from each other and close.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the invention；
Fig. 2 is a kind of dimensional structure diagram that folded state is in using the made robot of stretching, extension drive mechanism shown in Fig. 1；
Fig. 3 is a kind of dimensional structure diagram when robot is from another angle shown in Fig. 2；
Fig. 4 is a kind of explosive view of robot shown in Fig. 2；
Fig. 5 is a kind of half-sectional structural representation of robot shown in Fig. 2；
Fig. 6 is a kind of dimensional structure diagram that robot shown in Fig. 2 is in extended configuration.
Reference is：Housing 1, hemispherical observation window 11, horizontal slide opening 12, vertical sleeve pipe 13, vertical slide opening 131, rolling
Axle 132, photographing module 2, cradle head mechanism 21 horizontally rotates part 211, horizontally rotates motor 212, and vertical rotary part 213 hangs down
Straight rotary drive motor 214, camera 22, folding landing leg 3, frame plate 30, complex wrapping frame 31, X-frame 311, V-arrangement gangbar
32, drive link 33, mounting rod 34, horizontal screw 341, support feet 35, kidney-shaped slide opening 351 rolls bearing pin 352, strengthens connection rod set
Drive mechanism 4 is stretched in part 36, first connecting rod 361, second connecting rod 363, traveller portion 364, stretches motor 41, drive shaft
411, drive output shaft 412, transmission component 5, drive bevel gear 51, driving tooth wheel portion 511, horizontal stud portion 512, from mantle tooth
Wheel 52, driven tooth wheel portion 521, installation portion 522, vertical stud portion 523, vertical slide bar 53, vertical screw 531, connecting portion 532,
Horizontal drive bar assembly 54, main drive rod 541 slips projection 542, secondary drive rod 543, center slide opening 544.
Embodiment
（Embodiment 1）
The present embodiment is a kind of stretching, extension drive mechanism 4 for robot, as shown in Figure 1, including a stretching, extension motor 41
With two transmission components 5.
It is a double shaft-protruding type motor to stretch motor 41, and the two ends of its drive shaft 411 are stretched out outside motor, so that
Form two driving output shafts 412.
Each transmission component 5 includes drive bevel gear 51, driven wheel of differential 52, vertical slide bar 53 and horizontal drive bar assembly
54；
Drive bevel gear includes driving tooth wheel portion 511 and horizontal stud portion 512, and driving tooth wheel portion is fixedly installed on a corresponding drive
On dynamic output shaft, and the reciprocating rotation on vertical guide；In the present embodiment, the driving tooth wheel portion of drive bevel gear and horizontal stud portion
It is made into integration, both are synchronized with the movement；When drive bevel gear, which is extended motor, to be driven, horizontal stud portion also concomitant rotation.
Each driven wheel of differential includes driven tooth wheel portion 521, installation portion 522 and vertical stud portion 523；Driven tooth wheel portion is in water
Reciprocating rotation in plane；In the present embodiment, driven tooth wheel portion, installation portion and the system of vertical stud portion one of each driven wheel of differential
Into.When each drive bevel gear is rotated, a corresponding driven wheel of differential is driven to rotate, namely the synchronous corresponding driven tooth wheel portion of drive
With vertical stud portion synchronous axial system.
Horizontal drive bar assembly includes main drive rod 541 and two secondary drive rods 543 positioned at main drive rod both sides, main to drive
Lever and secondary drive rod are horizontally disposed；The two side ends of main drive rod are equipped with the sliding projection 542 of evagination, each secondary drive
One side of the main drive rod of adjoining of lever is provided with center slide opening 544, and each sliding projection inserts a corresponding center slide opening and can
Reciprocatingly slided along the center slide opening.Namely main drive rod and two secondary drive rods form telescopic connection, so that level
The integral level length of actuated lever assemblies is also elongated or shortened therewith.
Vertical slide bar is located in the vertical slide opening of a corresponding vertical sleeve pipe, and place is provided with and vertical in the bottom of vertical slide bar
The vertical screw 531 of stud portion adaptation, the top of vertical slide bar is provided with the connecting portion 532 being connected with main drive rod；The present embodiment
In, the connecting portion is the collar being set on main drive rod.When driven wheel of differential is rotated, its vertical stud portion passes through spiral shell
Line type of drive drives corresponding vertical slide bar reciprocating rotation so that the vertical slide bar is moved back and forth, and realizes that drive level is driven
Lever component rises or moved down.
（Application examples 1）
The application example is a kind of portable underwater robot being made of above-described embodiment 1, as shown in Fig. 2 to Fig. 6, including this
Body and supporting mechanism；Body includes housing 1 and the photographing module 2 being built in housing；Supporting mechanism includes folding landing leg 3 and stretched
Open up drive mechanism 4；The quantity of folding landing leg is two and is arranged on housing both sides, and each folding landing leg is folded along plumb line direction to be stretched
Exhibition；Drive mechanism is stretched while driving two folding landing legs along plumb line direction synchronous folding or stretching, it is synchronous to drive two
Individual folding landing leg is closer to each other or remote.
The bottom of housing is provided with transparent hemispherical observation window 11；Photographing module, which includes being built in housing, has driving
The cradle head mechanism 21 of motor 211, the camera 22 being arranged on cradle head mechanism and the illuminating lamp being arranged on cradle head mechanism（On figure
It is not drawn into）.Camera 22 is fixedly installed on the bottom of cradle head mechanism, transparent wall body of the camera just to hemispherical observation window.
Each folding landing leg 3 includes being combined in the complex wrapping frame 31 formed and complex wrapping frame most by multiple X-frames 311
The connected V-arrangement gangbar 32 of X-frame 311, the drive link 33 being connected with V-arrangement gangbar center of rotation, mounting rod 34 above
And it is arranged on the support feet 35 below complex wrapping frame；
Each X-frame 311 is to be hinged and connected to be formed by respective middle part by two frame plates 30, in two adjacent X-frames, above
The top of two frame plates of the bottom of two frame plates of one X-frame and a following X-frame is rotatedly connected；
The wall body of housing opposite sides is provided with two horizontal slide openings 12, and each mounting rod 34 is to be slidably arranged in a corresponding level
Expose housing in horizontal sliding bar in slide opening, the outer end of each mounting rod；Each uppermost X-frame of complex wrapping frame passes through one
Pin rotation is arranged on a corresponding mounting rod, in the application example, and the pin is arranged in the outer end of a corresponding mounting rod
At the heart, two frame plates of the X-frame are around the pin rotation.This structure causes each mounting rod can be in a corresponding horizontal slide opening
Reciprocatingly slide in the horizontal direction.
V-arrangement gangbar be by the abutting end of two frame plates 30 be rotatedly connected combination formed, namely V-arrangement gangbar two framves
The abutting end formation hinged end of plate；The top of two frame plates of one X-frame in the top and V-arrangement gangbar in each complex wrapping frame
In the bottoms of two frame plates be rotatedly connected；
Drive link is set along plumb line direction；The bottom of drive link and the hinged end of a corresponding V-arrangement gangbar are rotatedly connected, this
In application examples, the bottom of two frame plates and a corresponding drive link is with being hinged and connected that a bearing pin is realized in V-arrangement gangbar.
Support feet is provided with two of a bottom X-frame in horizontal-extending kidney-shaped slide opening 351, each complex wrapping frame
Frame plate, the bottom of one of frame plate and support feet are rotatedly connected, and the bottom of another frame plate is provided with level to rolling bearing pin
352, the rolling bearing pin 352 is located in a corresponding kidney-shaped slide opening；When the complex wrapping frame stretches or folds, bearing pin edge is rolled
Kidney-shaped slide opening is slided.
Two enhancing connection rod sets are additionally provided between the intensity and stability of two folding landing legs, two support feets in order to increase
Part 36.Each enhancing link assembly includes the first connecting rod 361 being fixedly installed in a support feet and is fixedly installed on another
Second connecting rod 363 in support feet, first connecting rod is provided with slide opening portion, and second connecting rod is provided with traveller portion 364, the traveller of second connecting rod
Portion is located in the slide opening portion of first connecting rod.When this structure causes two folding landing legs away from each other, the traveller portion of second connecting rod is still
In the slide opening of first connecting rod, namely first connecting rod and second connecting rod in each enhancing link assembly is caused to form telescopic
Connection, to adapt to the away from each other and close of two folding landing legs.
Stretching drive mechanism 4 includes a stretching, extension motor 41 and two transmission components 5, stretches motor and passes through two
Individual transmission component synchronously drives two drive links 33 to be moved back and forth along plumb line direction, so as to realize two foldings of folding or expansion
Supporting leg.
It is a double shaft-protruding type motor to stretch motor 41, and the two ends of its drive shaft 411 are stretched out outside motor, so that
Form two driving output shafts 412.
Each transmission component 5 includes drive bevel gear 51, driven wheel of differential 52, vertical slide bar 53 and horizontal drive bar assembly
54；
Drive bevel gear includes driving tooth wheel portion 511 and horizontal stud portion 512, and driving tooth wheel portion is fixedly installed on a corresponding drive
On dynamic output shaft, and the reciprocating rotation on vertical guide；Each mounting rod is provided with and horizontal spiral shell close to the side for stretching motor
The horizontal screw 341 of post portion adaptation, horizontal stud portion is located in the horizontal screw of a corresponding mounting rod；It is main in the application example
The driving tooth wheel portion of dynamic bevel gear and horizontal stud portion are made into integration, and both are synchronized with the movement；When drive bevel gear is extended driving
When motor drives, horizontal stud portion drives a corresponding mounting rod reciprocating rotation by screw drive mode so that the mounting rod
Moved back and forth along horizontal slide opening, realize that the both sides of two mounting rods towards housings are elongated or shortened, so as to drive two folding landing legs
It is located remotely from each other or approaches.
Case top is provided with two vertical sleeve pipes 13 with vertical slide opening 131, and the bottom of each vertical sleeve pipe is fixed with
One roller bearing 132；Each driven wheel of differential includes driven tooth wheel portion 521, installation portion 522 and vertical stud portion 523；Driven tooth wheel portion exists
Reciprocating rotation on horizontal plane, installation position in vertical stud portion bottom and in the corresponding roller bearing；In the application example,
Driven tooth wheel portion, installation portion and the vertical stud portion of each driven wheel of differential are made into integration.When each drive bevel gear is rotated, phase is driven
Answer a driven wheel of differential rotation, namely the synchronous corresponding driven tooth wheel portion of drive and vertical stud portion synchronous axial system.
In the application example, the outboard end of each horizontal slide opening and vertical slide opening is equipped with waterproof seal ring, so as to prevent liquid
Entered through slide opening in housing.
Horizontal drive bar assembly includes main drive rod 541 and two secondary drive rods 543 positioned at main drive rod both sides, main to drive
Lever and secondary drive rod are horizontally disposed, and the outboard end of each secondary drive rod passes through pin and a corresponding drive link phase
Even；The two side ends of main drive rod are equipped with the sliding projection 542 of evagination, and a side of the main drive rod of adjoining of each secondary drive rod is set
There is center slide opening 544, each sliding projection inserts a corresponding center slide opening and can reciprocatingly slided along the center slide opening.Namely main drive
Lever and two secondary drive rods form telescopic connection.When the both sides of two mounting rods towards housings are elongated or shortened, by
It can be reciprocatingly slided in the sliding projection of main drive rod along the center slide opening of secondary drive rod, so that horizontal drive bar assembly is whole
Body horizontal length is also elongated or shortened therewith.In the application example, horizontal drive bar assembly is located at the surface of housing.
Vertical slide bar is located in the vertical slide opening of a corresponding vertical sleeve pipe, and place is provided with and vertical in the bottom of vertical slide bar
The vertical screw 531 of stud portion adaptation, the top of vertical slide bar is provided with the connecting portion 532 being connected with main drive rod；The application example
In, the connecting portion is the collar being set on main drive rod.When driven wheel of differential is rotated, its vertical stud portion passes through spiral shell
Line type of drive drives corresponding vertical slide bar reciprocating rotation so that the vertical slide bar is moved back and forth along vertical slide opening, realizes
Horizontal drive bar assembly is driven to rise or move down, and then the drive link 33 in Foldable supporting leg.
In the application example, stretch motor and synchronously drive two drive bevel gears and two driven wheel of differential synchronous axial systems, two
Individual horizontal stud portion drives two mounting rods synchronously overhanging or inside contract along horizontal slide opening, and then passes through folding landing leg and drive two pairs
Drive rod is overhanging or inside contracts so that the distance between two folding landing legs are increasedd or decreased；When the spacing increase of two folding landing legs,
It is overall relatively stable, it is difficult to rock；When the spacing of two folding landing legs reduces, overall space-consuming reduces, and is easy to carry.
Two vertical stud portions drive two vertical slide bars and horizontal drive bar assembly to move up or decline, and then drive each folding
Drive link in folded supporting leg is moved up or declined；When drive link is moved up or declined, the V-arrangement gangbar of Foldable supporting leg, due to each
The X-frame of the top one of folding landing leg is arranged on mounting rod, thus whole folding landing leg with V-arrangement gangbar stretching or
Compress and stretch or fold up；When folding landing leg full extension, support feet is displaced downwardly to more than housing bottom, so that by housing
Support so that hemispherical observation window can be higher by underwater mud face；When folding landing leg is folded, overall space-consuming compared with
It is small, it is easy to carry.
Obviously, the above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not pair
The restriction of embodiments of the present invention.For those of ordinary skill in the field, may be used also on the basis of the above description
To make other changes in different forms.There is no necessity and possibility to exhaust all the enbodiments.And these
The obvious changes or variations that the connotation for belonging to of the invention is extended out still falls within protection scope of the present invention.
Claims (4)
1. a kind of stretching, extension drive mechanism for robot, including stretch motor and two transmission components；It is characterized in that：
Each transmission component includes drive bevel gear, driven wheel of differential, vertical slide bar and horizontal drive bar assembly；
Drive bevel gear includes driving tooth wheel portion and horizontal stud portion, and driving tooth wheel portion is fixedly installed on corresponding driving output
On axle, and the reciprocating rotation on vertical guide；
Each driven wheel of differential includes driven tooth wheel portion, installation portion and vertical stud portion；Driven tooth wheel portion reciprocating rotary in the horizontal plane
It is dynamic；
Horizontal drive bar assembly includes main drive rod and two secondary drive rods positioned at main drive rod both sides, main drive rod and secondary drive
Lever is horizontally disposed；The two side ends of main drive rod are equipped with the sliding projection of evagination, the adjacent master of each secondary drive rod
One side of drive rod is provided with center slide opening, and each sliding projection inserts a corresponding center slide opening and can be reciprocal along the center slide opening
Slide；
Vertical slide bar is located in the vertical slide opening of a corresponding vertical sleeve pipe, and place is provided with and vertical stud in the bottom of vertical slide bar
The vertical screw of portion's adaptation, the top of vertical slide bar is provided with the connecting portion being connected with main drive rod.
2. the stretching, extension drive mechanism according to claim 1 for robot, it is characterised in that：It is one to stretch motor
Individual pair of shaft-protruding type motor, the two ends of its drive shaft, which are stretched out outside motor, forms two driving output shafts；The stretching, extension motor
It is synchronous to drive two transmission component actions.
3. the stretching, extension drive mechanism according to claim 2 for robot, it is characterised in that：The active of drive bevel gear
Gear part and horizontal stud portion are made into integration, driven tooth wheel portion, installation portion and the system of vertical stud portion one of each driven wheel of differential
Into.
4. the stretching, extension drive mechanism according to claim 3 for robot, it is characterised in that：Connecting portion is one and is arranged
The collar on main drive rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710635066.1A CN107214733A (en) | 2017-07-30 | 2017-07-30 | A kind of stretching, extension drive mechanism for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710635066.1A CN107214733A (en) | 2017-07-30 | 2017-07-30 | A kind of stretching, extension drive mechanism for robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107214733A true CN107214733A (en) | 2017-09-29 |
Family
ID=59954701
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710635066.1A Pending CN107214733A (en) | 2017-07-30 | 2017-07-30 | A kind of stretching, extension drive mechanism for robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107214733A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108200881A (en) * | 2018-01-08 | 2018-06-26 | 佛山尘凡环保科技有限公司 | A kind of high-efficiency aquaculture device |
| CN108207744A (en) * | 2018-01-08 | 2018-06-29 | 佛山尘凡环保科技有限公司 | A kind of aquaculture device |
| CN108207743A (en) * | 2018-01-08 | 2018-06-29 | 佛山尘凡环保科技有限公司 | A kind of novel aquaculture device |
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| CN202594711U (en) * | 2012-03-05 | 2012-12-12 | 曾令诸 | Lead screw type driving lifting platform |
| JP2014054720A (en) * | 2012-09-14 | 2014-03-27 | Gifu Univ | Humanoid motor-driven hand |
| CN104589312A (en) * | 2015-01-24 | 2015-05-06 | 江西省机械科学研究所 | Gear-driven swingable parallel electric cylinder synchronous telescoping mechanism |
| CN204525478U (en) * | 2015-01-24 | 2015-08-05 | 江西省机械科学研究所 | Gear drive electric cylinder heavy duty two translation manipulators |
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| CN101777742A (en) * | 2010-03-19 | 2010-07-14 | 湖北省电力公司宜昌夷陵区供电公司 | Robot capable of performing automatic deicing along aerial high-voltage power transmission line |
| CN202594711U (en) * | 2012-03-05 | 2012-12-12 | 曾令诸 | Lead screw type driving lifting platform |
| JP2014054720A (en) * | 2012-09-14 | 2014-03-27 | Gifu Univ | Humanoid motor-driven hand |
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| CN108200881A (en) * | 2018-01-08 | 2018-06-26 | 佛山尘凡环保科技有限公司 | A kind of high-efficiency aquaculture device |
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Application publication date: 20170929 |
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