CN107791243A - Steering wheel and robot - Google Patents
Steering wheel and robot Download PDFInfo
- Publication number
- CN107791243A CN107791243A CN201711182347.2A CN201711182347A CN107791243A CN 107791243 A CN107791243 A CN 107791243A CN 201711182347 A CN201711182347 A CN 201711182347A CN 107791243 A CN107791243 A CN 107791243A
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- China
- Prior art keywords
- gear
- ring
- slipping ring
- rotating shaft
- connection rotating
- 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
Links
- 230000003068 static effect Effects 0.000 claims description 7
- 125000006850 spacer group Chemical group 0.000 claims description 4
- 238000001746 injection moulding Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000000465 moulding Methods 0.000 description 3
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 239000000314 lubricant Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- 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
-
- 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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
Abstract
The present invention is applied to steering wheel technical field, provide a kind of steering wheel and robot, the steering wheel includes motor, output shaft and side engage opposite side and output shaft meshed gears group with motor, gear train includes duplicate gear, duplicate gear includes first gear, it is fixedly installed on the end face of first gear and the connection rotating shaft of rotation axis and the rotation axis coincident of first gear and is sheathed on connection rotating shaft and the second gear of the rotation axis coincident of rotation axis and connection rotating shaft, second gear is provided with the axis hole for being sheathed on connection rotating shaft, axis hole has the inner headed face towards connection rotating shaft, connection rotating shaft has the periphery facing with inner headed face；Steering wheel also includes being sheathed on connection rotating shaft and the positioning slipping ring between inner headed face and periphery.Steering wheel provided by the invention can reduce the load of duplicate gear when robot is fallen down or is collided, and avoid duplicate gear from causing the situation of damage due to load excessive.
Description
Technical field
The invention belongs to steering wheel technical field, more particularly to a kind of steering wheel with overload protection function and equipped with the rudder
The robot of machine.
Background technology
At present, it is typically all to be driven by steering wheel to service each joint part in class robot, and steering wheel generally comprises use
In the motor for providing power, the output shaft that is connected with external agency and the gear train that motor power is transferred to output shaft, by
Needed in gear train with the function of slowing down, therefore, gear train generally comprises multiple duplicate gears engaged successively, in service class
During robot works, the situation fallen down or collided occurs unavoidably, now, each duplicate gear in steering wheel can wink
Between bear very big moment of torsion, because each duplicate gear and motor link, the rotary shaft of motor has certain inertia in itself, its
Moment of torsion can not be eliminated by moment rotation, so, each duplicate gear can cause to damage due to load excessive, in addition, machine
The execution position of people, such as arm, when by larger resistance, the torque that motor is exported will necessarily increase, and now can also increase
The load of big duplicate gear and cause the damage of duplicate gear.
The content of the invention
It is an object of the invention to provide a kind of steering wheel and with the steering wheel robot, it is intended to solve prior art centered rudder
For duplicate gear in machine when by excessive moment of torsion, duplicate gear causes the technical problem of damage due to load excessive.
The present invention is achieved in that a kind of steering wheel, including motor, for drive output shaft that external agency moves and
Opposite side is engaged with the motor and is engaged with the output shaft and for the power of the motor to be transferred into the output in side
The gear train of axle, the gear train include duplicate gear, and the duplicate gear includes first gear, is fixedly installed on described first
The connection rotating shaft of the end face and rotation axis of gear and the rotation axis coincident of the first gear and it is sheathed on the company
Switch through axle and the second gear of rotation axis and the rotation axis coincident of the connection rotating shaft, the second gear are provided with and be sheathed on
The axis hole of the connection rotating shaft, the axis hole have the inner headed face towards the connection rotating shaft, and the connection rotating shaft has and institute
State the facing periphery of inner headed face；The steering wheel also includes being sheathed on the connection rotating shaft and positioned at the inner headed face and described
Positioning slipping ring between periphery, it is described positioning slipping ring outside is abutted with the inner headed face, it is described position slipping ring inner side and
The periphery of the connection rotating shaft abuts；It is described positioning slipping ring when the load that the second gear is born is less than critical load,
The positioning slipping ring can be relative to the second gear and the static cooperation of the connection rotating shaft；The positioning slipping ring is in described the
When the load of two gears is more than critical load, the positioning slipping ring can turn relative to the second gear and/or the connection
Axle is slidably matched.
Further, the steering wheel also includes being used to limit axial direction shifting of the positioning slipping ring along the connection rotating shaft
Dynamic position-limit mechanism, the position-limit mechanism include position-limit mechanism, and the position-limit mechanism coordinates with the positioning slipping ring.
Further, the position-limit mechanism is arranged on the inner headed face of the second gear, and the position-limit mechanism is included by institute
State inner circle and keep out ring towards the connection rotating shaft is provided projectingly first, the positioning slipping ring keeps out the one of ring positioned at described first
Side.
Further, the position-limit mechanism also include be provided projectingly by the inner circle towards the connection rotating shaft and with it is described
First, which keeps out second that central spacer distance is set, keeps out ring, and the positioning slipping ring is kept out ring and described second positioned at described first and supported
Between baffle ring.
Further, the position-limit mechanism is arranged on the periphery of the connection rotating shaft, and the position-limit mechanism is included by institute
State it is cylindrical keep out ring towards the inner headed face is provided projectingly the 3rd, the positioning slipping ring keeps out the one of ring positioned at the described 3rd
Side.
Further, the position-limit mechanism also includes cylindrical being provided projectingly towards the inner headed face and with described the by described
Three, which keep out the 4th that central spacer distance is set, keeps out ring, and the positioning slipping ring is kept out ring and the described 4th positioned at the described 3rd and kept out
Between ring.
Further, the positioning slipping ring includes the first slipping ring, the second slipping ring positioned at the first slipping ring side, is located at
The 4th cunning that 3rd slipping ring of the first slipping ring opposite side, both sides are connected with first slipping ring and second slipping ring respectively
Circle and the 5th slipping ring that be connected respectively with first slipping ring and the 3rd slipping ring of both sides, first slipping ring and described the
The diameter of two slipping rings is different, and first slipping ring is different with the diameter of the 3rd slipping ring.
Further, second slipping ring is identical with the diameter of the 3rd slipping ring.
Present invention also offers a kind of robot, including above-mentioned steering wheel.
Having the technical effect that relative to prior art of the invention：Steering wheel provided by the invention is by the first tooth in duplicate gear
Wheel is connected with second gear by connection rotating shaft, and positioning slipping ring is provided between connection rotating shaft and second gear, so,
When robot is fallen down or is collided, the load of second gear can become big moment, when the load of second gear is more than critical
During load, positioning slipping ring can slide relative to second gear or connection rotating shaft, so that connection rotating shaft is relative to the second tooth
Wheel rotates, namely first gear rotates relative to second gear, and the moment of torsion that duplicate gear now is transmitted can reduce moment, from
And the load of duplicate gear can be reduced, avoid duplicate gear from causing the situation of damage due to load excessive.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to the embodiment of the present invention or prior art
The required accompanying drawing used is briefly described in description, it should be apparent that, drawings described below is only the present invention's
Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other accompanying drawings.
Fig. 1 is the sectional view of steering wheel provided in an embodiment of the present invention；
Fig. 2 is the front view of duplicate gear provided in an embodiment of the present invention；
Fig. 3 is the sectional view of duplicate gear provided in an embodiment of the present invention；
Fig. 4 is the view sub-anatomy of duplicate gear provided in an embodiment of the present invention；
Fig. 5 is the structural representation of first embodiment provided by the invention；
Fig. 6 is the structural representation of first embodiment provided by the invention；
Fig. 7 is the structural representation of second embodiment provided by the invention；
Fig. 8 is the structural representation of second embodiment provided by the invention.
Description of reference numerals：
| 10 | Connection rotating shaft | 24 | Second keeps out ring |
| 11 | Periphery | 30 | Position slipping ring |
| 12 | 3rd keeps out ring | 31 | First slipping ring |
| 13 | 4th keeps out ring | 32 | Second slipping ring |
| 20 | Second gear | 33 | 3rd slipping ring |
| 21 | Axis hole | 34 | 4th slipping ring |
| 22 | Inner headed face | 35 | 5th slipping ring |
| 23 | First keeps out ring | 40 | Motor |
| 100 | Duplicate gear | 50 | Gear train |
| 80 | First gear | 60 | Position-limit mechanism |
| 70 | Output shaft |
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
In the description of the invention, it is necessary to illustrate, when element is referred to as " being fixed on " or " being arranged at " another yuan
Part, it directly on another element or can be connected on another element.It is known as and " connects when an element
In " another element, it can be directly to another element or be indirectly connected on another element.
It is to be appreciated that term " length ", " width ", " on ", " under ", "front", "rear", "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " top ", " bottom " " interior ", " outer " are to be closed based on orientation shown in the drawings or position
System, it is for only for ease of and describes the present invention and simplify description, rather than indicates or imply that signified device or element must have
Specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can be expressed or
Implicitly include one or more this feature.In the description of the invention, " multiple " are meant that two or more,
Unless otherwise specifically defined.
For the ordinary skill in the art, it can understand above-mentioned term in the present invention as the case may be
Concrete meaning.
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.
Fig. 1 to Fig. 4 is referred to, steering wheel provided in an embodiment of the present invention includes motor 40, for driving external agency to move
Output shaft 70 and side opposite side is engaged with the motor 40 and is engaged with the output shaft 70 and for by the motor 40
Power be transferred to the gear train 50 of the output shaft 70.In the present embodiment, the gear train 50 includes at least one duplex
Gear 100, it is preferable that the gear train 50 includes three duplicate gears 100, i.e., the one-level tooth engaged with the output gear of motor 40
Wheel 51, the secondary gear 52 engaged with the one-stage gear 51, the three-level tooth engaged with the secondary gear 52 and output shaft 70
Wheel 53.Every grade of gear is duplicate gear, and each duplicate gear 100 includes first gear 80, positioned at the first gear
The connection rotating shaft 10 of the rotation axis coincident of 80 end face and rotation axis and the first gear 80 and it is sheathed on any
The second gear 20 of one connection rotating shaft 10 and rotation axis and the rotation axis coincident of the connection rotating shaft 10, described second
Gear 20 is provided with the axis hole 21 for being sheathed on the connection rotating shaft 10, and the axis hole 21 has the inner circle towards the connection rotating shaft 10
Face 22, the connection rotating shaft 10 have the periphery 11 facing with the inner headed face 22.The steering wheel also includes positioning slipping ring
30, the positioning slipping ring 30 is sheathed on the connection rotating shaft 10 of any one duplicate gear 100 and is located at the He of inner headed face 22
Between the periphery 11, the outside of the positioning slipping ring 30 abuts with the inner headed face 22, the inner side of the positioning slipping ring 30
Abutted with the periphery 11 of the connection rotating shaft 10.The positioning slipping ring 30 is less than in the load that the second gear 20 is born and faced
When boundary loads, the positioning slipping ring 30 can be relative to the 10 static cooperation of the second gear 20 and the connection rotating shaft；It is described
Slipping ring 30 is positioned when the load of the second gear 20 is more than critical load, the slipping ring 30 that positions can be relative to described the
Two gears 20 and/or the connection rotating shaft 10 are slidably matched.
It should be noted that the critical load, i.e. the maximum load that second gear 20 can be born, work as second gear
When 20 loads born are less than the critical load, second gear 20 and the geo-stationary of connection rotating shaft 10, and the meeting of second gear 20
With the synchronous axial system of connection rotating shaft 10, when the load that second gear 20 is born is more than the critical load, connection rotating shaft 10 can be relative
Rotated in second gear 20, to reduce the load that duplicate gear 100 is born.It is to be appreciated that the tooth of connection rotating shaft 10 and first
Wheel 80 end face be fixedly connected, connected mode can be by Integral injection molding be molded connect, can also by fixture, such as
Screw etc. connects, and when connection rotating shaft 10 and 20 geo-stationary of second gear, first gear 80 should also be as and the phase of second gear 20
To static, when connection rotating shaft 10 and second gear 20 relatively rotate, first gear 80 namely relatively rotated with second gear 20.
It is to be appreciated that in order that duplicate gear 100 has a deceleration, the diameter of first gear 80 and second gear 20 should not
Together, the diameter of first gear 80 can be more than the diameter of second gear 20, might be less that the diameter of second gear 20.Preferably,
The diameter of first gear 80 is less than the diameter of second gear 20.
Specifically, Fig. 1 to Fig. 4 is referred to, second gear 20 and connection rotating shaft in steering wheel provided in an embodiment of the present invention
10 are coordinated using gap, and positioning slipping ring 30 is provided between second gear 20 and connection rotating shaft 10, when second gear 20
When load is less than critical load, motor 40 can rely on the friction between positioning slipping ring 30 and second gear 20 and connection rotating shaft 10
Power drives output shaft 70 to rotate, when the load of second gear 20 exceedes critical load, i.e., by excessive moment of torsion when, static friction
Switch to sliding friction, positioning slipping ring 30 can slide relative to second gear 20 and/or connection rotating shaft 10, specifically, second
During 20 load excessive of gear, positioning slipping ring 30 can be motionless relative to connection rotating shaft 10 and rotated relative to second gear 20, also may be used
It is motionless relative to second gear 20 to be rotated relative to connection rotating shaft 10, can also both around connection rotating shaft 10 slide simultaneously relative to
Second gear 20 rotates, and to cause second gear 20 to be rotated relative to connection rotating shaft 10 in a word, namely causes the He of first gear 80
Second gear 20 relatively rotates.And after second gear 20 rotates relative to connection rotating shaft 10, you can to effectively reduce duplex-gear
The load of wheel 100, avoids duplicate gear 100 from being damaged.It is to be appreciated that can by the thickness of Design Orientation slipping ring 30 or
Person adds appropriate lubricant to adjust above-mentioned critical load, but not limited to this.Connection rotating shaft 10 can be logical with first gear 80
Injection moulding integrated molding connection is crossed, can also be fixedly connected with first gear 80 by fixture, such as screw.
Fig. 4 to Fig. 8 is referred to, further, the steering wheel also includes being used to limit the positioning slipping ring 30 along the company
Switch through the position-limit mechanism 60 of the axial direction movement of axle 10, the position-limit mechanism 60 coordinates with the positioning slipping ring 30.Specifically,
When the load of second gear 20 is within normal range (NR), motor 40 is by positioning slipping ring 30 and inner headed face 22 and periphery 11
Between static friction transmit torque, when 20 load too high of second gear, inner headed face 22 and/or periphery 11 i.e. can be relative
Slided in positioning slipping ring 30, to cause second gear 20 to be rotated relative to connection rotating shaft 10.Steering wheel provided in an embodiment of the present invention
The position-limit mechanism moved including that can limit positioning slipping ring 30 along the axial direction of connection rotating shaft 10, the position-limit mechanism 60 can be kept out
Slipping ring 30 is positioned, can so avoid positioning slipping ring 30 from being disconnected after the position between rotating shaft 10 and second gear 20 and nothing
Method transmits the technical problem of moment of torsion.
First embodiment：
Fig. 5 is referred to, the position-limit mechanism 60 is arranged on the inner headed face 22 of the second gear 20, the position-limit mechanism 60
Including keeping out ring 23 from the inner headed face 22 to the connection rotating shaft 10 is provided projectingly first, the positioning slipping ring 30 is located at institute
State the first side for keeping out ring 23.Preferably, the side of the positioning slipping ring 30 is held in described first and keeps out ring 23.Based on this
Structure, first, which keeps out ring 23, to be limited in positioning slipping ring 30 between inner headed face 22 and periphery 11, avoid positioning slipping ring 30
Slided along the axial direction of connection rotating shaft 10, it is effectively transmitted moment of torsion by frictional force.
Fig. 6 is referred to, further, the position-limit mechanism 60 is also included from the inner headed face 22 to the connection rotating shaft 10
It is provided projectingly and keeps out the second of the setting of the spacing distance of ring 23 with described first and keep out ring 24, the positioning slipping ring 30 is positioned at described
First, which keeps out ring 23 and described second, keeps out between ring 24.Preferably, the both ends of the positioning slipping ring 30 are held in described respectively
First, which keeps out ring 23 and described second, keeps out ring 24.Positioning slipping ring 30 positioned at first keep out ring 23 and second keep out ring 24 between,
Further, avoid axial direction of the positioning slipping ring 30 along connection rotating shaft 10 to slide, so that positioning slipping ring 30 is protected all the time
Hold between inner headed face 22 and periphery 11 to carry out the transmission of moment of torsion.It should be noted that first keeps out ring 23 and second and supports
Baffle ring 24 can be set with second gear 20 by injection moulding integrated molding, can also be by fixture, such as screw, with the second tooth
The fixed setting of wheel 20.
Second embodiment：
Fig. 7 is referred to, further, the position-limit mechanism 60 is arranged on the periphery 11 of the connection rotating shaft 10, described
Position-limit mechanism 60 includes keeping out ring 12, the positioning slipping ring from the periphery 11 to the inner headed face 22 is provided projectingly the 3rd
30 positioned at the described 3rd side for keeping out ring 12.Preferably, the side of the positioning slipping ring 30 is held in the described 3rd and keeps out ring
12.Based on this structure, the 3rd, which keeps out ring 12, to be limited in positioning slipping ring 30 between inner headed face 22 and periphery 11, and it is fixed to avoid
Axial direction of the position slipping ring 30 along connection rotating shaft 10 slides, and it is effectively transmitted moment of torsion by frictional force.
Fig. 8 is referred to, further, the position-limit mechanism 60 also includes being dashed forward from the periphery 11 to the inner headed face 22
Go out to set and keep out the 4th of the setting of the spacing distance of ring 12 with the described 3rd and keep out ring 13, the positioning slipping ring 30 is positioned at described the
Three, which keep out ring 12 and the described 4th, keeps out between ring 13.Preferably, the both ends of the positioning slipping ring 30 are held in described the respectively
Three, which keep out ring 12 and the described 4th, keeps out ring 13.Positioning slipping ring 30 is kept out between ring 12 and the 4th keeps out ring 13 positioned at the 3rd, is entered
One step, avoid axial direction of the positioning slipping ring 30 along connection rotating shaft 10 and slide, so that positioning slipping ring 30 remains
To carry out the transmission of moment of torsion between inner headed face 22 and periphery 11.It should be noted that the 3rd keeps out ring 12 and the 4th and keeps out
Ring 13 can be set with connection rotating shaft 10 by injection moulding integrated molding, can also be by fixture, such as screw, with connection rotating shaft
10 fixed settings.
Fig. 5 and Fig. 7 are referred to, further, the positioning slipping ring 30 includes the first slipping ring 31, positioned at first slipping ring
Second slipping ring 32 of 31 sides, the 3rd slipping ring 33 positioned at the opposite side of the first slipping ring 31, both sides are slided with described first respectively
The 4th slipping ring 34 and both sides of circle 31 and second slipping ring 32 connection are slided with first slipping ring 31 and the described 3rd respectively
5th slipping ring 35 of the connection of circle 33, first slipping ring 31 is different from the diameter of second slipping ring 32, and described first slides
Circle 31 is different with the diameter of the 3rd slipping ring 33.Specifically, because the second slipping ring 32 and the 3rd slipping ring 33 and first are slided
The diameter of circle 31 is different, and the first slipping ring 31 is connected with the second slipping ring 32 by the 4th slipping ring 34, the first slipping ring 31 and the
Three slipping rings 33 are connected by the 5th slipping ring 35, so, it is flexible to allow for positioning slipping ring 30, i.e. second gear 20 and connection
Rotating shaft 10 will position the elastic compression of slipping ring 30 so that have between positioning slipping ring 30 and second gear 20 and connection rotating shaft 10 certain
The maximum static friction force of size, so as to realize the transmission of a certain size moment of torsion.
Fig. 5 and Fig. 7 are referred to, further, second slipping ring 32 is identical with the diameter of the 3rd slipping ring 33.This knot
Structure make it that the positioning both sides stress of slipping ring 30 is equal in magnitude, avoids axial direction of the positioning slipping ring 30 along connection rotating shaft 10 from inclining
Tiltedly, slipping ring is caused to damage.
The embodiment of the present invention additionally provides a kind of robot, including above-mentioned steering wheel.In the steering wheel and the various embodiments described above
Steering wheel has identical architectural feature, and role is identical, does not repeat herein.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should be included in the scope of the protection.
Claims (9)
1. a kind of steering wheel, including motor, the output shaft for driving external agency's motion and side are engaged separately with the motor
The gear train that the power of the motor is transferred to the output shaft, the gear train are engaged and are used for the output shaft in side
Including at least one duplicate gear, it is characterised in that each duplicate gear includes first gear, is fixedly installed on described first
The connection rotating shaft of the end face and rotation axis of gear and the rotation axis coincident of the first gear and it is sheathed on the company
Switch through axle and the second gear of rotation axis and the rotation axis coincident of the connection rotating shaft, the second gear are provided with and be sheathed on
The axis hole of the connection rotating shaft, the axis hole have the inner headed face towards the connection rotating shaft, and the connection rotating shaft has and institute
State the facing periphery of inner headed face；The steering wheel also includes positioning slipping ring, and the positioning trap is located at any one company
To switch through on axle and between the inner headed face and the periphery, the outside of the positioning slipping ring abuts with the inner headed face,
The inner side of the positioning slipping ring abuts with the periphery；The positioning slipping ring is less than in the load that the second gear is born and faced
When boundary loads, the positioning slipping ring can be relative to the second gear and the static cooperation of the connection rotating shaft；The positioning is slided
Enclose when the load of the second gear is more than critical load, the positioning slipping ring can relative to the second gear and/or
The connection rotating shaft is slidably matched.
2. steering wheel as claimed in claim 1, it is characterised in that the steering wheel also includes being used to limit the positioning slipping ring along institute
The position-limit mechanism of the axial direction movement of connection rotating shaft is stated, the position-limit mechanism coordinates with the positioning slipping ring.
3. steering wheel as claimed in claim 2, it is characterised in that the position-limit mechanism is arranged on the inner circle of the second gear
Face, the position-limit mechanism include keeping out ring towards the connection rotating shaft is provided projectingly first by the inner circle, and the positioning is slided
Circle is positioned at the described first side for keeping out ring.
4. steering wheel as claimed in claim 3, it is characterised in that the position-limit mechanism also includes by the inner circle towards the company
Switch through axle to be provided projectingly and keep out ring with described first keeps out that central spacer distance sets second, the positioning slipping ring is positioned at described
First, which keeps out ring and described second, keeps out between ring.
5. steering wheel as claimed in claim 2, it is characterised in that the position-limit mechanism is arranged on the cylindrical of the connection rotating shaft
Face, the position-limit mechanism include cylindrical keeping out ring, the positioning slipping ring towards the inner headed face is provided projectingly the 3rd by described
The side for keeping out ring positioned at the described 3rd.
6. steering wheel as claimed in claim 5, it is characterised in that the position-limit mechanism also includes by described cylindrical towards described interior
Disc is provided projectingly and keeps out ring with the described 3rd keeps out that central spacer distance sets the 4th, and the positioning slipping ring is positioned at described the
Three, which keep out ring and the described 4th, keeps out between ring.
7. steering wheel as claimed in any one of claims 1 to 6, it is characterised in that the positioning slipping ring includes the first slipping ring, position
The second slipping ring in the first slipping ring side, the 3rd slipping ring positioned at the first slipping ring opposite side, both sides respectively with it is described
First slipping ring and second slipping ring connection the 4th slipping ring and both sides respectively with first slipping ring and the 3rd slipping ring
5th slipping ring of connection, first slipping ring is different from the diameter of second slipping ring, first slipping ring and described the
The diameter of three slipping rings is different.
8. steering wheel as claimed in claim 7, it is characterised in that second slipping ring is identical with the diameter of the 3rd slipping ring.
9. a kind of robot, it is characterised in that including the steering wheel as described in claim 1-8 any one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711182347.2A CN107791243B (en) | 2017-11-23 | 2017-11-23 | Steering engine and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711182347.2A CN107791243B (en) | 2017-11-23 | 2017-11-23 | Steering engine and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107791243A true CN107791243A (en) | 2018-03-13 |
| CN107791243B CN107791243B (en) | 2023-12-01 |
Family
ID=61536607
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711182347.2A Active CN107791243B (en) | 2017-11-23 | 2017-11-23 | Steering engine and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107791243B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109278037A (en) * | 2017-11-23 | 2019-01-29 | 深圳市优必选科技有限公司 | Steering engine and robot |
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| CN102027254A (en) * | 2008-05-14 | 2011-04-20 | 圣戈班性能塑料万科有限公司 | Assembly method and apparatus |
| CN104482063A (en) * | 2008-05-14 | 2015-04-01 | 圣戈班性能塑料万科有限公司 | Assembly method and apparatus |
| CN202790210U (en) * | 2012-09-29 | 2013-03-13 | 台邦电机工业集团有限公司 | One-way clutch |
| CN205978286U (en) * | 2016-06-28 | 2017-02-22 | 深圳市维兴顺科技有限公司 | Steering wheel transmission |
| CN106763515A (en) * | 2016-12-31 | 2017-05-31 | 深圳市优必选科技有限公司 | A kind of steering wheel |
| CN207534815U (en) * | 2017-11-23 | 2018-06-26 | 深圳市优必选科技有限公司 | Steering engine and robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109278037A (en) * | 2017-11-23 | 2019-01-29 | 深圳市优必选科技有限公司 | Steering engine and robot |
| CN109278035A (en) * | 2017-11-23 | 2019-01-29 | 深圳市优必选科技有限公司 | Steering engine and robot |
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