CN112356049A

CN112356049A - Transmission structure

Info

Publication number: CN112356049A
Application number: CN202011511868.XA
Authority: CN
Inventors: 周超; 李炬佳; 姚伟为; 李俊豪
Original assignee: Guangzhou College of South China University of Technology
Current assignee: Guangzhou College of South China University of Technology
Priority date: 2020-12-18
Filing date: 2020-12-18
Publication date: 2021-02-12

Abstract

The invention provides a transmission structure; comprises a first driving device, a second driving device, a guiding device and a movable bracket; the driving assembly, the driven assembly, the first moving member and the second moving member are movably arranged; when the moving piece rises, the moving piece is driven to swing towards the direction far away from the moving support; when the movable sliding piece descends, the movable rotating shaft also descends; under the action of the movable bearing assembly; one end of the moving piece, which is connected with the moving bearing assembly, also descends; meanwhile, the moving part I and the moving part II are movably arranged; when the moving piece descends, the moving piece is driven to swing towards the direction approaching the moving support; this achieves the movement of the driven member; and when the driven part moves, the driving part still acts with the driven part.

Description

Transmission structure

Technical Field

The invention relates to the field of machines, in particular to a transmission structure.

Background

The robot has been widely applied to a plurality of fields of competitive sports and national quality education, strives to improve the technical level of various domestic robots, especially designs an intelligent robot mechanism suitable for various sports training purposes and improves the control level thereof, exerts and popularizes the application and popularization advantages thereof, and further promotes the efficient development and the steady promotion of national health level and competitive sports career. In the prior art, a friction wheel is adopted for serving balls; but the cost is high, the friction wheel is easy to wear, the rotating speed of the motor is enough, and the ball body is damaged due to excessive friction. Because the prior art adopts the friction pulley transmission more, the cost is higher, and the spheroid of fragile, only have single transmission function, it is inconvenient to remove.

To solve the above problems, the chinese application No. 202010858385.0; patent document publication No. 2020.10.30 discloses a wheeled soccer robot; the robot includes: a chassis; the lower end surface is of a polygonal frame structure; the omnidirectional wheel mechanisms are connected to the lower end face of the chassis in an annular array and are used for driving the chassis to move; the translation positioning mechanism is fixedly arranged in the middle of the upper end face of the chassis and is used for recording a coordinate record of the chassis moving driven by the omnidirectional wheel mechanism; the kicking mechanism is arranged on one side of the upper end face of the chassis and is used for driving the football to move; the football retracting mechanism is arranged on the other side of the upper end face of the chassis and is used for receiving and releasing a football.

When the robot kicks the ball; the step motor drives the ratchet wheel to rotate, so as to drive the swinging rod to swing towards the middle of the chassis; then, after the stepping motor is stopped being driven, the swinging rod is reset under the action of the elasticity of the spring, and the football is kicked out; but one end of the spring is connected with the rhombic bearing seat, and the other end of the spring is connected with the lower part of the first connecting frame; a device for limiting the moving direction of the spring is not arranged between the rhombic bearing block and the lower part of the first connecting frame; thus, when the spring is contracted, the two ends of the spring are closed and bent; the elastic force causing the spring to return is weakened; thereby causing poor kicking effect; meanwhile, the swinging rod and the auxiliary rod are both connected with the rotating rod through a flange plate; when the swinging rod is reset; the rotating rod can also rotate; the ratchet wheel can rotate reversely under the driving of the rotating rod; the chain wheel can also rotate under the action of the chain; but the stepping motor is in a stop state at the moment; when the motor stops, the chain wheel rotates reversely to accelerate the abrasion of the stepping motor; so that the matching effect of the chain wheel and the ratchet wheel is poor; thereby affecting the ball kicking effect of the robot; the robot has no protection effect on a driving motor for driving kicking when kicking the ball.

Disclosure of Invention

The invention provides a transmission mechanism capable of protecting a driving device.

In order to achieve the purpose, the technical scheme of the invention is as follows: a transmission structure comprises a frame and a driving mechanism; the driving mechanism comprises a first driving device, a second driving device, a guiding device and a movable bracket; two movable supports are arranged; the second driving device is arranged on the two movable brackets; the first driving device is connected with the two movable brackets; the movable bracket and the rack bracket are connected with a guide device; the first driving device drives the second driving device to act along the direction of the guiding device;

the guide device comprises a movable guide rail and a movable sliding part; the movable guide rail is arranged on the frame; the movable sliding part is arranged on the movable guide rail in a sliding manner; the movable end of the first driving device is connected with one end of the movable bracket; the other end of the movable bracket is connected with the movable sliding piece;

the second driving device comprises a first moving part, a second moving part, a driving motor, a driving assembly and a driven assembly; the moving part I and the moving part II are both provided with two parts; the driving motor is arranged on the frame; the two moving parts I are positioned between the two moving brackets; the two moving parts II are positioned between the two moving parts I; the driving assembly and the driven assembly are positioned between the two moving members II; the moving piece II is provided with a first connecting hole and a second connecting hole; the first connecting hole is positioned at one end of the moving member II; the second connecting hole is positioned at the other end of the second moving member; the first moving piece is provided with a third connecting hole and a fourth connecting hole; the third connecting hole is positioned at one end of the first moving part; the fourth connecting hole is positioned at the other end of the first moving part;

the movable sliding part comprises a movable base and a movable part; the moving piece is connected with the moving base; the moving part comprises a moving rotating shaft and a moving bearing assembly;

the driving motor is provided with a driving shaft; the driving assembly comprises a driving piece and a driving bearing assembly; the driving shaft penetrates through the two first connecting holes and the driving bearing assembly and is connected with the driving piece; the drive bearing assembly is disposed between the drive shaft and the first connection bore;

the driven assembly comprises a driven piece, a driven bearing assembly and a transmission shaft; the transmission shaft penetrates through the two third connecting holes, the two second connecting holes and the driven bearing assembly and is connected with the driven piece; the driven bearing assembly is arranged between the transmission shaft and the second connecting hole and between the transmission shaft and the third connecting hole; the movable rotating shaft penetrates through the movable bearing assembly and the two fourth connecting holes and is connected with the movable support; the movable bearing assembly is disposed between the movable rotating shaft and the fourth coupling hole.

According to the arrangement, the driving bearing assembly is arranged to connect the driving shaft and the moving member II; the second moving part is movably connected with the driving part; the driven bearing assembly is arranged to connect the transmission shaft with the moving part II; the second moving part is movably connected with the driven part; meanwhile, the driven bearing assembly is connected with the first moving element; the moving part I is movably connected with the driven part; the driving component, the driven component, the first moving component and the second moving component are movably arranged; when the first moving part moves in the second moving part, the rotation of the driving part and the driven part is not influenced; the movable rotating shaft and the first moving part are connected through the movable bearing assembly; meanwhile, the movable bracket is connected with the movable sliding piece; therefore, the first moving part and the moving sliding part are movably arranged; when the moving part I is driven to move between the moving supports, the movement of the moving sliding part on the moving guide rail is not influenced; the first driving device is arranged to drive the movable support to move; the reciprocating movement of the movable sliding part on the movable guide rail is realized; when the movable sliding piece ascends, the movable rotating shaft also ascends; under the action of the movable bearing assembly; one end of the moving piece, which is connected with the moving bearing assembly, also rises; meanwhile, the moving part I and the moving part II are movably arranged; when the moving piece rises, the moving piece is driven to swing towards the direction far away from the moving support; when the movable sliding piece descends, the movable rotating shaft also descends; under the action of the movable bearing assembly; one end of the moving piece, which is connected with the moving bearing assembly, also descends; meanwhile, the moving part I and the moving part II are movably arranged; when the moving piece descends, the moving piece is driven to swing towards the direction approaching the moving support; this achieves the movement of the driven member; and when the driven part moves, the driving part still acts with the driven part. When in use; moving the follower position; engaging the driven member with a driven gear of the device; the driven part and the device act; when the driven member does not need to act with the device, the position of the driven member is changed, so that the driven member is separated from a driven gear of the device, and the driving motor is effectively protected.

Further, the drive bearing assembly includes a drive first bearing; two driving first bearings are arranged; the driving piece is positioned between the two driving first bearings; the driving first bearing is disposed between the driving shaft and the first connection hole. Therefore, the rotation effect between the moving component II and the driving bearing component is good.

Further, the driven bearing assembly comprises a driven first bearing and a driven second bearing; the driven first bearing and the driven second bearing are both provided with two bearings; the driven part is positioned between the two driven first bearings; the two driven first bearings are positioned between the two driven second bearings; the driven first bearing is arranged between the transmission shaft and the second connecting hole; the driven second bearing is arranged between the transmission shaft and the third connecting hole. Therefore, the rotating effect between the second moving element and the driven bearing assembly is good.

Further, the moving bearing assembly includes a moving first bearing; two movable first bearings are arranged; the movable first bearing is arranged between the movable rotating shaft and the fourth connecting hole. Therefore, the moving bearing assembly and the driven bearing assembly have good rotating effect.

Further, the moving part comprises a first fixed part, a second fixed part and a third fixed part; the second fixing piece and the third fixing piece are positioned between the first fixing piece and the movable base; the second fixing piece is connected with the movable base and one end of the first fixing piece; the third fixing piece is connected with the other ends of the movable base and the first fixing piece. Therefore, the moving piece is stably connected with the moving base.

Furthermore, an installation space is formed between the first fixing piece, the second fixing piece, the third fixing piece and the movable base; the movable rotating shaft is arranged in the installation space. Thus, the movable rotating shaft and the moving part are movably arranged.

Furthermore, the outer wall of the second moving part faces the direction far away from the driving component and is convexly provided with a limiting part. And the second moving member is contacted with the limiting part to realize the swing limiting of the second moving member.

Further, the first driving device is an air cylinder. Thus, the control effect is good.

Further, the driving member and the driven member are gears.

Drawings

Fig. 1 is a schematic perspective view of the present embodiment.

Fig. 2 is a schematic perspective view of the second driving device and the movable sliding member in the present embodiment.

Fig. 3 is an exploded view of the second driving device in this embodiment.

Fig. 4 is a schematic perspective view of a second moving member in the present embodiment.

Fig. 5 is an exploded view of the driving assembly and the driven assembly in the present embodiment.

Fig. 6 is a schematic perspective view of the movable sliding member in the present embodiment.

Fig. 7 is a schematic perspective view of the movable support in the present embodiment.

Fig. 8 is a usage status diagram of the present solution.

Fig. 9 is another use state diagram of the present solution.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1-9; a transmission structure comprises a frame 1 and a driving mechanism; the driving mechanism comprises a first driving device 2, a second driving device 3, a guiding device 4 and a movable bracket 5; two movable supports 5 are arranged; the second driving device 3 is arranged on the two movable brackets 5; the first driving device 2 is connected with the two movable brackets 5; the movable bracket 5 and the frame 1 are in bracket connection with a guide device 4; the first driving device 2 drives the second driving device 3 to act along the guiding direction of the guiding device 4.

The guide device 4 includes a moving guide 41 and a moving slider 42; the movable guide rail 41 is arranged on the frame 1; the moving slider 42 is slidably disposed on the moving guide rail 41; the movable end of the first driving device 2 is connected with one end of the movable bracket 5; the other end of the moving bracket 5 is connected to a moving slider 42. In the present embodiment, the first driving device 2 is a cylinder. Thus, the control effect is good.

The second driving device 3 comprises a first moving part 31, a second moving part 32, a driving motor (not shown in the figure), a driving assembly 33 and a driven assembly 34; two moving members 31 and two moving members 32 are arranged; the driving motor is arranged on the frame 1 through a motor support 11; the two moving parts one 31 are positioned between the two moving brackets 5; the two moving parts two 32 are positioned between the two moving parts one 31; the driving assembly 33 and the driven assembly 34 are positioned between the two moving members 32; the second moving member 32 is provided with a first connecting hole 321 and a second connecting hole 322; the first connection hole 321 is located at one end of the second moving part 32; the second connecting hole 322 is positioned at the other end of the second moving part 32; the first moving member 31 is provided with a third connecting hole 311 and a fourth connecting hole 312; the third connecting hole 311 is located at one end of the first moving member 31; the fourth connecting hole 312 is located at the other end of the moving member one 31.

The moving slider 42 includes a moving base 421 and a moving member; the moving member is connected with the moving base 421; the moving member includes a first fixing member 422, a second fixing member 423, a third fixing member 424, a moving rotating shaft 425, and a moving bearing assembly 426; the second fixing member 423 and the third fixing member 424 are located between the first fixing member 422 and the moving base 421; the second fixing member 423 is connected to the movable base 421 and one end of the first fixing member 422; the third fixing member 424 is connected to the moving base 421 and the other end of the first fixing member 422. Thus, the moving member is stably connected with the moving base 421. An installation space 427 is formed between the first fixing member 422, the second fixing member 423, the third fixing member 424 and the movable base 421; the moving hinge 425 is disposed in the installation space 427. Thus, the movable rotating shaft 425 and the moving part are movably arranged. A moving shaft 425 is disposed through the moving bearing assembly 426.

The drive motor is provided with a drive shaft (not shown in the figure); the drive assembly 33 includes a drive member 331 and a drive bearing assembly 332; the driving shaft penetrates through the two first connecting holes 321 and the driving bearing assembly 332 and is connected with the driving member 331; the drive bearing assembly 332 is disposed between the drive shaft and the first connection hole 321; the driven assembly 34 includes a driven member 341, a driven bearing assembly, and a drive shaft 342; the transmission shaft 342 is arranged on the two third connecting holes 311, the two second connecting holes 322 and the driven bearing assembly in a penetrating way and is connected with the driven part 341; the driven bearing assemblies are arranged between the transmission shaft 342 and the second connection hole 322, and between the transmission shaft 342 and the third connection hole 311; the movable rotating shaft 425 penetrates through the movable bearing assembly 426 and the two fourth connecting holes 312 and is connected with the movable bracket 5; the moving bearing assembly 426 is disposed between the moving rotating shaft 425 and the fourth coupling hole 312. In this embodiment, the driving member 331 and the driven member 341 are gears.

The drive bearing assembly 332 includes a drive first bearing 3321; two first driving bearings 3321 are provided; the driving member 331 is located between the two driving first bearings 3321; the driving first bearing 3321 is disposed between the driving shaft and the first connection hole 321. Thus, the second moving part and the driving bearing assembly 332 rotate well.

The driven bearing assembly includes a driven first bearing 343 and a driven second bearing 344; two driven first bearings 343 and two driven second bearings 344 are provided; the follower 341 is located between the two follower first bearings 343; the two driven first bearings 343 are located between the two driven second bearings 344; the driven first bearing 343 is disposed between the transmission shaft 342 and the second connection hole 322; the driven second bearing 344 is disposed between the transmission shaft 342 and the third connection hole 311. Therefore, the second moving element 32 and the driven bearing assembly have good rotating effect. The moving bearing assembly 426 includes a moving first bearing 4261; two movable first bearings 4261 are provided; the moving first bearing 4261 is disposed between the moving rotation shaft 425 and the fourth connection hole 312. Therefore, the moving bearing assembly and the driven bearing assembly have good rotating effect.

The outer wall of the second moving member 32 faces away from the driving component 33 and is convexly provided with a limiting piece 34. The second moving member 32 is contacted with the limiting piece 34 to limit the swing of the second moving member 32.

The scheme has at least two using methods:

the use method I comprises the following steps:

as shown in fig. 8; presetting a first driven gear 6 far away from the movable bracket; when in use; the first driving device extends out; the movable support drives the moving piece to move upwards; the moving piece drives the moving piece to swing in a direction which is far away from the moving support in two directions; the follower 341 moves toward the first driven gear 6; when the follower 341 engages with the first driven gear 6; starting a driving motor; a driving shaft of the driving motor drives the driving piece to rotate; the driving member acts with the first driven gear 6 through the driven member; thereby driving the first driven gear 6 to rotate; this drives the structure connected to the first driven gear 6 in motion.

When the vehicle needs to be stopped, the first driving device retracts; the moving support drives the moving piece I to move downwards; the first moving piece drives the moving piece to swing towards the direction close to the moving support; the follower 341 moves in a direction away from the first driven gear 6; the follower 341 is separated from the first driven gear 6; the driving of the motor is stopped.

The use method II comprises the following steps:

as shown in fig. 9; presetting a first driven gear 6 far away from the movable bracket; a second driven gear 7 is preset between the mobile bracket and the driven member. The follower is located between the first driven gear 6 and the second driven gear 7.

When in use; when the driven member needs to act with the first driven gear 6; the first driving device extends out; the movable support drives the moving piece to move upwards; the moving piece drives the moving piece to swing in a direction which is far away from the moving support in two directions; the follower 341 moves toward the first driven gear 6; when the follower 341 engages with the first driven gear 6; starting a driving motor; a driving shaft of the driving motor drives the driving piece to rotate; the driving member acts with the first driven gear 6 through the driven member; thereby driving the first driven gear 6 to rotate; this drives the structure connected to the first driven gear 6 in motion.

When the vehicle needs to be stopped, the first driving device retracts; the moving support drives the moving piece I to move downwards; the first moving part drives the moving part to swing in the direction approaching the moving support in two directions and is not in contact with the second driven gear 7; the follower 341 moves in a direction away from the first driven gear 6; the follower 341 is separated from the first driven gear 6; the driving of the motor is stopped.

When the driven member needs to act with the first driven gear 6; retracting the first driving device; the moving support drives the moving piece I to move downwards; the first moving piece drives the moving piece to swing towards the direction close to the moving support; the follower 341 moves in the direction approaching the second driven gear 7; the follower 341 engages with the second driven gear 7; starting a driving motor; a driving shaft of the driving motor drives the driving piece to rotate; the driving piece acts with the second driven gear 7 through the driven piece; thereby driving the second driven gear 7 to rotate; this drives the structure connected to the first driven gear 6 in motion.

When the device needs to be stopped, the first driving device extends out; the movable support drives the moving piece to move upwards; the moving piece drives the moving piece to swing in a direction which is far away from the moving support in two directions and is not contacted with the first driven gear 6; the follower 341 moves in a direction away from the second driven gear 7; the follower 341 is separated from the second driven gear 7; the driving of the motor is stopped.

The driving shaft and the second moving member 32 are connected through the driving bearing assembly 332; the second moving part 32 is movably connected with the driving part 331; the driven bearing assembly is arranged to connect the transmission shaft 342 with the second moving part 32; the second moving part 32 is movably connected with the driven part 341; meanwhile, the driven bearing assembly is connected with the first moving part 31; thus, the first moving part 31 is movably connected with the driven part 341; the driving component 33, the driven component 34, the first moving component 31 and the second moving component are movably arranged; when the first moving part 31 moves in the second moving part, the rotation of the driving part 331 and the driven part 341 is not affected; connecting the moving rotating shaft 425 and the moving member one 31 through the moving bearing assembly 426; while the mobile carriage 5 is connected to the mobile slide 42; thus, the moving part I31 and the moving sliding part 42 are also movably arranged; when the moving bracket 5 drives the moving part one 31 to move, the movement of the moving sliding part 42 on the moving guide rail 41 is not influenced; the first driving device 2 is arranged to drive the movable bracket 5 to move; the reciprocating movement of the moving slider 42 on the moving guide rail 41 is realized; when the moving slider 42 is raised, the moving shaft 425 is also raised; under the influence of the moving bearing assembly 426; the end of the first moving member 31 connected to the moving bearing assembly 426 is also raised; meanwhile, the first moving part 31 and the second moving part 32 are movably arranged; when the moving member 31 rises, the moving member 32 is driven to swing in the direction away from the moving support 5; when the moving slider 42 is lowered, the moving shaft 425 is also lowered; under the influence of the moving bearing assembly 426; the end of the first moveable member 31 that is coupled to the first moveable bearing assembly 426 is also lowered; meanwhile, the first moving part 31 and the second moving part 32 are movably arranged; when the first moving part 31 descends, the second moving part 32 is driven to swing towards the direction close to the moving support 5; this achieves movement of the follower 341; and when the driven member 341 moves, the driving member 331 still acts on the driven member 341.

Claims

1. A transmission structure is characterized in that: comprises a frame and a driving mechanism; the driving mechanism comprises a first driving device, a second driving device, a guiding device and a movable bracket; two movable supports are arranged; the second driving device is arranged on the two movable brackets; the first driving device is connected with the two movable brackets; the movable bracket and the rack bracket are connected with a guide device; the first driving device drives the second driving device to act along the direction of the guiding device;

2. A transmission arrangement according to claim 1, wherein: the drive bearing assembly includes a drive first bearing; two driving first bearings are arranged; the driving piece is positioned between the two driving first bearings; the driving first bearing is disposed between the driving shaft and the first connection hole.

3. A transmission construction according to claim 2, wherein: the driven bearing assembly comprises a driven first bearing and a driven second bearing; the driven first bearing and the driven second bearing are both provided with two bearings; the driven part is positioned between the two driven first bearings; the two driven first bearings are positioned between the two driven second bearings; the driven first bearing is arranged between the transmission shaft and the second connecting hole; the driven second bearing is arranged between the transmission shaft and the third connecting hole.

4. A transmission construction according to claim 3, wherein: the moving bearing assembly includes a moving first bearing; two movable first bearings are arranged; the movable first bearing is arranged between the movable rotating shaft and the fourth connecting hole.

5. A transmission construction according to claim 4, wherein: the moving part comprises a first fixed part, a second fixed part and a third fixed part; the second fixing piece and the third fixing piece are positioned between the first fixing piece and the movable base; the second fixing piece is connected with the movable base and one end of the first fixing piece; the third fixing piece is connected with the other ends of the movable base and the first fixing piece.

6. A transmission construction according to claim 5, wherein: an installation space is formed among the first fixing piece, the second fixing piece, the third fixing piece and the movable base; the movable rotating shaft is arranged in the installation space.

7. A transmission arrangement according to claim 1, wherein: and a limiting part is convexly arranged on the outer wall of the second moving part facing the direction far away from the driving component.

8. A transmission arrangement according to claim 1, wherein: the first driving device is a cylinder.

9. A transmission arrangement according to claim 1, wherein: the driving part and the driven part are gears.