CN113531067A - Driving mechanism, chassis and robot - Google Patents
Driving mechanism, chassis and robot Download PDFInfo
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- CN113531067A CN113531067A CN202110679983.6A CN202110679983A CN113531067A CN 113531067 A CN113531067 A CN 113531067A CN 202110679983 A CN202110679983 A CN 202110679983A CN 113531067 A CN113531067 A CN 113531067A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H7/00—Gearings for conveying rotary motion by endless flexible members
- F16H7/02—Gearings for conveying rotary motion by endless flexible members with belts; with V-belts
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H7/00—Gearings for conveying rotary motion by endless flexible members
- F16H7/02—Gearings for conveying rotary motion by endless flexible members with belts; with V-belts
- F16H7/023—Gearings for conveying rotary motion by endless flexible members with belts; with V-belts with belts having a toothed contact surface or regularly spaced bosses or hollows for slipless or nearly slipless meshing with complementary profiled contact surface of a pulley
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H7/00—Gearings for conveying rotary motion by endless flexible members
- F16H7/06—Gearings for conveying rotary motion by endless flexible members with chains
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H7/00—Gearings for conveying rotary motion by endless flexible members
- F16H7/08—Means for varying tension of belts, ropes, or chains
- F16H7/10—Means for varying tension of belts, ropes, or chains by adjusting the axis of a pulley
- F16H7/14—Means for varying tension of belts, ropes, or chains by adjusting the axis of a pulley of a driving or driven pulley
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H7/00—Gearings for conveying rotary motion by endless flexible members
- F16H7/08—Means for varying tension of belts, ropes, or chains
- F16H2007/0802—Actuators for final output members
- F16H2007/0812—Fluid pressure
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H7/00—Gearings for conveying rotary motion by endless flexible members
- F16H7/08—Means for varying tension of belts, ropes, or chains
- F16H2007/0802—Actuators for final output members
- F16H2007/0823—Electric actuators
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H7/00—Gearings for conveying rotary motion by endless flexible members
- F16H7/08—Means for varying tension of belts, ropes, or chains
- F16H2007/0842—Mounting or support of tensioner
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H7/00—Gearings for conveying rotary motion by endless flexible members
- F16H7/08—Means for varying tension of belts, ropes, or chains
- F16H2007/0863—Finally actuated members, e.g. constructional details thereof
- F16H2007/0874—Two or more finally actuated members
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Transmission Devices (AREA)
Abstract
The application provides a driving mechanism, a chassis and a robot, wherein the driving mechanism comprises two rotating assemblies, a flexible transmission part and an adjusting assembly, the two rotating assemblies are respectively provided with a rotating axis, and the rotating axes of the two rotating assemblies are parallel to each other; a flexible drive member extends between the two rotating assemblies to transmit rotary power between the two rotating assemblies; the adjusting assembly comprises an actuating piece which can move in a translational mode along a first direction and move relative to at least one of the two rotating assemblies along the inclined plane so as to push the rotating assemblies to move in a translational mode along a second direction and further change the distance between the two rotating assemblies; the second direction is parallel to a straight line passing through and perpendicular to the two rotation axes, the first direction intersects the second direction, and the inclined plane is arranged at an acute angle with the second direction. The application provides a driving mechanism, adjust the direction through the conversion and greatly make things convenient for follow-up maintenance work, required installation maintenance space is less, is applicable to compact structure, the minimum scene in usable space.
Description
Technical Field
The application relates to the technical field of transmission, in particular to a driving mechanism, a chassis and a robot.
Background
Flexible transmission mechanisms such as belt drives (including synchronous belt drives), chain drives, and the like are common transmission modes suitable for transmitting rotary power. In a flexible drive configuration, power from the input module is transmitted to the output module through a flexible drive, the input and output modules having parallel axes of rotation. The flexible transmission part can normally transmit power only by a certain tensioning force in the transmission process, and the tensioning force of the flexible transmission part has great influence on the transmission capacity, the service life and the shaft pressure of the flexible transmission part. The tensioning force is too low, the load transfer capacity is low, the efficiency is low, the slipping risk of the flexible transmission part is increased, the input and output modules can be heated rapidly, and the flexible transmission part and the input and output modules can be worn prematurely; too high a tension can lead to assembly difficulties, also lead to reduced service life of the flexible drive member, increased loads on the shaft and bearings, and heating and wear of the bearings. In order to ensure that the flexible drive operates reliably, the flexible drive must be tensioned exactly and appropriately, so that the flexible drive usually requires a corresponding tensioning arrangement.
At present, the distance between shafts of an input module and an output module of most flexible transmission mechanisms is fixed, the flexible transmission parts are usually tensioned through a complex tensioning wheel structure, however, the structure of the tensioning wheel structure is complex, the required installation and maintenance space is large, and the cost is high; in addition, the tensioning wheel structure usually uses a spring (including a torsion spring) to realize tensioning, and has a large limitation, and when the tensioning force exceeds the elastic force bearing range of the spring, the spring is greatly likely to fail, and even irreversible damage is generated. The shaft distance between the input module and the output module is directly adjusted by the flexible transmission mechanism through fasteners such as screws or other movable mounting structures, so that the tensioning degree of the flexible transmission member is adjusted, however, the existing mounting structure for directly adjusting the shaft distance between the input module and the output module usually needs a larger mounting space, is troublesome in adjustment operation, and has poor applicability to application scenes with compact structure and extremely small available space.
Disclosure of Invention
The application aims to provide a driving mechanism, a chassis and a robot, and aims to solve the technical problem that the tensioning adjusting structure of the existing flexible transmission mechanism is poor in applicability to application scenes with compact structure and small available space.
In order to achieve the purpose, the technical scheme adopted by the application is as follows: there is provided a drive mechanism including:
the two rotating assemblies are respectively provided with a rotating axis, and the rotating axes of the two rotating assemblies are parallel to each other;
a flexible drive member extending between the two rotating assemblies to transmit rotational power between the two rotating assemblies; and
the adjusting assembly comprises an actuating piece, the actuating piece can move in a translational mode along a first direction and moves relative to at least one of the two rotating assemblies along an inclined plane so as to push the rotating assemblies to move in a translational mode along a second direction, and therefore the distance between the two rotating assemblies is changed;
the second direction is parallel to a straight line passing through and perpendicular to the two rotation axes, the first direction intersects with the second direction, and the inclined surface and the second direction are arranged at an acute angle.
In one embodiment, the first direction is perpendicular to the second direction.
In one embodiment, the adjusting assembly further comprises an operating member, the operating member is connected with the actuating member, and the operating member is operated to move so as to drive the actuating member to move in a translation manner.
In one embodiment, the operating member is capable of driving the actuating member to move in a continuous translational motion along the first direction so as to continuously change the distance between the two rotating assemblies.
In one embodiment, the adjustment assembly further comprises a locking structure adapted to lock the actuator in any position along the first direction.
In one embodiment, rotation of the operating member drives translational movement of the actuating member.
In one embodiment, the actuator comprises a stud parallel to the first direction, the actuator being screwed to the stud, the stud being able to rotate about its axis to drive the actuator in a continuous translational movement along the stud.
In one embodiment, the drive mechanism further comprises a mounting member, two of the rotating assemblies are mounted on the mounting member, at least one of the two rotating assemblies can slide relative to the mounting member along the second direction, and the actuating member is arranged between the two rotating assemblies along the second direction.
In one embodiment, the flexible drive is a belt.
The application also provides a chassis, including the chassis underframe, set up in the running gear mechanism of chassis underframe below and set up in the chassis underframe as above-mentioned any one the actuating mechanism, the running gear mechanism with the actuating mechanism transmission is connected, actuating mechanism is suitable for the drive the running gear mechanism turns to.
The present application also provides a robot comprising a chassis as described in one of the above; and/or the robot comprises a drive mechanism as described in any of the above.
The application provides a actuating mechanism's beneficial effect lies in:
compared with the prior art, the driving mechanism pushes at least one of the two rotating assemblies to do translational motion in the second direction through the translational motion of the actuating element in the first direction different from the second direction, so that the distance between the central shafts between the two rotating assemblies is directly adjusted and changed, the tensioning degree of the flexible transmission element is controlled and changed, the flexible transmission element is allowed to be accurately and accurately pre-tensioned, and the stable and reliable work of the driving mechanism is ensured. The adjusting assembly adjusts the distance between the central shafts between the two rotating assemblies in the second direction to move, and the distance is converted to the movement of the actuating part in the first direction, so that the subsequent maintenance work of the driving mechanism is greatly facilitated by converting the adjusting direction, the tensioning degree of the flexible transmission part is adjusted simply and conveniently, the adjustment can be carried out in a larger range, unnecessary stress is avoided, the size of the adjusting assembly is smaller, the required installation and maintenance space is smaller, the adjusting assembly can be suitable for application scenes with compact structure and extremely small available space, the application range is wide, the technical problem that the tensioning adjusting structure of the existing flexible transmission mechanism is poor in applicability to application scenes with compact structure and extremely small available space is effectively solved, the adjusting assembly does not need to realize the tensioning of the flexible transmission part through a complex tensioning wheel structure, the structure is simple and compact, and the cost is reduced; through relative motion along the inclined plane, the actuator can generate component force in the second direction when moving in a translational mode along the first direction, so that the actuator can push the input assembly and/or the output assembly to move in a translational mode along the second direction, further the conversion of the tensioning degree adjusting direction of the flexible transmission part is achieved, and the maintenance work of the driving mechanism is greatly facilitated.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic perspective view of a driving mechanism according to an embodiment of the present disclosure;
FIG. 2 is an exploded view of a drive mechanism provided in an embodiment of the present application;
FIG. 3 is a top view of a drive mechanism provided in an embodiment of the present application;
fig. 4 is a schematic perspective view of the driving mechanism provided in the embodiment of the present application with the second housing removed;
FIG. 5 is a cross-sectional view of a drive mechanism provided in an embodiment of the present application;
fig. 6 is a schematic view of an actuating member and a driven member according to an embodiment of the present invention;
FIG. 7 is a schematic diagram illustrating a principle analysis of friction provided by an embodiment of the present application;
FIG. 8 is a graph of a tangent function;
fig. 9 is a schematic perspective view of a chassis according to an embodiment of the present application.
Wherein, in the figures, the respective reference numerals:
1 a-an input component; 1 b-an output assembly; 11 a-the active rotating member; 11 b-a driven rotating member; 12-a driven member; 13 a-a first housing; 13 b-a second housing; 14-a limit connection part;
2-a flexible transmission member;
3-a regulating component; 31-an actuator; 32-an operating member; 321-a stud; 33-a fixed seat;
4-a mounting member; 41-a guide limiting part; 42-mounting grooves;
5-a drive device;
100-a drive mechanism; 200-a chassis frame; 300-traveling wheel mechanism.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present application.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
The drive mechanism provided in the embodiment of the present application will now be described.
Referring to fig. 1 to 6, a driving mechanism 100 according to an embodiment of the present disclosure includes a rotating component, a flexible transmission member 2, and an adjusting component 3. The two rotating assemblies are respectively provided with a rotating axis, the rotating axes of the two rotating assemblies are parallel to each other, the two rotating assemblies are suitable for respectively inputting and outputting rotating power, and the two rotating assemblies can move relative to each other in a plane perpendicular to the rotating axes; the flexible transmission member 2 extends between the two rotating assemblies to transmit rotary power between the two rotating assemblies; the adjusting assembly 3 comprises an actuating member 31, the actuating member 31 is capable of translational movement in a first direction and pushes at least one of the two rotating assemblies to translational movement in a second direction, the second direction is parallel to a straight line passing through and perpendicular to the two rotation axes, namely the second direction is a central axis distance direction of the two rotating assemblies, so that the distance between the two rotating assemblies can be changed, and the first direction and the second direction are crossed.
The driving mechanism 100 in the above embodiment pushes at least one of the two rotating assemblies to move in a translational manner in the second direction by the actuating member 31 moving in a translational manner in the first direction different from the second direction, so as to directly adjust and change the central shaft distance between the two rotating assemblies, thereby controlling and changing the tensioning degree of the flexible transmission member 2, allowing the flexible transmission member 2 to be pre-tensioned accurately and accurately, and ensuring the stable and reliable operation of the driving mechanism 100. The adjusting component 3 converts the central shaft distance adjusting movement between the two rotating components in the second direction into the movement of the actuating component 31 in the first direction, the subsequent maintenance work of the driving mechanism 100 is greatly facilitated by switching the adjusting direction, the operation of adjusting the tensioning degree of the flexible transmission member 2 is simple and convenient, can be adjusted in a larger range, avoids unnecessary stress, has smaller volume of the adjusting component 3, requires smaller installation and maintenance space, can be suitable for application scenes with compact structure and extremely small available space, has wide application range, effectively solves the technical problem that the tensioning adjusting structure of the prior flexible transmission mechanism has poorer applicability to the application scenes with compact structure and extremely small available space, and adjusting part 3 need not to realize the tensioning of flexible transmission spare 2 through complicated take-up pulley structure, and simple structure is compact, reduce cost, and the practicality is strong.
Wherein, one of the two rotating assemblies is fixed relatively, and the actuating component 31 pushes the other rotating assembly to move in a translational manner along the second direction to approach or depart from the relatively fixed rotating assembly; alternatively, the actuator 31 simultaneously pushes the two rotating assemblies to move closer to or away from each other in the second direction. One of the two rotating assemblies is an input assembly 1a adapted to input rotary power, and the other is an output assembly 1b adapted to output rotary power.
Alternatively, the flexible drive member 2 is a belt, a number of forms of drive belts are available in the art, such as a belt, V-belt, toothed belt or synchronous belt; the input assembly 1a is provided with a driving rotation part 11a, the output assembly 1b is provided with a driven rotation part 11b, the flexible transmission part 2 is wound on the peripheries of the driving rotation part 11a and the driven rotation part 11b, and the driving rotation part 11a and the driven rotation part 11b adopt belt wheels, gears or synchronous wheels corresponding to the flexible transmission part 2. Alternatively, the flexible transmission 2 may be a driving chain, and the driving rotation member 11a and the driven rotation member 11b are corresponding sprockets or gears.
In one embodiment, the flexible transmission member 2 is a synchronous belt, and the driving rotation member 11a and the driven rotation member 11b are synchronous wheels correspondingly, and the synchronous belt is wound around the peripheries of the driving synchronous wheel and the driven synchronous wheel. The synchronous belt transmission has the advantages of belt transmission, chain transmission and gear transmission, and the torque and the motion are transmitted between the synchronous belt and the synchronous wheel by means of tooth meshing, and theoretically, the synchronous belt transmission mode has no sliding, namely zero back clearance; the back clearance is the return clearance, and zero back clearance is beneficial to realizing precise transmission, avoids the phenomenon of instantaneous no-load, and effectively avoids a plurality of adverse effects such as loss of transmission torque and reduction of control precision caused by the return clearance.
Optionally, the rotating assembly includes a driven member 12, and the actuator 31 is movable against and compresses the driven member 12 to urge the driven member 12 to move the rotating assembly in translation. Through setting up follower 12, simplify and adjust the structure, the processing cost is lower, does benefit to mass production, need not to use the elastic component to realize the tensioning of flexible drive spare 2, is difficult for appearing the elastic component damage and leads to adjusting part 3 trouble to become invalid, guarantees actuating mechanism 100 reliable and stable work, long service life.
Optionally, actuating member 31 and/or driven member 12 is provided with a ramp disposed at an acute angle to the second direction, actuating member 31 being in contact with driven member 12 via the ramp and being capable of relative movement along the ramp, such that actuating member 31 urges driven member 12 in translational movement. Through setting up along the inclined plane of second direction slope, when making the action parts 31 along first direction translation motion and extrude driven part 12, the effort of making the action parts 31 to driven part 12 can produce the component force in the second direction to make the action parts 31 can promote the rotation component along second direction translation motion, and then realize the conversion of the tensioning degree regulation direction of flexible transmission spare 2, make things convenient for actuating mechanism 100's maintenance work greatly, the practicality is strong.
Preferably, the first direction is perpendicular to the second direction. Through setting up the first direction to perpendicular to second direction, move the relative translational motion direction of two rotating component of translational motion direction perpendicular to of a 31 promptly, thereby adjust the translational motion of motion conversion to the vertical direction on with the center pin interval between two rotating component, it is simpler to move as a 31, convenient operation, further convenient tensioning degree to flexible drive spare 2 is adjusted, make things convenient for the subsequent maintenance work of actuating mechanism 100, and it is littleer to move the required installation maintenance space of a 31, be favorable to further reducing adjustment assembly 3 volumes, the structure is compacter, application scope is wider, therefore, the clothes hanger is strong in practicability.
Alternatively, actuator 31 may be a slider or roller and driven member 12 may be a roller or slider.
In one embodiment, the actuating member 31 and the driven member 12 are each provided with a slope inclined in the second direction, and the actuating member 31 and the driven member 12 are capable of sliding movement relative to each other along the slope. Through will making the structure that moves 31 and follower 12 and all set up to having the inclined plane, move 31 and follower 12 promptly and be the slider structure, the structure is simpler, and the processing cost is lower, does benefit to mass production, and the inclined plane cooperation is inseparabler moreover, and not fragile inefficacy, shock resistance is strong, guarantees actuating mechanism 100 reliable and stable work, and life is longer, and compact structure is favorable to further reducing actuating mechanism 100 volume simultaneously, and the practicality is strong.
In the present embodiment, when the first direction is perpendicular to the second direction, the angle α between the inclined surface and the second direction and the friction coefficient u between the actuating member 31 and the driven member 12 satisfy the condition: u < tan alpha.
Referring to fig. 7, a simplified friction mechanics model of actuator 31 and driven member 12 is shown.
Where α is an angle between the inclined surface and the second direction, and F is a pressing force applied to the driven member 12 by the translational motion of the actuating member 31, thereby generating a positive pressure F on the inclined surface of the driven member 12NAnd a tilting force F along the bevelR(ii) a Positive pressure FNFriction force F synchronously resisting relative movement of actuating member 31 and driven member 12u. Assuming that the actuating member 31 and the driven member 12 slide relative to each other, the problem is equivalent to:
Fu＝uFN≤FR。
it can also be converted into:
FN＝Fcosα，
FR＝Fsinα，
u≤tanα。
therefore, in theory, to ensure that actuator 31 is able to move driven member 12, it is necessary to ensure that coefficient of friction u between actuator 31 and driven member 12 is greater than or equal to the tangent function of angle α of the ramp to the second direction. Meanwhile, considering that actuating member 31 is not only subjected to the friction force of driven member 12 in practical application, but also to the friction force of the rotating assembly and other influencing factors, in practice: u < tan alpha.
In one embodiment, actuator 31 is made of stainless steel and driven member 12 is made of aluminum alloy, and a table look up shows that the coefficient of friction between the two is approximately 0.17 (no lubrication, 0.02 with lubrication); referring to the tangent function graph of fig. 8, in addition to the friction of the driven member 12 and other influence factors in practical application, the angle α between the inclined plane and the second direction is 71 ° in practice, so as to increase the sliding force of the actuating member 31 for convenient operation.
In one embodiment of the present application, referring to fig. 1 to 6, the adjusting assembly 3 further includes an operating member 32, the operating member 32 is connected to the actuating member 31, and the operating member 32 is moved to drive the actuating member 31 to move in a translational manner. Through setting up operating parts 32 drive and making 31 translation motion, control makes 31 motion more simple and convenient as, and adjusting part 3 easily operates, and the center pin interval precision of adjusting between two rotating assembly is higher, can accurate tensioning degree of adjusting flexible transmission spare 2, effectively guarantees actuating mechanism 100 reliable and stable work, and the practicality is strong.
Alternatively, the movement can be performed by manually operating the operating member 32, simplifying the adjustment structure and reducing the cost. It is also possible to arrange for the power means to drive the operation element 32 into motion, for example a motor, a cylinder, a hydraulic cylinder, etc., which facilitates the realization of an automated control and the real-time and intelligent adjustment of the degree of tensioning of the flexible transmission member 2.
Alternatively, the operating member 32 can drive the actuator 31 in a continuous translational movement in the first direction to continuously vary the spacing between the two rotating assemblies. Through the center pin interval between two rotating assembly of continuous change, can change the tensioning degree of flexible transmission spare 2 in succession, the adjustment precision is higher, guarantees that flexible transmission spare 2 can accurate and accurate tensioning, guarantees actuating mechanism 100 reliable and stable work, adjusts the flexibility height moreover, and the practicality is strong.
In one of the embodiments of the present application, adjustment assembly 3 further comprises a locking structure adapted to lock actuator 31 in any position along the first direction. Through setting up the shift position that locking structure locking acted as 31, can lock the centre-to-centre spacing interval between two rotating assembly, and then the tensioning degree of locking flexible transmission spare 2, prevent rotating assembly reverse motion and lead to flexible transmission spare 2 to relax, guarantee flexible transmission spare 2 reliable and stable tensioning, effectively guarantee actuating mechanism 100 reliable and stable work, actuating mechanism 100 can bear various vibrations in the use, can be applicable to abominable operational environment, reinforcing service function, application scope is wider, therefore, the clothes hanger is strong in practicability.
Alternatively, the operating member 32 rotates to drive the actuator 31 in a translational movement. Through the translation motion that converts operating part 32's rotation into as the operating part 31, adjust easy operation convenience, can increase the scope and adjust, can further reduce the required installation of adjusting part 3 moreover and maintain the space, the structure is compacter, further strengthens the suitability to the minimum application scene in compact structure, usable space, and the practicality is strong.
In one embodiment, the operating member 32 comprises a stud 321, the stud 321 being parallel to the first direction, the actuator 31 being screwed onto the stud 321, the stud 321 being able to rotate about its axis to drive the actuator 31 in a continuous translational movement along the stud 321. Make 31 translational motion of moving through the screw thread drive and be difficult for rocking steadily, the double-screw bolt 321 can also play direction limiting displacement to the translational motion who makes 31, and the screw thread has the auto-lock characteristic, the screw thread formation locking structure of double-screw bolt 321, can will make 31 locking in the optional position of double-screw bolt 321 of moving, can effectively guarantee that the center pin interval between two rotating assembly can bear various vibrations in actuating mechanism 100 use, the tensioning degree of flexible transmission spare 2 can be not influenced basically, guarantee actuating mechanism 100 reliable and stable work, the cooperation simple structure of screw thread and slider realizes easily simultaneously, the manufacturing cost is low, do benefit to mass production, therefore, the clothes hanger is strong in practicability.
In one particular embodiment, the stud 321 is parallel to the axis of rotation when the first direction is perpendicular to the second direction.
In an embodiment not shown, the operating member 32 and the actuating member 31 may also adopt other transmission modes of converting rotation into linear motion, such as rack and pinion, worm and gear, cam and shaft, etc. The lock structure may be provided independently of the operation member 32, and may lock the position of the actuator 31.
In one embodiment of the present application, the driving mechanism 100 further comprises a mounting member 4, two rotating assemblies are mounted on the mounting member 4, at least one of the two rotating assemblies is capable of sliding relative to the mounting member 4 along a second direction, and the actuating member 31 is disposed between the two rotating assemblies along the second direction. By providing the mounting 4, it is convenient to define the relative position of the two rotating assemblies, thus determining the degree of tensioning of the flexible transmission 2; actuating member 31 is located between two rotation axis along the second direction, is convenient for directly adjust the center pin interval between two rotating assembly, and simple structure is compact, and the operation of being convenient for, the practicality is strong.
Optionally, the mounting member 4 is provided with two guiding and limiting portions 41 extending along the second direction, and the two guiding and limiting portions 41 are arranged at intervals and adapted to respectively limit positions of two opposite sides of the rotating assembly parallel to the second direction, so as to guide and limit the translational movement of the rotating assembly. Through setting up the spacing portion 41 of direction, it is spacing to lead to the translation motion of runner assembly, effectively guarantees the motion of runner assembly steady, is difficult for rocking and skew direction of motion, improves the precision to the center pin interval between two runner assemblies and adjusts, guarantees that flexible transmission spare 2 can accurate and accurate tensioning, guarantees actuating mechanism 100 reliable and stable work, and the practicality is strong.
In one embodiment, the input assembly 1a further includes a first housing 13a, the driving rotating member 11a is rotatably disposed in the first housing 13a, the mounting member 4 is provided with a mounting groove 42 at the top, and the first housing 13a is slidably mounted in the mounting groove 42; and the width of mounting groove 42 and the width looks adaptation of first casing 13a, the relative two long sides of first casing 13a can with the inboard side butt of the relative two long sides of mounting groove 42 to it is spacing to lead the slip of first casing 13 along mounting groove 42, should lead spacing portion 41 of two long inboard sides formation relatively, thereby install input component 1a slidable in installed part 4 top. The output assembly 1b further comprises a second housing 13b, the driven rotating member 11b is rotatably disposed in the second housing 13b, and the output assembly 1b is fixedly mounted on the top of the mounting member 4 through the second housing 13 b. The driven member 12 is fixedly disposed on a side of the first housing 13a facing the output assembly 1b, the adjusting assembly 3 further includes a fixing seat 33, the fixing seat 33 is fixedly mounted on a top of the mounting member 4 and is located on a side of the first housing 13a facing the output assembly 1b, the stud 321 is connected to the fixing seat 33 perpendicular to a top plane of the mounting member 4, the slider (i.e., the actuating member 31) is connected to the stud 321 in a threaded manner, and the slider faces the driven member 12; and the side of slider that deviates from follower 12 can support the side towards first casing 13a that leans on fixing base 33, and fixing base 33 can play the guide limiting displacement to the translational motion of slider.
Optionally, the rotating assembly further comprises a limiting connecting portion 14, the limiting connecting portion 14 extends along the second direction, the rotating assembly is connected with the mounting member 4 through the limiting connecting portion 14, and the limiting connecting portion 14 can guide and limit the translational motion of the rotating assembly. Through setting up spacing connecting portion 14, can be spacing in the mounting plane of installed part 4 with two rotating component's relative motion, guarantee rotating component's motion steady, be difficult for rocking, improve the precision to the center pin interval between two rotating component and adjust, guarantee that flexible transmission spare 2 can accurate and accurate tensioning, guarantee actuating mechanism 100 reliable and stable work.
In one embodiment, the position-limiting connection part 14 is a kidney-shaped hole disposed at the bottom of the first housing 13a, and a fastener passes through the kidney-shaped hole to connect with the top of the mounting part 4, so as to mount the input assembly 1a on the top of the mounting part 4; when the fastener is not tightened, the first housing 13a can move in a translational sliding motion in the top plane of the mounting member 4 and bring the input assembly 1a into a translational motion as a whole. For example, the fastener may be a screw; the operating member 32 may be an adjusting bolt.
In the present embodiment, the specific adjusting process of the adjusting assembly 3 is as follows: the adjusting bolt is rotated, the adjusting bolt moves downwards to press the sliding block, the sliding block generates relative sliding friction force with the inclined surface of the driven piece 12, the first shell 13a is limited by the non-screwed screw at the top mounting groove 42 and the waist-shaped hole of the mounting piece 4, the first shell 13a can only move in the plane of the mounting groove 42, namely the center distance direction of the driving rotating piece 11a and the driven rotating piece 11b, and therefore the tensioning degree of the flexible transmission piece 2 is adjusted through the adjusting bolt.
Optionally, the driving mechanism 100 further comprises a driving device 5, the driving device 5 has a driving shaft, and the driving shaft is in transmission connection with the driving rotating member 11 a; the driving device 5 may be any power device capable of providing rotary power, such as an electric motor, a pneumatic motor, a hydraulic driving motor, etc., and the driving shaft of the driving device 5 rotates to drive the driving rotation member 11a to rotate, thereby inputting the rotary power to the input assembly 1 a.
In a particular embodiment, the drive means 5 is mounted on top of the first housing 13 a.
Referring to fig. 9, an embodiment of the present invention further provides a chassis, which includes a chassis frame 200, a traveling wheel mechanism 300 disposed below the chassis frame 200, and a driving mechanism 100 provided by any of the above embodiments, wherein the driving mechanism 100 is mounted on the chassis frame 200, and the output assembly 1b is in transmission connection with the traveling wheel mechanism 300, and the driving mechanism 100 is adapted to drive the traveling wheel mechanism 300 to rotate. Through adopting the actuating mechanism 100 that above-mentioned embodiment provided, simplify and adjust the structure, reduce cost for adjustment assembly 3 can resist the vibration and the impact force of chassis motion in-process, and make things convenient for subsequent chassis's maintenance work very much through the switching-over of acting as 31, and the practicality is strong.
In a specific embodiment, the chassis is a four-wheel four-steering robot chassis, the driving mechanism 100 is used for steering the traveling wheel mechanism 300, the adjusting assembly 3 adjusts the tensioning degree of the synchronous belt through bolts and sliding blocks, the synchronous belt is ensured to be in a tensioning state, the structure is simple and compact, and subsequent maintenance of the robot chassis is greatly facilitated. Because the complete machine structure of the robot is often very compact, no matter on the chassis of the robot, electronic parts, structural parts, wires and the like are very many, and the available space is extremely small, the chassis provided by the embodiment of the application is suitable for the use environment with compact structure and extremely small available space on the robot.
The embodiment of the application also provides a robot, and the robot comprises the chassis provided by any one of the embodiments. The robot may also include a driving mechanism 100 provided by any of the above embodiments, and the driving mechanism 100 may be used to drive some functional modules of the robot to rotate, such as a camera, a manipulator, and the like.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (11)
1. A drive mechanism, comprising:
the two rotating assemblies are respectively provided with a rotating axis, and the rotating axes of the two rotating assemblies are parallel to each other;
a flexible drive member extending between the two rotating assemblies to transmit rotational power between the two rotating assemblies; and
the adjusting assembly comprises an actuating piece, the actuating piece can move in a translational mode along a first direction and moves relative to at least one of the two rotating assemblies along an inclined plane so as to push the rotating assemblies to move in a translational mode along a second direction, and therefore the distance between the two rotating assemblies is changed;
the second direction is parallel to a straight line passing through and perpendicular to the two rotation axes, the first direction intersects with the second direction, and the inclined surface and the second direction are arranged at an acute angle.
2. The drive mechanism as recited in claim 1,
the first direction is perpendicular to the second direction.
3. The drive mechanism as recited in claim 1,
the adjusting assembly further comprises an operating part, the operating part is connected with the actuating part, and the operating part is operated to move to drive the actuating part to move in a translation mode.
4. The drive mechanism as recited in claim 3,
the operating part can drive the actuating part to continuously translate along the first direction so as to continuously change the distance between the two rotating assemblies.
5. The drive mechanism as recited in claim 4,
the adjustment assembly further includes a locking structure adapted to lock the actuator in any position along the first direction.
6. The drive mechanism as recited in claim 4,
the operating part rotates to drive the actuating part to move in a translation mode.
7. The drive mechanism as recited in claim 6,
the operating part comprises a stud, the stud is parallel to the first direction, the actuating part is connected to the stud in a threaded mode, and the stud can rotate around the axis of the stud to drive the actuating part to move in a continuous translation mode along the stud.
8. The drive mechanism as recited in claim 1,
the driving mechanism further comprises a mounting part, the two rotating assemblies are mounted on the mounting part, at least one of the two rotating assemblies can slide relative to the mounting part along the second direction, and the actuating element is arranged between the two rotating assemblies along the second direction.
9. The drive mechanism as recited in any one of claims 1 to 8,
the flexible transmission member is a belt.
10. A chassis comprising a chassis frame, a travelling wheel mechanism arranged below the chassis frame, and a driving mechanism according to any one of claims 1 to 9 arranged on the chassis frame, wherein the travelling wheel mechanism is in transmission connection with the driving mechanism, and the driving mechanism is suitable for driving the travelling wheel mechanism to steer.
11. A robot, characterized in that the robot comprises a chassis according to claim 10; and/or the robot comprises a drive mechanism according to any of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110679983.6A CN113531067A (en) | 2021-06-18 | 2021-06-18 | Driving mechanism, chassis and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110679983.6A CN113531067A (en) | 2021-06-18 | 2021-06-18 | Driving mechanism, chassis and robot |
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| CN113531067A true CN113531067A (en) | 2021-10-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110679983.6A Pending CN113531067A (en) | 2021-06-18 | 2021-06-18 | Driving mechanism, chassis and robot |
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Application publication date: 20211022 |
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