CN115847390B - Joint driver with adjustable rigidity of conductive structure - Google Patents
Joint driver with adjustable rigidity of conductive structure Download PDFInfo
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- CN115847390B CN115847390B CN202211650127.9A CN202211650127A CN115847390B CN 115847390 B CN115847390 B CN 115847390B CN 202211650127 A CN202211650127 A CN 202211650127A CN 115847390 B CN115847390 B CN 115847390B
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- 235000014676 Phragmites communis Nutrition 0.000 claims abstract description 27
- 238000007789 sealing Methods 0.000 claims abstract description 15
- 239000003921 oil Substances 0.000 claims description 50
- 239000010687 lubricating oil Substances 0.000 claims description 28
- 230000007246 mechanism Effects 0.000 claims description 14
- 230000000670 limiting effect Effects 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 9
- 230000001105 regulatory effect Effects 0.000 abstract description 2
- 238000005461 lubrication Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The invention discloses a joint driver with adjustable rigidity of a conductive structure, which relates to the technical field of drivers and comprises a device body, an access door and a sealing gasket, wherein a control panel is arranged on the outer wall of one end of the device body, a reed is arranged on the inner side of the device body, one end of the reed is connected with an output shaft, and the outer walls of two sides of the reed are both connected with lifting blocks. According to the invention, the first worm is driven to rotate by utilizing the driving motor to work, the tooth blocks are meshed, so that the first worm drives the first worm wheel to rotate simultaneously, and then the first worm wheel is meshed with the rack, so that the first worm wheel can drive the lifting block to move downwards on the rack, and meanwhile, the lifting block drives the reed to extrude downwards, the rigidity of the reed is enhanced, and the lifting block moves to the lowest part of the reed to enable the rigidity to be strongest, thereby solving the problem of inconvenience in regulating the rigidity.
Description
Technical Field
The invention relates to the technical field of drivers, in particular to a joint driver with adjustable rigidity of a conductive structure.
Background
The joint driver is an important part of the robot limb multi-position movement, the flexible driver with variable rigidity is used as a driving source of the robot to effectively absorb impact, the robot can walk quickly, the working rigidity of many drivers at present is fixed, the robot is hard and stiff to walk, many drivers at present do not have self-lubricating structures, the internal structure is not smooth to use, the condition of clamping is caused, the condition of loud noise is caused, and the use inconvenience is caused by manual lubrication.
Through searching, china patent grant bulletin number 201711215893.1 and bulletin day 2017, 11 and 28 disclose a robot joint driver, wherein a second section of a shell 1 is provided for fixing the whole driver on a designated position of a robot, the structure of the second section is required to be matched with the shape and the structure of an installation position, and the rigidity of the device is fixed without the function of regulating the rigidity.
Disclosure of Invention
The invention aims to provide a joint driver with adjustable rigidity of a conductive structure, which aims to solve the problem that the conventional robot joint driver in the background art does not have rigidity adjustment.
In order to achieve the above purpose, the present invention provides the following technical solutions: the joint driver with the adjustable rigidity of the conduction structure comprises a device body, an access door and a sealing gasket, wherein a control panel is arranged on the outer wall of one end of the device body, a reed is arranged on the inner side of the device body, one end of the reed is connected with an output shaft, the outer walls of two sides of the reed are respectively connected with a lifting block, and lifting mechanisms are arranged at the top ends of the lifting blocks;
An access door is arranged at the other end of the device body, and a dismounting mechanism is arranged in the interior of each of two sides of the access door;
the lubricating oil box is all installed on the top of lifter, the below of lubricating oil box all is provided with self-lubricating structure.
Preferably, the self-lubricating structure comprises a dense oil outlet, the dense oil outlet is arranged below the lubricating oil box, an oil plug is arranged on the inner side of the dense oil outlet, and a sealing gasket is arranged on the outer wall of the oil plug.
By adopting the technical scheme, the sealing effect of the oil outlet is realized through the oil plug and the sealing gasket, so that oil leakage is avoided.
Preferably, a connecting plate is connected above the oil plug, and return springs are arranged on two sides of the bottom end of the connecting plate.
By adopting the technical scheme, the return spring realizes the function of automatic return closure through the elasticity of the return spring.
Preferably, the lifting mechanism comprises a driving motor, a first worm wheel, a rack and a first worm, the driving motor is arranged at the top end of the lifting block, the output end of the driving motor is connected with the first worm through a driving shaft, the first worm wheel is arranged on one side of the first worm, the rack is arranged on the inner wall of the device body on one side of the first worm wheel, a meshing transmission structure is formed between the rack and the first worm wheel, and a meshing transmission structure is formed between the first worm wheel and the first worm.
By adopting the technical scheme, the lifting structure has stable mechanical structure through the meshing structure, so that the lifting structure has good service performance.
Preferably, both sides of the inner wall of the device body are provided with limit grooves, and the outer wall of the lifting block is connected with the limit grooves through limit blocks.
By adopting the technical scheme, the limiting block moves in the limiting groove, so that the effect of supporting and limiting the lifting block is realized.
Preferably, the outer wall above the first worm is provided with a tamper, and the front view of the tamper is L-shaped.
By adopting the technical scheme, the oil plug is extruded upwards through the L-shaped tamper, so that the effect of automatic oil outlet is realized.
Preferably, the dismounting mechanism comprises a threaded rod, locking blocks and locking grooves, wherein the threaded rod is arranged inside two sides of the access door, the locking blocks are arranged on the outer walls of two ends of the threaded rod, and the locking grooves matched with the locking blocks are formed in the inner walls of two ends of the device body.
By adopting the technical scheme, the lock block is separated from and clamped into the lock groove, so that the disassembly and the assembly of the access door are realized.
Preferably, the outer walls at two ends of the threaded rod are provided with external threads, the inner walls of the locking blocks are provided with internal threads matched with the external threads, and the directions of the threads of the outer walls at two ends of the threaded rod are opposite.
By adopting the technical scheme, the locking blocks at the two ends simultaneously move in opposite directions through the opposite directions of the threads on the outer walls at the two ends of the threaded rod.
Preferably, sliding grooves are formed in the two sides of the access door, and the two sides of the locking block are connected with the sliding grooves through sliding blocks.
By adopting the technical scheme, the sliding block moves in the sliding groove simultaneously through the movement of the locking block, so that the limiting effect of the locking block is realized.
Preferably, the second worm wheel is installed to the intermediate position department of threaded rod outer wall, and the second worm is all installed to one side of second worm wheel, the one end of second worm all is connected with the rocking handle, form meshing transmission structure between second worm wheel and the second worm.
By adopting the technical scheme, the second worm wheel is meshed with the second worm, so that the mechanical structure is stable, and the threaded rod can rotate more stably.
Compared with the prior art, the invention has the beneficial effects that:
(1) The invention provides a lubricating oil box, a tamping rod and an oil plug, wherein the lubricating oil box is internally filled with oil, the tamping rod is rotated through a first worm to enable the tamping rod to rotate simultaneously, when the tamping rod rotates to the lower part of the oil plug, the oil plug is upwards extruded, the oil plug drives a sealing gasket and a connecting plate to be upwards simultaneously, a return spring is upwards stretched, lubricating oil in the lubricating oil box downwards flows onto a first worm wheel through a sealed oil outlet, the first worm wheel is lubricated, the first worm and a rack are adhered with the lubricating oil for lubrication through meshing, so that the structure is more smooth to use, the self-lubrication is realized, and the problem that a mechanical structure is not smooth to use is solved;
(2) The invention provides a locking block, a threaded rod and a locking groove, wherein the rocking handles at two sides of rotation are utilized to enable a second worm to rotate, the tooth blocks are meshed, so that a second worm wheel drives the threaded rod to rotate simultaneously, the locking block moves to one side far away from the locking groove simultaneously through threaded fit, the locking block is convenient to take off an access door after being separated from the locking groove, and the interior of a device body is overhauled, so that the problem of inconvenience in overhauling is solved;
(3) The invention provides a first worm wheel, a rack and a first worm, wherein a driving motor is used for working to enable the first worm to rotate, a tooth block is meshed, the first worm drives the first worm wheel to rotate simultaneously, and then the first worm wheel is meshed with the rack, so that the first worm wheel can drive a lifting block to move downwards on the rack, and meanwhile, the lifting block drives a reed to extrude downwards, the rigidity of the reed is enhanced, the lifting block moves to the lowest part of the reed to enable the rigidity to be strongest, and the problem that the rigidity is inconvenient to adjust is solved.
Drawings
FIG. 1 is a schematic cross-sectional view of the apparatus of the present invention;
FIG. 2 is a schematic side sectional view of the device of the present invention;
FIG. 3 is a schematic view of the three-dimensional structure of the device of the present invention;
FIG. 4 is a schematic diagram of a lubricating oil cartridge according to the present invention;
FIG. 5 is a schematic cross-sectional view of an access door of the present invention;
FIG. 6 is an enlarged schematic view of the structure of FIG. 4 according to the present invention;
fig. 7 is an enlarged schematic view of the structure of fig. 5at B according to the present invention.
In the figure: 1. a reed; 2. a lifting block; 3. a lifting mechanism; 301. a driving motor; 302. a first worm wheel; 303. a rack; 304. a first worm; 4. a lubricating oil box; 5. a tamper; 6. a device body; 7. an output shaft; 8. an access door; 9. a control panel; 10. a rocking handle; 11. an oil plug; 12. a dismounting mechanism; 1201. a threaded rod; 1202. a locking piece; 1203. a locking groove; 13. a second worm wheel; 14. a second worm; 15. a connecting plate; 16. a sealing gasket; 17. an oil outlet hole; 18. and a return spring.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1: referring to fig. 1-7, a joint driver with adjustable rigidity of a conductive structure comprises a device body 6, an access door 8 and a sealing gasket 16, wherein a control panel 9 is installed on the outer wall of one end of the device body 6, a reed 1 is installed on the inner side of the device body 6, one end of the reed 1 is connected with an output shaft 7, the outer walls of two sides of the reed 1 are connected with lifting blocks 2, and lifting mechanisms 3 are installed on the top ends of the lifting blocks 2;
The other end of the device body 6 is provided with an access door 8, and the insides of two sides of the access door 8 are provided with a dismounting mechanism 12;
The top ends of the lifting blocks 2 are respectively provided with a lubricating oil box 4, and self-lubricating structures are respectively arranged below the lubricating oil boxes 4;
Referring to fig. 1-7, a joint driver with adjustable rigidity of a conductive structure further comprises a self-lubricating structure, wherein the self-lubricating structure comprises a dense oil outlet 17, the dense oil outlet 17 is arranged below a lubricating oil box 4, an oil plug 11 is arranged at the inner side of the dense oil outlet 17, and a sealing gasket 16 is arranged at the outer wall of the oil plug 11;
a connecting plate 15 is connected above the oil plug 11, and reset springs 18 are arranged on two sides of the bottom end of the connecting plate 15;
the outer walls above the first worm 304 are provided with the tamping rod 5, and the front view of the tamping rod 5 is L-shaped;
Specifically, as shown in fig. 1,4 and 6, when the structure is used, the first worm wheel 302 is lubricated by filling oil into the lubricating oil box 4, and then rotating the first worm 304 to enable the tamper 5 to rotate simultaneously, when the tamper 5 rotates below the oil plug 11, the oil plug 11 is pressed upwards, the oil plug 11 drives the sealing gasket 16 and the connecting plate 15 to simultaneously upwards, the return spring 18 is stretched upwards, then lubricating oil in the lubricating oil box 4 flows downwards onto the first worm wheel 302 through the oil sealing hole 17, the first worm wheel 302 is lubricated, and the first worm 304 and the rack 303 are adhered with lubricating oil for lubrication through meshing, so that the structure is used more smoothly, and self lubrication is realized.
Example 2: the lifting mechanism 3 comprises a driving motor 301, a first worm wheel 302, a rack 303 and a first worm 304, wherein the driving motor 301 is arranged at the top end of the lifting block 2, the output end of the driving motor 301 is connected with the first worm 304 through a driving shaft, the first worm wheel 302 is arranged on one side of the first worm 304, the rack 303 is arranged on the inner wall of the device body 6 on one side of the first worm wheel 302, a meshing transmission structure is formed between the rack 303 and the first worm wheel 302, and a meshing transmission structure is formed between the first worm wheel 302 and the first worm 304;
limiting grooves are formed in two sides of the inner wall of the device body 6, and the outer wall of the lifting block 2 is connected with the limiting grooves through limiting blocks;
Specifically, as shown in fig. 1 and fig. 2, when the structure is used, the driving motor 301 works to rotate the first worm 304, the tooth blocks are meshed, so that the first worm 304 drives the first worm wheel 302 to rotate simultaneously, and then the first worm wheel 302 is meshed with the rack 303, so that the first worm wheel 302 can drive the lifting block 2 to move downwards on the rack 303, meanwhile, the lifting block 2 drives the reed 1 to squeeze downwards, the rigidity of the reed 1 is enhanced, and the lifting block 2 moves to the lowest side of the reed 1, so that the rigidity is strongest, and the rigidity is convenient to adjust.
Example 3: the dismounting mechanism 12 comprises a threaded rod 1201, locking blocks 1202 and locking grooves 1203, the threaded rod 1201 is arranged in the two sides of the access door 8, the locking blocks 1202 are arranged on the outer walls of the two ends of the threaded rod 1201, and the locking grooves 1203 matched with the locking blocks 1202 are arranged on the inner walls of the two ends of the device body 6;
External threads are arranged on the outer walls of the two ends of the threaded rod 1201, internal threads matched with the external threads are arranged on the inner walls of the locking blocks 1202, and the directions of the threads of the outer walls of the two ends of the threaded rod 1201 are opposite;
Sliding grooves are formed in the two sides of the access door 8, and two sides of the locking block 1202 are connected with the sliding grooves through sliding blocks;
A second worm wheel 13 is arranged at the middle position of the outer wall of the threaded rod 1201, a second worm 14 is arranged at one side of the second worm wheel 13, one end of the second worm 14 is connected with a rocking handle 10, and a meshing transmission structure is formed between the second worm wheel 13 and the second worm 14;
Specifically, as shown in fig. 2,3 and 5, when the structure is used, the rocking handles 10 on two sides are rotated to enable the second worm 14 to rotate, the gear blocks are meshed, the second worm wheel 13 drives the threaded rod 1201 to rotate simultaneously, the locking block 1202 is matched with the threads, the locking block 1202 moves towards one side far away from the locking groove 1203 simultaneously, and the locking block 1202 is separated from the locking groove 1203, so that the access door 8 is convenient to take off, and the interior of the device body 6 is overhauled.
Working principle: when the device is used, firstly, one end of the output shaft 7 is connected with an output motor, the output motor drives the reed 1 to rotate, so that the device body 6 rotates, and the power of the output motor is transmitted to a part connected to the device body 6 in a flexible mode through the elastic action of the reed 1;
The first innovation point implements the steps of:
The first step: the first worm 304 is rotated through the operation of the driving motor 301, the gear blocks are meshed, the first worm 304 drives the first worm wheel 302 to rotate simultaneously, and then the first worm wheel 302 is meshed with the rack 303, so that the first worm wheel 302 can drive the lifting block 2 to move downwards on the rack 303;
And a second step of: meanwhile, the lifting block 2 drives the reed 1 to downwards squeeze, so that the rigidity of the reed 1 is enhanced, and the lifting block 2 moves to the lowest part of the reed 1 to make the rigidity strongest, so that the rigidity is convenient to adjust.
The second innovation point implementation step:
The first step: the oil is filled into the lubricating oil box 4, the first worm 304 rotates to enable the tamping rod 5 to rotate simultaneously, when the tamping rod 5 rotates to the lower side of the oil plug 11, the oil plug 11 is pressed upwards, the oil plug 11 drives the sealing gasket 16 and the connecting plate 15 to simultaneously upwards, the return spring 18 is stretched upwards, lubricating oil in the lubricating oil box 4 flows downwards to the first worm wheel 302 through the oil sealing hole 17 to lubricate the first worm wheel 302, and the first worm 304 and the rack 303 are adhered with the lubricating oil to lubricate through meshing, so that the structure is smoother to use;
And a second step of: when the tamper 5 leaves the oil plug 11, the return spring 18 returns to enable the oil plug 11 to be clamped into the sealed oil outlet 17, and the sealing gasket 16 seals the sealed oil outlet 17, so that the timing and quantitative lubrication effect is realized.
The third innovation point implementation step:
The first step: the second worm 14 is rotated by rotating the rocking handles 10 on two sides, the tooth blocks are meshed, and the second worm wheel 13 drives the threaded rod 1201 to rotate simultaneously;
And a second step of: the threaded rod 1201 is in threaded engagement with the locking piece 1202, so that the locking piece 1202 moves to a side far away from the locking groove 1203 at the same time, and the locking piece 1202 is separated from the locking groove 1203, so that the access door 8 is convenient to take down, and the inside of the device body 6 is overhauled.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (3)
1. The utility model provides a joint driver of conduction structure rigidity adjustable, includes device body (6), access door (8) and sealed pad (16), its characterized in that: the device comprises a device body (6), wherein a control panel (9) is arranged on the outer wall of one end of the device body (6), a reed (1) is arranged on the inner side of the device body (6), one end of the reed (1) is connected with an output shaft (7), lifting blocks (2) are connected on the outer walls of two sides of the reed (1), and lifting mechanisms (3) are arranged on the top ends of the lifting blocks (2);
An access door (8) is arranged at the other end of the device body (6), and a dismounting mechanism (12) is arranged in the interior of each of two sides of the access door (8);
The top ends of the lifting blocks (2) are respectively provided with a lubricating oil box (4), and self-lubricating structures are respectively arranged below the lubricating oil boxes (4);
the self-lubricating structure comprises a dense oil outlet (17), the dense oil outlet (17) is arranged below the lubricating oil box (4), an oil plug (11) is arranged at the inner side of the dense oil outlet (17), and a sealing gasket (16) is arranged on the outer wall of the oil plug (11);
a connecting plate (15) is connected above the oil plug (11), and reset springs (18) are arranged on two sides of the bottom end of the connecting plate (15);
The lifting mechanism (3) comprises a driving motor (301), a first worm wheel (302), a rack (303) and a first worm (304), wherein the driving motor (301) is installed at the top end of the lifting block (2), the output end of the driving motor (301) is connected with the first worm (304) through a driving shaft, the first worm wheel (302) is installed on one side of the first worm (304), the rack (303) is installed on the inner wall of the device body (6) on one side of the first worm wheel (302), a meshing transmission structure is formed between the rack (303) and the first worm wheel (302), and a meshing transmission structure is formed between the first worm wheel (302) and the first worm (304);
limiting grooves are formed in two sides of the inner wall of the device body (6), and the outer wall of the lifting block (2) is connected with the limiting grooves through limiting blocks;
the outer walls above the first worm (304) are provided with tamping rods (5), and the front view of the tamping rods (5) is L-shaped;
The dismounting mechanism (12) comprises a threaded rod (1201), locking blocks (1202) and locking grooves (1203), the threaded rod (1201) is arranged in the two sides of the access door (8), the locking blocks (1202) are arranged on the outer walls of the two ends of the threaded rod (1201), and the locking grooves (1203) matched with the locking blocks (1202) are formed in the inner walls of the two ends of the device body (6);
A second worm wheel (13) is arranged at the middle position of the outer wall of the threaded rod (1201), a second worm (14) is arranged at one side of the second worm wheel (13), one end of the second worm (14) is connected with a rocking handle (10), and a meshing transmission structure is formed between the second worm wheel (13) and the second worm (14);
Through to the built-in oil feeding of lubricating oil box (4), rethread first worm (304) rotate and make ram (5) rotate simultaneously, rotate to the below of oil plug (11) when ram (5), upwards extrude oil plug (11), oil plug (11) drive sealed pad (16) and connecting plate (15) upwards simultaneously, and reset spring (18) are upwards stretched, then lubricating oil in lubricating oil box (4) is through tight oil outlet (17) down flow to first worm wheel (302), lubricate first worm wheel (302), make first worm (304) and rack (303) be stained with lubricating oil through the meshing and lubricate.
2. A joint driver with adjustable stiffness of a conductive structure according to claim 1, wherein: the outer walls at two ends of the threaded rod (1201) are respectively provided with external threads, the inner walls of the locking blocks (1202) are respectively provided with internal threads matched with the external threads, and the directions of the threads of the outer walls at two ends of the threaded rod (1201) are opposite.
3. A joint driver with adjustable stiffness of a conductive structure according to claim 1, wherein: the inside of access door (8) both sides all is provided with the spout, the both sides of locking piece (1202) are all connected with the spout through the slider.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211650127.9A CN115847390B (en) | 2022-12-21 | 2022-12-21 | Joint driver with adjustable rigidity of conductive structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211650127.9A CN115847390B (en) | 2022-12-21 | 2022-12-21 | Joint driver with adjustable rigidity of conductive structure |
Publications (2)
| Publication Number | Publication Date |
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| CN115847390A CN115847390A (en) | 2023-03-28 |
| CN115847390B true CN115847390B (en) | 2024-06-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202211650127.9A Active CN115847390B (en) | 2022-12-21 | 2022-12-21 | Joint driver with adjustable rigidity of conductive structure |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105108771A (en) * | 2015-07-23 | 2015-12-02 | 东北大学 | Variable-stiffness robot joint structure |
| CN114131646A (en) * | 2021-12-06 | 2022-03-04 | 之江实验室 | Variable rigidity mechanism and flexible joint based on axial force |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012013184A (en) * | 2010-07-02 | 2012-01-19 | Toyota Motor Corp | Driving device |
| KR101684761B1 (en) * | 2015-01-05 | 2016-12-08 | 고려대학교 산학협력단 | Variable stiffness robotic joint system |
| CN212943645U (en) * | 2020-08-05 | 2021-04-13 | 东方工建集团有限公司 | Flush coater transmission with self-lubricating structure |
-
2022
- 2022-12-21 CN CN202211650127.9A patent/CN115847390B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105108771A (en) * | 2015-07-23 | 2015-12-02 | 东北大学 | Variable-stiffness robot joint structure |
| CN114131646A (en) * | 2021-12-06 | 2022-03-04 | 之江实验室 | Variable rigidity mechanism and flexible joint based on axial force |
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| Publication number | Publication date |
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| CN115847390A (en) | 2023-03-28 |
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