CN206263989U - A kind of luffing mechanism - Google Patents
A kind of luffing mechanism Download PDFInfo
- Publication number
- CN206263989U CN206263989U CN201621372460.8U CN201621372460U CN206263989U CN 206263989 U CN206263989 U CN 206263989U CN 201621372460 U CN201621372460 U CN 201621372460U CN 206263989 U CN206263989 U CN 206263989U
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- China
- Prior art keywords
- roller
- speed reducer
- harmonic speed
- fixing axle
- timing belt
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Abstract
The utility model provides a kind of luffing mechanism, including motor, harmonic speed reducer, roller, fixing axle, structural member arm；The motor is connected with harmonic speed reducer, and the output shaft of the harmonic speed reducer is connected by Timing Belt with the roller, and the Timing Belt is looped around on harmonic speed reducer output shaft and roller；The roller is connected with structural member arm；The roller is socketed in fixing axle, and can be rotated around fixing axle.The utility model coordinates Timing Belt driving structure part arm pitching by the harmonic speed reducer with motor connection, carries out angle rotation and fast braking, compact conformation, small volume, it is easy for installation, high precision, rapid starting/stopping, without overshoot, crusing robot system is conveniently applied to.
Description
Technical field
The utility model belongs to Robot Design field, is related to a kind of luffing mechanism.
Background technology
With developing rapidly for science and technology, robot technology is combined with electric power application, carries each by robot platform
Kind sensor replacement manually carries out equipment routing inspection and is possibly realized.As one of crusing robot important component, it is seen that light pitching machine
There is high requirement to installing the factors such as ground convenience, structurally compactedness and volume in structure, while, it is seen that the carrying of optical sensor
Body, in order to ensure the accuracy of testing result, it is desirable to accurately controlled visible light sensor luffing angle.And it is existing
There is pitching low precision in visible ray luffing mechanism, install inconvenient mostly.
CN200810157828.2 provides a kind of embedded cradle head, and the head includes that horizontal rotary mechanism and pitching rotate
Mechanism, pitching rotating mechanism includes pitching frame, and pitching frame is connected with elevating gear, and elevating gear includes pitching electricity
Machine, the output shaft of pitching motor is fixedly connected with pitching worm screw, and pitching worm screw engages with pitching turbine, and pitching turbine is coaxially fixed
There is pitching driving wheel, pitching driving wheel and pitching driven pulley are engaged, and pitching frame is fixedly connected on pitching driven shaft.The pitching rotates
Mechanism realizes the pitching of pitching frame by motor, turbine and worm mechanism, and structure is complex, and operation noise is big, and cannot be quick
Start and stop, it is impossible to be applied to visible ray pitch control.
The content of the invention
To solve the problems, such as prior art, the utility model provides a kind of luffing mechanism, compact conformation, volume compared with
It is small and easy for installation, coordinate Timing Belt to drive pitching by harmonic speed reducer, carry out angle rotation and fast braking.
The luffing mechanism that the utility model is provided, including motor, harmonic speed reducer, roller, fixing axle, structural member arm；
The motor is connected with harmonic speed reducer, and the output shaft of the harmonic speed reducer is connected by Timing Belt with the roller, and this is same
Step band is looped around on harmonic speed reducer output shaft and roller；The roller is connected with structural member arm；The roller is socketed in solid
On dead axle, and can be rotated around fixing axle.Visible Light Camera is installed on the structural member arm.When actually used, fixing axle
As be arranged in robot, motor imparts power to harmonic speed reducer, and drives roller to be rotated around fixing axle using Timing Belt,
Structural member arm is rotated in the lump with roller, realizes pitch control, and harmonic speed reducer coordinates Timing Belt driving structure part arm, visible
Light camera pitching, carries out angle rotation and fast braking.
In order to realize mechanism structure ground compactedness, install ground convenience etc., rolled using crossed roller bearing connection Timing Belt
Wheel and fixing axle, while this structure greatly reduces shaking volume,
In order to realize the precise control to angle, the utility model also includes encoder, and the motor is connected with encoder,
Rotating speed of encoder controlled motor output etc..
Rotating speed that the utility model is exported using encoder controlled motor etc., and by the harmonic speed reducer with motor connection
Coordinate Timing Belt driving structure part arm pitching, carry out angle rotation and fast braking；The utility model uses crossed roller axle
Connection Timing Belt roller and fixing axle are held, the convenience realized the compactedness of structure and install.The utility model makes visible ray bow
Facing upward mechanism can be accurately controlled to angle, and crusing robot testing result is more accurate.The utility model compact conformation, body
Smaller, easy for installation, the high precision of product, rapid starting/stopping, without overshoot, is conveniently applied to crusing robot system.
Brief description of the drawings
Fig. 1 is the utility model structural scheme of mechanism；
Fig. 2 is the utility model structure sectional view.
In figure：1st, encoder, 2, motor, 3, harmonic speed reducer, 4, Timing Belt, 5, structural member arm, 6, fixing axle, 7, rolling
Wheel, 8, crossed roller bearing.
Specific embodiment
As shown in Figure 1, 2, the utility model include encoder 1, direct current generator 2, miniature harmonic speed reducer 3, Timing Belt 4,
Structural member arm 5, fixing axle 6, roller 7 and crossed roller bearing 8.Encoder 1 is connected with direct current generator 2, direct current generator 2 with it is humorous
Ripple decelerator 3 is connected, and Timing Belt 4 is looped around on harmonic speed reducer output shaft and roller 7, roller 7 by crossed roller bearing 8 with
Fixing axle 6 is connected, and roller 7 is rotatable, and roller 7 is also directly connected with structural member arm 5, and being also equipped with structural member arm 5 can
See light camera.During the utility model application, it is connected with miscellaneous part using fixing axle 6, fixing axle 6 is such as arranged on robot
On.
When needing to carry out Visible Light Camera pitching operation, control dc motor 2 to export by encoder 1 first and turn
Speed, then dc motor 2 drive miniature harmonic speed reducer 3, miniature harmonic speed reducer 3 drives 7 turns of roller by Timing Belt 4
It is dynamic, because roller 7 is connected by crossed roller bearing 8 with fixing axle 6, shaking volume is greatly reduced, make structure compacter, together
When roller 7 be joined directly together with the structural member arm 5 that carry Visible Light Camera, by roller 7 drive carry Visible Light Camera
Structural member arm 5 carry out pitching, realize precise control and fast braking to the rotation of Visible Light Camera luffing angle, quickly open
Stop process without overshoot.
Claims (4)
1. a kind of luffing mechanism, including motor, it is characterised in that：Also include harmonic speed reducer, roller, fixing axle, structural member hand
Arm；The motor is connected with harmonic speed reducer, and the output shaft of the harmonic speed reducer is connected by Timing Belt with the roller, should
Timing Belt is looped around on harmonic speed reducer output shaft and roller；The roller is connected with structural member arm；The roller is socketed in
In fixing axle, and can be rotated around fixing axle.
2. luffing mechanism as claimed in claim 1, it is characterised in that：The roller passes through crossed roller bearing and the fixation
Axle is connected.
3. luffing mechanism as claimed in claim 1 or 2, it is characterised in that：Also include encoder, the motor connects with encoder
Connect.
4. luffing mechanism as claimed in claim 1 or 2, it is characterised in that：Visible ray phase is installed on the structural member arm
Machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621372460.8U CN206263989U (en) | 2016-12-14 | 2016-12-14 | A kind of luffing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621372460.8U CN206263989U (en) | 2016-12-14 | 2016-12-14 | A kind of luffing mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206263989U true CN206263989U (en) | 2017-06-20 |
Family
ID=59045495
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621372460.8U Active CN206263989U (en) | 2016-12-14 | 2016-12-14 | A kind of luffing mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206263989U (en) |
-
2016
- 2016-12-14 CN CN201621372460.8U patent/CN206263989U/en active Active
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| GR01 | Patent grant | ||
| GR01 | Patent grant |