CN208005679U - Transmission mechanism and robot - Google Patents
Transmission mechanism and robot Download PDFInfo
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- CN208005679U CN208005679U CN201820269768.2U CN201820269768U CN208005679U CN 208005679 U CN208005679 U CN 208005679U CN 201820269768 U CN201820269768 U CN 201820269768U CN 208005679 U CN208005679 U CN 208005679U
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- 230000007246 mechanism Effects 0.000 title claims abstract description 48
- 230000005540 biological transmission Effects 0.000 title claims abstract description 47
- 230000033001 locomotion Effects 0.000 claims abstract description 10
- 238000009434 installation Methods 0.000 claims description 15
- 230000000712 assembly Effects 0.000 claims description 13
- 238000000429 assembly Methods 0.000 claims description 13
- 230000001360 synchronised effect Effects 0.000 claims description 8
- 210000003734 kidney Anatomy 0.000 claims description 6
- 230000003139 buffering effect Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 5
- 238000010276 construction Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 239000000872 buffer Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
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Abstract
The utility model provides a drive mechanism and robot. The transmission mechanism includes: the support comprises a bottom plate and a bracket vertically arranged on the bottom plate; the rotary mounting rack is arranged at the top of the bracket; the first driving device is arranged on the rotary mounting frame and comprises an output shaft and a first driving assembly for driving the output shaft to rotate; the second driving device is installed at the bottom of the support and comprises a belt wheel assembly and a second driving assembly, the belt wheel assembly is connected between the rotary mounting frame and the second driving assembly, and the second driving assembly drives the belt wheel assembly to move so as to drive the rotary mounting frame to rotate. The utility model discloses in through the transmission of band pulley subassembly, realized as this drive mechanism's swing input the utility model provides a drive mechanism's remote transmission, motion are steady, can realize that the buffering shakes, and compact structure.
Description
Technical field
The utility model is related to field of artificial intelligence, in particular to a kind of transmission mechanism and robot.
Background technology
Currently, the rotary joint and swinging joint in transmission mechanism are typically used in series in together, independently of each other, it is operated alone,
Complete the rotational oscillating motion of end output device.But traditional rotary swing mechanism is relatively simple for structure not compact enough, by this
The limitation of body structure, space are relatively small.
Utility model content
The main purpose of the utility model is to provide a kind of transmission mechanism and robots, to solve biography in the prior art
The problem that the structure of motivation structure is not compact enough, space is small.
To achieve the goals above, one side according to the present utility model provides a kind of transmission mechanism, including：Branch
Seat, bearing include bottom plate and the holder that is vertically installed on bottom plate；Rotating mounting rack, rotating mounting rack are mounted on the top of holder
Portion；First driving means, first driving means are mounted on rotating mounting rack, and first driving means include output shaft and for driving
First drive component of dynamic output shaft rotation；Second driving device, the second driving device are mounted on the bottom of holder, the second driving
Device includes pulley assemblies and the second drive component, and pulley assemblies are connected between rotating mounting rack and the second drive component, the
Two drive component driving pulley component movements are to drive rotating mounting rack to rotate.
Further, holder includes two pieces of mounting plates, and two pieces of mounting plates are arranged at intervals on bottom plate, rotating mounting rack installation
Between two pieces of mounting plates.
Further, first axle bearing sleeve and first bearing, the first side of rotating mounting rack are provided on first piece of mounting plate
It is mounted on first piece of mounting plate by first axle bearing sleeve and first bearing.
Further, the second side of rotating mounting rack is provided with connecting flange, input shaft, second bearing set and the second axis
It holds, connecting flange is fixedly mounted on rotating mounting rack, and input shaft is covered by second bearing and second bearing is threaded through second
On block mounting plate, input shaft passes through key connection with connecting flange.
Further, the second drive component includes shaft, and pulley assemblies include：First pulley, first pulley fixation are arranged
On input shaft；Second belt wheel, the second belt wheel are removably mounted in shaft；Synchronous belt, synchronous belt are set in first pulley
On the second belt wheel.
Further, shaft passes through second piece of mounting plate, and it is remote that first pulley and the second belt wheel are respectively positioned on second piece of mounting plate
Side from first piece of mounting plate.
Further, kidney slot is provided on second piece of mounting plate, shaft is mounted in kidney slot, and transmission mechanism further includes
Adjustable plate, adjustable plate are fixed on by fastener on second piece of mounting plate.
Further, installation cavity is provided on rotating mounting rack, the first drive component includes the first driving motor and installation
The first retarder on the first driving motor, the first driving motor and the first retarder are installed in installation cavity.
Further, the second drive component includes the second driving motor and the second deceleration on the second driving motor
Device.
Another aspect according to the present utility model, provides a kind of robot, including transmission mechanism, and transmission mechanism is above-mentioned
Transmission mechanism.
Using the technical solution of the utility model, according to above-mentioned structure it is recognised that the driver in the utility model
The rotation of the output shaft of structure is controlled by the first drive component, and first driving means are mounted on rotating mounting rack
, at the same time, by the effect of the pulley assemblies and the second drive component of the second driving device, convenient for driving rotating mounting rack
Rotation.As it can be seen that being driven by pulley assemblies in the utility model, the swing as the transmission mechanism inputs, and realizes this practicality
The long-distance transmission of transmission mechanism in novel, stable movement can realize buffering absorbing, and compact-sized.In addition, this practicality
It is novel to keep mechanism rotation and swing two-freedom mutual indepedent by the way of output end integral installation, convenient for controlling.
Description of the drawings
The accompanying drawings which form a part of this application are used to provide a further understanding of the present invention, this practicality
Novel illustrative embodiments and their description are not constituted improper limits to the present invention for explaining the utility model.
In the accompanying drawings：
Fig. 1 diagrammatically illustrates the stereogram of the transmission mechanism of the utility model；And
Fig. 2 diagrammatically illustrates the sectional view of the rotating mechanism of the utility model.
Wherein, above-mentioned attached drawing includes the following drawings label：
10, bearing；11, holder；12, mounting plate；121, kidney slot；13, bottom plate；20, rotating mounting rack；21, installation cavity；
30, first driving means；31, the first drive component；311, the first driving motor；312, the first retarder；32, output shaft；40,
Second driving device；41, the second drive component；411, shaft；412, the second driving motor；413, the second retarder；42, belt wheel
Component；421, first pulley；422, the second belt wheel；423, synchronous belt；50, first axle bearing sleeve；60, first bearing；70, connection method
It is blue；80, input shaft；90, adjustable plate；100, second bearing set；110, second bearing.
Specific implementation mode
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The utility model will be described in detail below with reference to the accompanying drawings and embodiments.
It should be noted that term used herein above is merely to describe specific implementation mode, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or combination thereof.
It should be noted that term " first " in the description and claims of this application and above-mentioned attached drawing, "
Two " etc. be for distinguishing similar object, without being used to describe specific sequence or precedence.It should be appreciated that using in this way
Data can be interchanged in the appropriate case, so that presently filed embodiment described herein for example can be in addition to herein
Sequence other than those of diagram or description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that
Be to cover it is non-exclusive include, for example, containing the process of series of steps or unit, method, system, product or equipment not
Those of be necessarily limited to clearly to list step or unit, but may include not listing clearly or for these processes, side
The intrinsic other steps of method, product or equipment or unit.
For ease of description, herein can with use space relative terms, as " ... on ", " in ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be understood that spatially relative term is intended to comprising the orientation in addition to device described in figure
Except different direction in use or operation.For example, if the device in attached drawing is squeezed, it is described as " in other devices
It will be positioned as " under other devices or construction after part or construction top " or the device of " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " may include " ... top " and
" in ... lower section " two kinds of orientation.The device can also other different modes positioning (be rotated by 90 ° or be in other orientation), and
And respective explanations are made to the opposite description in space used herein above.
Shown in referring to Fig. 1 and Fig. 2, embodiment according to the present utility model provides a kind of transmission mechanism, the transmission mechanism
Including bearing 10, rotating mounting rack 20, first driving means 30 and the second driving device 40.
Wherein, bearing 10 includes bottom plate 13 and vertically-mounted holder 11 on base 13；Rotating mounting rack 20 is mounted on
The top of holder 11；First driving means 30 are mounted on rotating mounting rack 20, and first driving means 30 include 32 He of output shaft
The first drive component 31 for driving output shaft 32 to rotate；Second driving device 40 is mounted on the bottom of holder 11, and second drives
Dynamic device 40 includes pulley assemblies 42 and the second drive component 41, and pulley assemblies 42 are connected to the driving of rotating mounting rack 20 and second
Between component 41, the movement of 41 driving pulley component 42 of the second drive component is to drive rotating mounting rack 20 to rotate.
According to above-mentioned structure it is recognised that the rotation of the output shaft 32 of the transmission mechanism in the present embodiment is driven by first
Dynamic component 31 is controlled, and first driving means 30 are mounted on rotating mounting rack 20, at the same time, are driven by second
The effect of the pulley assemblies 42 and the second drive component 41 of dynamic device 40 rotates convenient for driving rotating mounting rack 20.As it can be seen that this reality
It applies in example and is driven by pulley assemblies 42, the swing as the transmission mechanism inputs, and realizes the transmission mechanism in the present embodiment
Long-distance transmission, stable movement, can realize buffering absorbing, and compact-sized.In addition, the present embodiment is whole using output end
The mode of installation keeps mechanism rotation and swing two-freedom mutual indepedent, convenient for control.
Shown in referring to Fig. 1 and Fig. 2, the holder 11 in the present embodiment includes two pieces of mounting plates 12, and two pieces of mounting plates 12 are spaced
On base 13, rotating mounting rack 20 is mounted between two pieces of mounting plates 12, convenient for being installed to rotating mounting rack 20 for setting.
It is provided with first axle bearing sleeve 50 and first bearing 60, rotating mounting rack on first piece of mounting plate 12 in the present embodiment
20 the first side is mounted on by first axle bearing sleeve 50 and first bearing 60 on first piece of mounting plate 12.
The second side of rotating mounting rack 20 is provided with connecting flange 70, input shaft 80, second bearing set 100 and the second axis
110 are held, connecting flange 70 is fixedly mounted on rotating mounting rack 20, and input shaft 80 passes through second bearing set 100 and second bearing
110 are threaded through on second piece of mounting plate 12, and for input shaft 80 with connecting flange 70 by key connection, stable structure is reliable.
The second drive component 41 in the present embodiment includes shaft 411, and pulley assemblies 42 include first pulley 421, second
Belt wheel 422 and synchronous belt 423.Wherein, first pulley 421 is removably mounted on input shaft 80；Second belt wheel 422 is fixed
It is set in shaft 411；Synchronous belt 423 is set in first pulley 421 and the second belt wheel 422.When connection, in the present embodiment
First pulley 421 is fixed on by key connection on input shaft 80, and the second belt wheel 422 is fixed on by key connection in shaft 411.
Shaft 411 in the present embodiment passes through second piece of mounting plate 12, when installation, first pulley 421 and the second belt wheel 422
It is respectively positioned on the second piece of side of mounting plate 12 far from first piece of mounting plate 12 so that the structure of entire transmission mechanism is compacter,
And easily facilitate installation.
Kidney slot 121 is provided on second piece of mounting plate 12 in the present embodiment, shaft 411 is mounted in kidney slot 121,
Transmission mechanism further includes adjustable plate 90, which is fixed on by fastener on second piece of mounting plate 12, convenient for synchronization
It is adjusted with 423 pretightning force.Preferably, the fastener in the present embodiment is the structures such as screw, as long as new in this practicality
Other modes of texturing under the design of type, both are within the protection scope of the present invention.
It recombines shown in Fig. 1 and Fig. 2, installation cavity 21 is provided on rotating mounting rack 20, the first drive component 31 includes
First driving motor 311 and the first retarder 312 on the first driving motor 311, the first driving motor 311 and first
Retarder 312 is installed in installation cavity 21.
Second drive component 41 includes the second driving motor 412 and the second deceleration on the second driving motor 412
Device 413.
According to Fig. 1 and Fig. 2, the utility model provides a kind of transmission mechanism that independently can be rotated and swing.Pass through branch
Seat 10 fixes two movable joints, and output shaft 32 is integrally attached on rotating mounting rack 20, both sides respectively by first axle bearing sleeve 50,
First bearing 60, second bearing set 100, second bearing 110 are attached with the holder 11 on bearing 10, using synchronous belt 423
The mode of transmission realizes 32 Integral swinging of output shaft.Meanwhile the mode of the driving motor acceleration and deceleration machine in the present embodiment is directly driven
Dynamic output shaft 32, realizes the rotary motion of the mechanism, can not only ensure that swinging joint input shaft 80 can be with long-distance transmission, but also can
To ensure that rotating mounting rack 20 and output shaft 32 are mutual indepedent, convenient for control, stable movement is compact-sized, is easily installed repair.
Another aspect according to the present utility model, provides a kind of robot, including transmission mechanism, and transmission mechanism is above-mentioned
Transmission mechanism.
It can be seen from the above description that the above embodiments of the present invention achieve the following technical effects：
By toothed belt transmission, the swing as the transmission mechanism inputs the utility model, realizes the rotary oscillation machine
Structure transmission distance is remote, stable movement, buffers absorbing；By the way of output end integral installation, the mechanism is made to rotate and swing two
Degree of freedom is mutual indepedent, convenient for control.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (10)
1. a kind of transmission mechanism, which is characterized in that including：
Bearing (10), the bearing (10) include bottom plate (13) and the holder (11) being vertically installed on the bottom plate (13)；
Rotating mounting rack (20), the rotating mounting rack (20) are mounted on the top of the holder (11)；
First driving means (30), the first driving means (30) are mounted on the rotating mounting rack (20), and described first
Driving device (30) includes output shaft (32) and the first drive component (31) for driving the output shaft (32) to rotate；
Second driving device (40), second driving device (40) is mounted on the bottom of the holder (11), described
Second driving device (40) includes pulley assemblies (42) and the second drive component (41), and the pulley assemblies (42) are connected to
Between the rotating mounting rack (20) and second drive component (41), second drive component (41) drives the belt wheel
Component (42) movement is to drive the rotating mounting rack (20) to rotate.
2. transmission mechanism according to claim 1, which is characterized in that the holder (11) includes two pieces of mounting plates (12),
Two pieces of mounting plates (12) are arranged at intervals on the bottom plate (13), and the rotating mounting rack (20) is mounted on two pieces of peaces
Between loading board (12).
3. transmission mechanism according to claim 2, which is characterized in that be provided with first on first piece of mounting plate (12)
First side of bearing holder (housing, cover) (50) and first bearing (60), the rotating mounting rack (20) passes through the first axle bearing sleeve (50) and institute
First bearing (60) is stated on first piece of mounting plate (12).
4. transmission mechanism according to claim 2, which is characterized in that the second side of the rotating mounting rack (20) is provided with
Connecting flange (70), input shaft (80), second bearing set (100) and second bearing (110), the connecting flange (70) are fixed
On the rotating mounting rack (20), the input shaft (80) passes through the second bearing set (100) and described second
Bearing (110) is threaded through on second piece of mounting plate (12), and the input shaft (80) passes through key with the connecting flange (70)
Connection.
5. transmission mechanism according to claim 4, which is characterized in that second drive component (41) includes shaft
(411),
The pulley assemblies (42) include：
First pulley (421), the first pulley (421) are removably mounted on the input shaft (80)；
Second belt wheel (422), the second belt wheel (422) fixation are set in the shaft (411)；
Synchronous belt (423), the synchronous belt (423) are set in the first pulley (421) and second belt wheel (422).
6. transmission mechanism according to claim 5, which is characterized in that the shaft (411) passes through second piece of installation
Plate (12), the first pulley (421) and second belt wheel (422) are respectively positioned on second piece of mounting plate (12) far from first
The side of mounting plate described in block (12).
7. transmission mechanism according to claim 5, which is characterized in that be provided with kidney-shaped on second piece of mounting plate (12)
Hole (121), the shaft (411) are mounted in the kidney slot (121), and the transmission mechanism further includes adjustable plate (90), institute
Adjustable plate (90) is stated to be fixed on the described second piece mounting plate (12) by fastener.
8. transmission mechanism according to claim 1, which is characterized in that be provided with installation cavity on the rotating mounting rack (20)
(21), first drive component (31) includes the first driving motor (311) and is mounted on first driving motor (311)
The first retarder (312), first driving motor (311) and first retarder (312) are installed in the installation
In chamber (21).
9. transmission mechanism according to claim 1, which is characterized in that second drive component (41) includes the second driving
Motor (412) and the second retarder (413) on second driving motor (412).
10. a kind of robot, including transmission mechanism, which is characterized in that the transmission mechanism is any one of claim 1 to 9
The transmission mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820269768.2U CN208005679U (en) | 2018-02-24 | 2018-02-24 | Transmission mechanism and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820269768.2U CN208005679U (en) | 2018-02-24 | 2018-02-24 | Transmission mechanism and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208005679U true CN208005679U (en) | 2018-10-26 |
Family
ID=63887768
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820269768.2U Active CN208005679U (en) | 2018-02-24 | 2018-02-24 | Transmission mechanism and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208005679U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111203819A (en) * | 2020-03-17 | 2020-05-29 | 西安航空学院 | Fixing device is used in automobile parts processing |
| WO2020134181A1 (en) * | 2018-12-26 | 2020-07-02 | 珠海格力电器股份有限公司 | Robot joint arm driving component and robot |
| CN114229041A (en) * | 2022-01-14 | 2022-03-25 | 中国科学院沈阳自动化研究所 | Double-freedom-degree solar cell array driving mechanism |
-
2018
- 2018-02-24 CN CN201820269768.2U patent/CN208005679U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020134181A1 (en) * | 2018-12-26 | 2020-07-02 | 珠海格力电器股份有限公司 | Robot joint arm driving component and robot |
| CN111203819A (en) * | 2020-03-17 | 2020-05-29 | 西安航空学院 | Fixing device is used in automobile parts processing |
| CN114229041A (en) * | 2022-01-14 | 2022-03-25 | 中国科学院沈阳自动化研究所 | Double-freedom-degree solar cell array driving mechanism |
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