Transmission structure of composite robot

Abstract

The utility model provides a transmission structure of a composite robot. The transmission structure of the composite robot comprises a shell; the driving assembly is fixedly connected to the middle position of the bottom of the inner wall of the shell, rotating shafts are fixedly connected to the two output ends of the driving assembly, worms are fixedly connected to the other ends of the two rotating shafts, and first rotating buckles are fixedly connected to the positions, close to the middle, of the bottom of the inner wall of the shell; and the two sets of second rotating buckles are fixedly connected to the positions, close to the two sides, of the bottom of the inner wall of the shell, a rotating rod is rotationally connected between each set of second rotating buckles, and a worm wheel is fixedly connected to the middle position of the outer surface of each rotating rod. According to the transmission structure of the composite robot, the complex structure of the transmission structure of the composite robot is simplified through the transmission structure, later overhaul and maintenance are facilitated, transmission efficiency is improved, and energy consumption is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of composite robot transmission, in particular to a transmission structure of a composite robot. Background Art

[0002] A composite robot is a new type of robot that integrates the functions of a mobile robot and an industrial robot. It has "hands, feet, eyes, and brain". Compared with the single functions of AGV / AMR and mechanical legs, the composite robot combines the characteristics of both and is more flexible, has fast feedback, is easy to operate, and can be moved and operated.

[0003] By integrating multiple advanced technologies such as machine vision, machine learning, and adaptive control, composite robots can perceive the surrounding environment, autonomously learn and adapt to tasks, and autonomously adjust control parameters according to task and environmental changes, thereby improving work efficiency and accuracy.

[0004] Existing composite robots are generally driven by motors or hydraulics. Both of the above driving methods require the installation of driving equipment at the positions where movement is required, and the structure is relatively complex. The four legs of the composite robot are directly driven, and the structure is complicated and inconvenient for subsequent maintenance and inspection.

[0005] Therefore, it is necessary to provide a transmission structure of a composite robot to solve the above technical problems. Utility Model Content

[0006] The utility model provides a transmission structure of a composite robot, which solves the problem that driving the four legs of the composite robot in a direct drive manner is inconvenient for subsequent maintenance and overhaul due to the complex driving structures.

[0007] In order to solve the above technical problems, the transmission structure of the composite robot provided by the present utility model includes: a housing;

[0008] A drive assembly, the drive assembly is fixedly connected to the middle position of the bottom of the inner wall of the shell, the two output ends of the drive assembly are fixedly connected to the rotating shaft, the other ends of the two rotating shafts are fixedly connected to the worm, and the bottom of the inner wall of the shell near the middle position is fixedly connected to a first rotating buckle;

[0009] Two groups of second rotating buckles, the two groups of second rotating buckles are fixedly connected to the bottom of the inner wall of the shell near both sides, a rotating rod is rotatably connected between each group of second rotating buckles, the middle position of the outer surface of the rotating rod is fixedly connected to a worm gear, both ends of the two rotating rods are fixedly connected to a rotating disk, the other end of the rotating disk is installed with a movable buckle near the outer surface, the outer surface of each movable buckle is installed with a mechanical leg at the bottom, the bottom of the shell near the four corners are installed with limit buckles, and the bottom of the inner wall of the shell near the four corners is opened with a through hole;

[0010] The two first rotating buckles are sleeved on the outer surfaces of the two rotating shafts to increase the stability of the rotating shafts during rotation. The worm and the worm wheel are meshed and connected. The two second rotating buckles form a group. The four second rotating buckles are respectively located at the bottom of the inner wall of the shell near the four corners. The rotating rod passes through the second rotating buckle. The movable buckles at the opposite ends of the two rotating disks on each rotating rod are staggered. The top of the mechanical leg is rotatably connected to the rotating disk through the movable buckle, and the mechanical leg passes through the inside of the through-opening and the limit buckle.

[0011] Preferably, a top shell is fixedly connected to the top of the shell, and a device shell with a sealing cover is installed near one side of the top of the shell;

[0012] The interior of the equipment shell is equipped with power equipment and controls for controlling the operation of the equipment.

[0013] Preferably, a mounting base is installed on the front of the top shell, and an operation screen is installed on the front of the mounting base;

[0014] The operation screen can control the operation of the equipment on the housing.

[0015] Preferably, a fixed base is installed on the top of the shell near the other side, and a lighting lamp is installed on the other side of the fixed base;

[0016] The lighting can serve as fill-in lighting.

[0017] Preferably, the driving assembly comprises a protective shell, the front and back of the protective shell are provided with ventilation holes, and a dual-axis motor is installed inside the protective shell;

[0018] The output end of the dual-axis motor is connected to the rotating shaft.

[0019] Preferably, the bottom ends of the mechanical legs are fixedly connected with mounting buckles, and the bottoms of the mounting buckles are installed with anti-slip pads;

[0020] A pulley can also be installed at the bottom of the mounting buckle, and the pulley will not rotate when not started.

[0021] Compared with related technologies, the transmission structure of the composite robot provided by the present invention has the following beneficial effects:

[0022] The utility model provides a transmission structure of a composite robot. In order to facilitate the later inspection and maintenance of the transmission structure of the composite robot and reduce the cost, a double-axis driving assembly is installed at the bottom of the inner wall of the composite robot shell, and the two worms and the rotating shafts at both ends of the driving assembly are connected. The stability of the rotating shaft is increased by two first rotating buckles, and a rotating rod with a worm gear is installed at the bottom of the inner wall of the shell near both sides through two second rotating buckles, so that the worm gear and the worm are meshed and connected, and a rotating disk with a movable buckle is installed at both ends of the rotating rod, and the top of the mechanical leg and the rotating disk are connected through the movable buckle. At the same time, the contact position of the mechanical leg and the shell is limited by the limit buckle, which provides a limiting function for the mechanical leg during its forward, backward and upward movement. The transmission structure simplifies the complex structure of the transmission structure of the composite robot, facilitates later inspection and maintenance, improves the transmission efficiency and reduces energy consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A schematic structural diagram of a preferred embodiment of the transmission structure of the composite robot provided by the present utility model;

[0024] Figure 2 Provides a structural diagram of the drive assembly for the utility model;

[0025] Figure 3 Provided for the utility model Figure 2 An enlarged view of point A is shown;

[0026] Figure 4 Provided for the utility model Figure 3 An enlarged view of point B is shown;

[0027] Figure 5 The utility model provides a structural schematic diagram of a dual-axis motor.

[0028] Numbers in the figure: 1. Shell, 2. Lighting lamp, 3. Fixed base, 4. Top shell, 5. Sealing cover, 6. Equipment shell, 7. Mounting base, 8. Operation screen, 9. Limit buckle, 10. Mechanical leg, 11. Anti-slip pad, 12. Mounting buckle, 13. Drive assembly, 131. Protective shell, 132. Dual-axis motor, 133. Air vent, 14. First rotating buckle, 15. Worm gear, 16. Worm, 17. Rotating rod, 18. Rotating shaft, 19. Rotating disk, 20. Second rotating buckle, 21. Through-hole, 22. Movable buckle. DETAILED DESCRIPTION

[0029] The present invention will be further described below with reference to the accompanying drawings and implementation examples.

[0030] Please refer to Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 5 ,in, Figure 1 A schematic structural diagram of a preferred embodiment of the transmission structure of the composite robot provided by the present utility model; Figure 2 Provides a structural diagram of the drive assembly for the utility model; Figure 3 Provided for the utility model Figure 2 An enlarged view of point A is shown;

[0031] Figure 4 Provided for the utility model Figure 3 An enlarged view of point B is shown; Figure 5 The utility model provides a schematic diagram of the structure of a dual-axis motor. The transmission structure of the composite robot includes: a housing 1;

[0032] A drive assembly 13 is fixedly connected to the middle position of the bottom of the inner wall of the housing 1. The two output ends of the drive assembly 13 are fixedly connected to the rotating shaft 18, and the other ends of the two rotating shafts 18 are fixedly connected to the worm 16. A first rotating buckle 14 is fixedly connected to the bottom of the inner wall of the housing 1 near the middle position;

[0033] Two groups of second rotating buckles 20, the two groups of second rotating buckles 20 are fixedly connected to the bottom of the inner wall of the shell 1 near the two sides, each group of the second rotating buckles 20 is rotatably connected to a rotating rod 17, the middle position of the outer surface of the rotating rod 17 is fixedly connected to the worm gear 15, both ends of the two rotating rods 17 are fixedly connected to a rotating disk 19, the other end of the rotating disk 19 is installed with a movable buckle 22 near the outer surface, the outer surface of each movable buckle 22 is installed with a mechanical leg 10 at the bottom, the bottom of the shell 1 near the four corners are installed with a limit buckle 9, and the bottom of the inner wall of the shell 1 near the four corners is opened with a through hole 21;

[0034] The two first rotating buckles 14 are sleeved on the outer surfaces of the two rotating shafts 18 to increase the stability of the rotating shafts 18 during rotation. The worm 16 and the worm wheel 15 are meshed and connected. The two second rotating buckles 20 form a group. The four second rotating buckles 20 are respectively located at the bottom of the inner wall of the shell 1 near the four corners. The rotating rod 17 passes through the second rotating buckle 20. The two rotating disks 19 on each rotating rod 17 are installed at opposite ends with movable buckles 22. The top of the mechanical leg 10 is rotatably connected to the rotating disk 19 through the movable buckle 22. The mechanical leg 10 passes through the through-opening 21 and the inside of the limit buckle 9. The limit buckle 9 has a certain limiting effect on the mechanical leg 10, but does not affect the up, down, left and right swinging. The structure on the shell 1 constitutes a composite robot.

[0035] The top of the housing 1 is fixedly connected to a top shell 4, and a device shell 6 with a sealing cover 5 is installed near one side of the top of the housing 1;

[0036] The interior of the equipment shell 6 is provided with power equipment and controls for controlling the operation of the equipment, and the sealing cover 5 is connected to the equipment shell 6 by bolts.

[0037] A mounting base 7 is mounted on the front of the top shell 4, and an operating screen 8 is mounted on the front of the mounting base 7;

[0038] The operation screen 8 can control the operation of the equipment on the housing 1 and can also set the parameters of the equipment operation.

[0039] A fixed base 3 is installed on the top of the housing 1 near the other side, and a lighting lamp 2 is installed on the other side of the fixed base 3;

[0040] The lighting lamp 2 can play a role of fill lighting, and a camera can also be installed on the fixed base 3.

[0041] The driving assembly 13 includes a protective shell 131 , the front and back of the protective shell 131 are provided with ventilation holes 133 , and a dual-axis motor 132 is installed inside the protective shell 131 ;

[0042] The output end of the dual-axis motor 132 is connected to the rotating shaft 18, and the air vent 133 is used to assist in heat dissipation.

[0043] The bottom ends of the mechanical legs 10 are fixedly connected with mounting buckles 12, and the bottoms of the mounting buckles 12 are installed with anti-slip pads 11;

[0044] A pulley can also be installed at the bottom of the mounting buckle 12. The pulley will not rotate when not started, and the restriction on the pulley can be released if sliding is required.

[0045] The working principle of the transmission structure of the composite robot provided by the utility model is as follows:

[0046] A dual-axis drive assembly 13 is installed at the bottom of the inner wall of the composite robot shell 1, and the two worms 16 are connected to the rotating shafts 18 at both ends of the drive assembly 13. The stability of the rotating shaft 18 is increased by two first rotating buckles 14, and a rotating rod 17 with a worm gear 15 is installed at the bottom of the inner wall of the shell 1 near both sides through two second rotating buckles 20, so that the worm gear 15 and the worm 16 are meshed and connected, and a rotating disk 19 with a movable buckle 22 is installed at both ends of the rotating rod 17, and the top of the mechanical leg 10 and the rotating disk 19 are connected through the movable buckle 22. At the same time, the contact position of the mechanical leg 10 and the shell 1 is limited by the limit buckle 9, so that the machine The mechanical leg 10 provides a limit function during its forward, backward, and upward movement. In actual use, the driving assembly 13 drives the two worms 16 to rotate, so that the two rotating rods 17 can be driven to rotate through the two worm gears 15, and the rotating disks 19 at both ends of the two rotating rods 17 can be driven to rotate at the same time. Since the movable buckles 22 installed on the two rotating disks 19 on each rotating rod 17 are in different positions, when the four rotating disks 19 rotate synchronously, the two mechanical legs 10 on the same side can be driven to swing in an offset manner. Due to the shape of the rotating disk 19, the mechanical leg 10 can be lifted, dropped, and then swung to lifted again. The four mechanical legs 10 cooperate with each other to drive the shell 1 to move.

[0047] Compared with related technologies, the transmission structure of the composite robot provided by the present invention has the following beneficial effects:

[0048] In order to facilitate the later inspection and maintenance of the composite robot transmission structure and reduce costs, a dual-axis drive assembly 13 is installed at the bottom of the inner wall of the composite robot shell 1, and the two worms 16 are connected to the rotating shafts 18 at both ends of the drive assembly 13. The stability of the rotating shaft 18 is increased by two first rotating buckles 14, and a rotating rod 17 with a worm gear 15 is installed at the bottom of the inner wall of the shell 1 near both sides through two second rotating buckles 20, so that the worm gear 15 and the worm gear 16 are meshed and connected, and a rotating disk 19 with a movable buckle 22 is installed at both ends of the rotating rod 17, and the top of the mechanical leg 10 and the rotating disk 19 are connected through the movable buckle 22. At the same time, the contact position of the mechanical leg 10 and the shell 1 is limited by the limit buckle 9, which provides a limiting function for the mechanical leg 10 during the forward, backward and upward movement. Through this transmission structure, the complex structure of the composite robot transmission structure is simplified, which is convenient for later inspection and maintenance, and the transmission efficiency is improved and the energy consumption is reduced.

[0049] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A transmission structure of a composite robot, characterized in that: include: case; A drive assembly, the drive assembly is fixedly connected to the middle position of the bottom of the inner wall of the shell, the two output ends of the drive assembly are fixedly connected to the rotating shaft, the other ends of the two rotating shafts are fixedly connected to the worm, and the bottom of the inner wall of the shell near the middle position is fixedly connected to a first rotating buckle; Two groups of second rotating buckles, the two groups of second rotating buckles are fixedly connected to the bottom of the inner wall of the shell near both sides, each group of the second rotating buckles is rotatably connected to a rotating rod, the middle position of the outer surface of the rotating rod is fixedly connected to a worm gear, both ends of the two rotating rods are fixedly connected to a rotating disk, the other end of the rotating disk is installed with a movable buckle near the outer surface, the outer surface of each movable buckle is installed with a mechanical leg at the bottom, the bottom of the shell near the four corners are installed with limit buckles, and the bottom of the inner wall of the shell near the four corners is provided with through-holes.

2. The transmission structure of the composite robot according to claim 1, characterized in that: The top of the shell is fixedly connected with a top shell, and a device shell with a sealing cover is installed at a position close to one side of the top of the shell.

3. The transmission structure of the composite robot according to claim 2, characterized in that: A mounting base is installed on the front of the top shell, and an operation screen is installed on the front of the mounting base.

4. The transmission structure of the composite robot according to claim 1, characterized in that: A fixed base is installed at a position near the other side of the top of the shell, and a lighting lamp is installed on the other side of the fixed base.

5. The transmission structure of the composite robot according to claim 1, characterized in that: The driving assembly includes a protective shell, the front and back of the protective shell are provided with ventilation holes, and a dual-axis motor is installed inside the protective shell.

6. The transmission structure of the composite robot according to claim 1, characterized in that: The bottom ends of the mechanical legs are fixedly connected with mounting buckles, and the bottoms of the mounting buckles are installed with anti-slip pads.

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