Adjustable transmission mechanism for bionic robot

Abstract

The utility model relates to the technical field of biomimetic robots, in particular to an adjustable transmission mechanism for a biomimetic robot, which comprises a middle seat and two transmission components, and each transmission component comprises a rotating shaft, a connecting arm, a telescopic arm, a first screw and a rotating part; the rotating shaft is rotationally connected with the middle base and located on the side edge of the middle base. The connecting arm is fixedly connected with the rotating shaft, and the telescopic arm is slidably connected with the connecting arm; the rotating part is rotated to drive the first screw to rotate, the first screw rotates to enable the telescopic arm to move along the connecting arm, and the length of the telescopic arm extending out of the connecting arm is adjusted, so that the overall length of the telescopic arm and the connecting arm can be adjusted according to the needs of the bionic robot; according to the position adjusting mode of the telescopic arm, a groove does not need to be formed in the connecting arm, limitation is reduced, the adjustable range of the telescopic arm is enlarged, and the problems that the adjustable range of the telescopic arm of an existing adjustable transmission mechanism for the bionic robot is limited, and using limitation is high are solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to bionic robot technical field especially relates to adjustable transmission mechanism for bionic robot. BACKGROUND

[0002] Bionic robots in recent years due to its strong camouflage, the characteristics of good mobility are paid more and more attention by researchers, but the existing bionic robot on the length of the connecting arm is fixed, resulting in the activity range of the bionic robot's limbs is fixed, can only be used in some specific environment.

[0003] The prior art CN221872012U discloses an adjustable transmission mechanism for bionic robot, including connecting arm one, connecting arm two, the top end of connecting arm one and the bottom end of connecting arm two are provided with telescopic arms, and the bottom end of connecting arm one and the top end of connecting arm two are hinged, two telescopic arms and connecting arm one, connecting arm two between the adjusting fixing mechanism is arranged; Adjusting fixing mechanism includes telescopic slot, fixed ring, pin plate, telescopic slot is opened in the top end of connecting arm one, telescopic arm is inserted in telescopic slot, fixed ring is fixedly sleeved on the outer wall of connecting arm one, the front and back surfaces of telescopic arm are provided with plate grooves, the pin plate is movably penetrated through the front surface of connecting arm one and inserted in the plate groove, by setting adjusting fixing mechanism, the length of the connecting arm structure used for connecting motion on the bionic robot can be conveniently adjusted by personnel, so that the activity range of the bionic robot is adjusted, and the bionic robot can walk in different environments.

[0004] But by the above-mentioned mode, the pin plate can only be fixed on the position that the plate groove is arranged on the telescopic arm, when the position of the telescopic arm needs to be adjusted so that the pin plate is located at the unslotted position between the adjacent two plate grooves, the pin plate will be in contact with the surface of the telescopic arm and cannot be inserted into the plate groove, therefore the adjustment range of the telescopic arm is limited, and the use limitation is high. UTILITY MODEL CONTENTS

[0005] The utility model aims at providing an adjustable transmission mechanism for bionic robot, which aims at solving the problems of limited adjustment range of telescopic arm of the existing adjustable transmission mechanism for bionic robot and high use limitation.

[0006] In order to achieve the above-mentioned purpose, the utility model provides an adjustable transmission mechanism for bionic robot, including intermediate seat and two transmission assemblies, two transmission assemblies are located at both sides of the intermediate seat, the transmission assembly includes shaft, connecting arm, telescopic arm, first screw rod and rotating part;

[0007] The rotating shaft and the middle seat are rotationally connected and located at the side of the middle seat; the connecting arm and the rotating shaft are fixedly connected and located at the side of the rotating shaft; the telescopic arm and the connecting arm are slidingly connected and located inside the connecting arm; the first screw rod and the telescopic arm are threadedly connected and located inside the telescopic arm; the rotating piece is arranged at the side of the first screw rod.

[0008] The rotating piece comprises a connecting shaft, a driving bevel gear, a driven bevel gear and a knob; the connecting shaft and the connecting arm are rotationally connected and penetrate through the connecting arm; the driving bevel gear and the connecting shaft are fixedly connected and located inside the connecting arm; the driven bevel gear and the first screw rod are fixedly connected and meshed with the driving bevel gear; the knob and the connecting shaft are fixedly connected and located at the side of the connecting shaft.

[0009] The rotating piece further comprises a supporting plate, a threaded column, an anti-skid plate and a guide rod; the supporting plate and the connecting shaft are fixedly connected and located at the side of the connecting shaft; the threaded column and the supporting plate are threadedly connected and penetrate through the supporting plate; the anti-skid plate and the threaded column are rotationally connected and located at the side of the threaded column; the guide rod and the supporting plate are slidingly connected and fixedly connected with the anti-skid plate and located at the side of the supporting plate.

[0010] The rotating piece further comprises a knob; the knob and the threaded column are fixedly connected and located at the side of the threaded column.

[0011] The transmission assembly further comprises two supports, a second screw rod, a sliding block and two nuts; two supports are fixedly connected with the connecting arm and located at the side of the connecting arm respectively; the second screw rod is fixedly connected with two supports and located between two supports respectively; the sliding block and the telescopic arm are fixedly connected and slidingly connected with the connecting arm and penetrated by the second screw rod; two nuts are threadedly connected with the second screw rod and located at the two ends of the second screw rod respectively.

[0012] The utility model discloses a adjustable transmission mechanism for bionic robot, through set up the intermediate seat with the pivot, make the telescopic arm with the connecting arm can rotate with the pivot as the axle, through the rotation piece drive the first screw rod rotates, the first screw rod rotates make the telescopic arm along the connecting arm removes, through the length of telescopic arm that stretches out the connecting arm is adjusted, can according to the need of bionic robot to the length of telescopic arm and the connecting arm whole is adjusted, through above -mentioned mode, can be convenient for staff to adjust the connecting arm structure length for the linkage on bionic robot, thereby realizes the activity amplitude of adjusting bionic robot, makes bionic robot can walk under different environment, the utility model discloses the position adjustment mode of telescopic arm, need not open the slot on the connecting arm, reduced the limitation, increased the adjustable range of telescopic arm, solved the adjustable range of telescopic arm of adjustable transmission mechanism for bionic robot of existing bionic robot, the problem of higher use limitation. BRIEF DESCRIPTION OF DRAWINGS

[0013] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced as follows.

[0014] Figure 1 It is the overall structure schematic diagram of the utility model.

[0015] Figure 2 It is the structure schematic diagram of the transmission assembly of the utility model.

[0016] Figure 3 It is the structure schematic diagram of another view of the transmission assembly of the utility model.

[0017] Figure 4 It is the sectional view of the transmission assembly of the utility model.

[0018] 101-intermediate seat, 102-transmission assembly, 103-pivot, 104-connecting arm, 105-telescopic arm, 106-first screw rod, 107-rotation piece, 108-connection shaft, 109-driving bevel gear, 110-driven bevel gear, 111-knob, 112-branch plate, 113-threaded column, 114-anti -slip board, 115-guide rod, 116-grip, 117-stand, 118-second screw rod, 119-sliding block, 120-nut. DETAILED DESCRIPTION

[0019] The embodiments of the utility model will be described in detail below, the examples of the embodiments are shown in the drawings, the embodiments described below by referring to the drawings are exemplary, and are intended to explain the utility model, and can not be understood as the limitation of the utility model.

[0020] Please refer to Figures 1-4Wherein, Figure 1 is the overall structure schematic view of the utility model, Figure 2 is the structure schematic view of the transmission assembly of the utility model, Figure 3 is the structure schematic view of another perspective of the transmission assembly of the utility model, Figure 4 is the sectional view of the transmission assembly of the utility model.

[0021] The utility model provides a kind of adjustable transmission mechanism for bionic robot, including intermediate seat 101 and two transmission assemblies 102, two described transmission assemblies 102 are located in the two sides of intermediate seat 101, transmission assembly 102 includes rotating shaft 103, connecting arm 104, telescopic arm 105, first screw rod 106, rotating part 107, two supports 117, second screw rod 118, sliding block 119 and two nuts 120;Rotating part 107 includes connecting shaft 108, driving bevel gear 109, driven bevel gear 110, knob 111, support plate 112, threaded column 113, antiskid plate 114, guide rod 115 and handle 116;The adjustment range of the telescopic arm 105 of the existing adjustable transmission mechanism for bionic robot is limited, and the problem of higher use limitation is solved by the foregoing scheme.

[0022] For the specific embodiment, the rotating shaft 103 and the intermediate seat 101 are rotationally connected and located at the side of the intermediate seat 101; the connecting arm 104 and the rotating shaft 103 are fixedly connected and located at the side of the rotating shaft 103; the telescopic arm 105 and the connecting arm 104 are slidingly connected and located inside the connecting arm 104; the first screw rod 106 and the telescopic arm 105 are threadedly connected and located inside the telescopic arm 105; the rotating part 107 is arranged at the side of the first screw rod 106. By arranging the intermediate seat 101 and the rotating shaft 103, the telescopic arm 105 and the connecting arm 104 can rotate around the rotating shaft 103; the telescopic arm 105 is provided with a threaded groove matched with the first screw rod 106, the connecting arm 104 is used for guiding the telescopic arm 105, the first screw rod 106 is driven to rotate by rotating the rotating part 107, the rotation of the first screw rod 106 drives the telescopic arm 105 to move along the connecting arm 104, and by adjusting the length of the telescopic arm 105 extending out of the connecting arm 104, the length of the telescopic arm 105 and the connecting arm 104 as a whole can be adjusted according to the needs of the bionic robot; in the above manner, the length of the connecting arm structure used for linkage on the bionic robot can be conveniently adjusted by the staff, so that the movement range of the bionic robot is adjusted, and the bionic robot can walk in different environments; the position adjustment mode of the telescopic arm 105 of the utility model does not need to open a groove on the connecting arm 104, reduces the limitation, increases the adjustable range of the telescopic arm 105, and solves the problem of limited adjustment range of the telescopic arm 105 of the existing adjustable transmission mechanism of the bionic robot and high use limitation.

[0023] Wherein, the connecting shaft 108 and the connecting arm 104 are rotationally connected and penetrate through the connecting arm 104; the driving bevel gear 109 and the connecting shaft 108 are fixedly connected and located inside the connecting arm 104; the driven bevel gear 110 and the first screw rod 106 are fixedly connected and meshed with the driving bevel gear 109; the knob 111 and the connecting shaft 108 are fixedly connected and located at the side of the connecting shaft 108. The staff can drive the connecting shaft 108 to rotate by holding the knob 111, the connecting shaft 108 drives the driving bevel gear 109 to rotate, the driven bevel gear 110 drives the driven bevel gear 110 to rotate, and the driven bevel gear 110 drives the first screw rod 106 to rotate, so that the first screw rod 106 can be conveniently rotated outside the connecting arm 104 to adjust the position of the telescopic arm 105.

[0024] Secondly, the supporting plate 112 and the connecting shaft 108 are fixedly connected and located at the side of the connecting shaft 108; the threaded column 113 and the supporting plate 112 are threadedly connected and penetrate through the supporting plate 112; the anti-skid plate 114 and the threaded column 113 are rotationally connected and located at the side of the threaded column 113; the guide rod 115 and the supporting plate 112 are slidingly connected, fixedly connected with the anti-skid plate 114 and located at the side of the supporting plate 112. The supporting plate 112 is used for supporting the threaded column 113 and the guide rod 115, the guide rod 115 provides guidance for the anti-skid plate 114 to avoid rotation of the anti-skid plate 114, after the position of the telescopic arm 105 is adjusted, the worker rotates the threaded column 113 to drive the threaded column 113 to move the anti-skid plate 114 close to the connecting arm 104 until the anti-skid plate 114 abuts against the side of the connecting arm 104, so as to limit the rotation of the connecting shaft 108, thereby avoiding the position change of the telescopic arm 105 due to the rotation of the connecting shaft 108.

[0025] Meanwhile, the handle 116 and the threaded column 113 are fixedly connected and located at the side of the threaded column 113. The worker holds the handle 116 to facilitate the rotation of the threaded column 113.

[0026] In addition, two supporting bases 117 are fixedly connected with the connecting arm 104 and located at the side of the connecting arm 104 respectively; the second screw rod 118 is fixedly connected with the two supporting bases 117 and located between the two supporting bases 117; the sliding block 119 and the telescopic arm 105 are fixedly connected, slidingly connected with the connecting arm 104 and penetrated by the second screw rod 118; two nuts 120 are threadedly connected with the second screw rod 118 and located at the two ends of the second screw rod 118. When the telescopic arm 105 moves, the sliding block 119 slides along the second screw rod 118, after the position of the telescopic arm 105 is determined, the two nuts 120 are rotated to move to the two sides of the sliding block 119, the two nuts 120 are used to limit the position of the sliding block 119, so as to fix the position of the telescopic arm 105.

[0027] When the utility model is used, through setting the intermediate seat 101 and the pivot 103, the telescopic arm 105 and the connecting arm 104 can rotate around the pivot 103, the telescopic arm 105 is equipped with the thread groove that adapts to the first screw rod 106, the connecting arm 104 is used for providing the direction for the telescopic arm 105, the staff can drive the connecting shaft 108 to rotate by holding the knob 111, the connecting shaft 108 drives the driving bevel gear 109 to rotate, the driven bevel gear 110 drives the driven bevel gear 110 to rotate, the driven bevel gear 110 drives the first screw rod 106 to rotate, the rotation of the first screw rod 106 makes the telescopic arm 105 move along the connecting arm 104, by adjusting the length that the telescopic arm 105 extends the connecting arm 104, the length of the telescopic arm 105 and the connecting arm 104 can be adjusted according to the needs of the bionic robot, the telescopic arm 105 will drive the sliding block 119 to slide along the second screw rod 118 when moving, after the position of the telescopic arm 105 is determined, by rotating two nuts 120, two nuts 120 are moved to the both sides of the sliding block 119, the position of the sliding block 119 can be limited by two nuts 120, so that the position of the telescopic arm 105 is fixed.The staff makes the threaded column 113 rotate, the anti-skid plate 114 is driven to the threaded column 113 to approach the connecting arm 104, until the anti-skid plate 114 and the side of the connecting arm 104 abut tightly, so that the rotation of the connecting shaft 108 can be limited, and the position change of the telescopic arm 105 caused by the rotation of the connecting shaft 108 is avoided.Through the above mode, the length of the connecting arm structure used for linkage on the bionic robot can be conveniently adjusted by the staff, so that the activity amplitude of the bionic robot is adjusted, and the bionic robot can walk in different environments;The position adjustment mode of the telescopic arm 105 of the utility model does not need to open a groove on the connecting arm 104, reduces the limitation, increases the adjustable range of the telescopic arm 105, and solves the problems of limited adjustment range of the telescopic arm 105 of the existing adjustable transmission mechanism of the bionic robot and high use limitation.

[0028] The above disclosure is only one or more preferred embodiments of the present application, which cannot limit the scope of the present application, and those skilled in the art can understand that the above-mentioned embodiments can be implemented in whole or in part, and equivalent changes made according to the claims of the present application still belong to the scope covered by the present application.

Claims

1. An adjustable transmission mechanism for a bionic robot, comprising an intermediate seat, characterized in that, two transmission assemblies are further included; two transmission assemblies are located on both sides of the intermediate seat, and the transmission assembly comprises a rotating shaft, a connecting arm, an extension arm, a first screw rod and a rotating part; the rotating shaft is rotatably connected with the intermediate seat and located on the side of the intermediate seat; the connecting arm is fixedly connected with the rotating shaft and located on the side of the rotating shaft; the extension arm is slidably connected with the connecting arm and located inside the connecting arm; the first screw rod is threadedly connected with the extension arm and located inside the extension arm; and the rotating part is arranged on the side of the first screw rod.

2. The adjustable transmission mechanism for a bionic robot according to claim 1, characterized in that, the rotating part comprises a connecting shaft, a driving bevel gear, a driven bevel gear and a knob; the connecting shaft is rotatably connected with the connecting arm and penetrates through the connecting arm; the driving bevel gear is fixedly connected with the connecting shaft and located inside the connecting arm; the driven bevel gear is fixedly connected with the first screw rod and engaged with the driving bevel gear; and the knob is fixedly connected with the connecting shaft and located on the side of the connecting shaft.

3. The adjustable transmission mechanism for a bionic robot according to claim 2, characterized in that, the rotating part further comprises a support plate, a threaded column, an anti-skid plate and a guide rod; the support plate is fixedly connected with the connecting shaft and located on the side of the connecting shaft; the threaded column is threadedly connected with the support plate and penetrates through the support plate; the anti-skid plate is rotatably connected with the threaded column and located on the side of the threaded column; and the guide rod is slidably connected with the support plate and fixedly connected with the anti-skid plate, and located on the side of the support plate.

4. The adjustable transmission mechanism for a bionic robot according to claim 3, characterized in that, the rotating part further comprises a knob; and the knob is fixedly connected with the threaded column and located on the side of the threaded column.

5. The adjustable transmission mechanism for a bionic robot according to claim 4, characterized in that, the transmission assembly further comprises two supports, a second screw rod, a sliding block and two nuts; two supports are respectively fixedly connected with the connecting arm and respectively located on the side of the connecting arm; the second screw rod is fixedly connected with two supports and located between the two supports; the sliding block is fixedly connected with the extension arm and slidably connected with the connecting arm, and penetrated by the second screw rod; and two nuts are respectively threadedly connected with the second screw rod and located at both ends of the second screw rod.

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