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发明公开
CN109015620A 一种超冗余度蛇形机器人的动力传动机构 无效 - 驳回

一种超冗余度蛇形机器人的动力传动机构
摘要：
本发明公开了一种超冗余度蛇形机器人的动力传动机构，包括电机安装座，电机安装座的一侧安装有平行设置的丝杆和导向杆，且丝杆和导向杆之间存在空隙；丝杆的一端通过轴承安装在电机安装座上，电机安装座上还安装有与丝杆通过联轴器传动连接的驱动电机；导向杆与丝杆之间穿置有螺母座，螺母座内设置有螺纹连接在丝杆上的丝杆螺母以及滑动穿置在导向杆上的导向滑块，螺母座上连接有导绳片，导绳片用于连接钢丝绳。本发明将驱动电机和传动机构集成为模块化结构，便于整个模块化结构的安装、调试，将驱动电机和传动机构安装成模块后，再安装到驱动装置的框架中。
摘要（英）：

The invention discloses a power transmission mechanism of a hyper-redundant S-shaped robot. The power transmission mechanism of the hyper-redundant S-shaped robot comprises a motor installation base.A lead screw and a guide rod are installed on one side of the motor installation base and arranged in parallel, and a gap exists between the lead screw and the guide rod. One end of the lead screw isinstalled on the motor installation base through a bearing. A driving motor which is connected with the lead screw in a transmission mode through a coupling is further installed on the motor installation base. A nut base is arranged between the guide rod and the lead screw in a penetrating mode. A lead screw nut and a guide sliding block are arranged in the nut base, wherein the lead screw nut isconnected to the lead screw in a threaded mode, and the guide sliding block is arranged on the guide rod in a sliding penetration mode. A rope guide piece is connected to the nut base and used for being connected with a steel wire rope. According to the power transmission mechanism of the hyper-redundant S-shaped robot, the driving motor and the transmission mechanism are integrated to form a modular structure, installation and debugging of the whole modular structure are convenient, the driving motor and the transmission mechanism are installed to form a module, and then the module is installed in a frame of a driving device.

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