CN108583707A - Robot differential driving structure - Google Patents
Robot differential driving structure Download PDFInfo
- Publication number
- CN108583707A CN108583707A CN201810252652.2A CN201810252652A CN108583707A CN 108583707 A CN108583707 A CN 108583707A CN 201810252652 A CN201810252652 A CN 201810252652A CN 108583707 A CN108583707 A CN 108583707A
- Authority
- CN
- China
- Prior art keywords
- holder
- robot
- driving structure
- spider
- gear
- 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.)
- Pending
Links
- 241000239290 Araneae Species 0.000 claims abstract description 28
- 230000007246 mechanism Effects 0.000 claims abstract description 15
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims 1
- 230000005484 gravity Effects 0.000 abstract description 4
- 238000005096 rolling process Methods 0.000 description 4
- 239000007787 solid Substances 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The invention discloses a kind of robot differential driving structures, including a holder, two spider gears and two driving devices；Two spider gears are set to the holder both sides, and each spider gear drives it relative to the holder pivots by a driving device；Spider gear includes wheel body and annular slide track；On holder multigroup wheel latch mechanism for acting on the annular slide track is both provided with corresponding to each spider gear, it includes that the inner ring in annular slide track and two idler wheels of outer ring are arranged that latch mechanism is taken turns described in every group, and the annular groove straddled on the annular slide track is all had on the excircle of each idler wheel.The robot of the present invention ingenious reliable, the saving space of differential driving structure, interior layout is reasonable, it can make its own no matter remaining at upright state under motion state or under stationary state by its own gravity, be suitable for the compact robots of compact structures such as ball shape robot.
Description
Technical field
The present invention relates to robot fields, more particularly to a kind of robot differential drive mechanism.
Background technology
Ball shape robot is a kind of using spherical or almost spherical structure as the self-movement body of shell.Existing spherical shape machine
Device people is divided into two kinds, and one is the inside that driving mechanism is located at ball shape robot shell, can drive universal turn of entire spherical housing
Dynamic ball shape robot, another kind are using the ball shape robot of two-wheel differential form driving, and present invention is generally directed to second
Ball shape robot, since the inner space of ball shape robot is narrow, requirement to the size and reliability of driving structure compared with
The driving structure of height, existing ball shape robot is mostly complex, and detachable maintaining is inconvenient.
Invention content
Goal of the invention：In order to overcome the deficiencies in the prior art, present invention offer one kind is simple in structure, compact can
It leans on, save space-efficient robot differential driving structure.
Technical solution：To achieve the above object, robot of the invention differential driving structure a, including holder, two poor
Speed wheel and two driving devices；Two spider gears are set to the holder both sides, and each spider gear is driven by a driving device
It is relative to the holder pivots；
Spider gear includes wheel body and annular slide track；It is both provided with corresponding to each spider gear on holder and multigroup acts on institute
The wheel latch mechanism for stating annular slide track, it includes two rollings that inner ring and outer ring in annular slide track is arranged that latch mechanism is taken turns described in every group
It takes turns, the annular groove straddled on the annular slide track is all had on the excircle of each idler wheel.
Further, the inner ring of the annular slide track and outer ring all have V-shaped lug boss, and the annular groove is and V-shaped
The V-shaped slot that lug boss agrees with.
Further, the spider gear also includes gear part, and the driving device includes fixed electricity on the bracket
Machine and the driving gear on motor output shaft, the driving gear are engaged with the gear part.
Further, the gear part is internal gear.
Further, further include the control mainboard being fixed on the holder.
Further, the control mainboard is mounted on control mainboard pedestal, and control mainboard pedestal is solid by connecting pole
Determine on the bracket.
Further, further include the battery being fixed on holder.
Further, the holder includes four columns, and the battery is fixed on by band on column.
Advantageous effect：The robot of the present invention ingenious reliable, the saving space of differential driving structure, interior layout is reasonable,
It can make its own no matter remaining at upright state under motion state or under stationary state by its own gravity, fit
The robot compact for compact structures such as ball shape robots.
Description of the drawings
Attached drawing 1 is the overall structure figure of robot differential driving structure；
Attached drawing 2 is the partial enlarged view of location A in attached drawing 1；
Attached drawing 3 is the front view of robot differential driving structure；
Attached drawing 4 is the side view of robot differential driving structure.
Specific implementation mode
The present invention is further described below in conjunction with the accompanying drawings.
The robot differential driving structure as shown in attached drawing 1,3,4 a, including holder 1, two spider gears 2 and two drive
Device 3；Two spider gears 2 are set to 1 both sides of the holder and two spider gears 2 are coaxially disposed, and each spider gear 2 is by a driving
Device 3 drives it to be rotated relative to the holder 1.
Spider gear 2 includes wheel body 21 and annular slide track 22；It is both provided with corresponding to each spider gear 2 on holder 1 multigroup
The wheel latch mechanism 4 for acting on the annular slide track 22, taken turns described in every group latch mechanism 4 include be arranged the inner ring in annular slide track 22 with
And two idler wheels 41 of outer ring, the annular groove 411 straddled on the annular slide track 22 is all had on the excircle of each idler wheel 41.
Idler wheel 41 is mounted on rolling wheel support 42 and can be rotated relative to rolling wheel support 42, and rolling wheel support 42 is solid relative to the holder 1
Dingan County fills.Using this structure, not needing shaft just can make spider gear 2 that can be rotated relative to holder 1, and can limit differential
Wheel 2 will not axial float, theoretically need two groups of wheel latch mechanisms 4 can keep spider gear 2 surround a central axis, this implementation
In order to ensure the solid and reliable of structure in example, 6 groups of wheel latch mechanisms 4 are used, wherein two groups of wheel latch mechanisms 4 are symmetrically mounted on holder
The both sides of 1 upper end, in addition 4 groups of wheel latch mechanisms 4 be divided to the both sides for the lower end for being symmetrically mounted on holder 1 for two groups.
In the present embodiment, in order to reduce cost, idler wheel 41 is V groove bearings, and the annular groove 411 is V-shaped slot, the annular
The inner ring of slideway 22 all has the V-shaped lug boss 221 agreed with the shape of annular groove 411 with outer ring.
The spider gear 2 also includes gear part 23, and the driving device 3 includes the motor 31 being fixed on the holder 1
And the driving gear 32 on 31 output shaft of motor, the driving gear 32 are engaged with the gear part 23.This implementation
In example, the gear part 23 is internal gear, can 2 entirety of spider gear be made hollow and annular in this way so that driving gear 32 is at it
Inside not only can make structure become more compact, moreover it is possible to make the weight saving of mechanism.
Further include the control mainboard 8 being fixed on the holder 1, two motors 31 are all connected with control mainboard 8, control mainboard
8, which respectively drive two motors 31, rotates, when the rotating speed difference of two motors 31, it can be achieved that the differential motion of two spider gears 2,
So achievable robot move forward and backward and turning motion.The control mainboard 8 is mounted on control mainboard pedestal 5, and is controlled
Motherboard seat 5 processed is fixed on by connecting pole 6 on the holder 1.
Further include the battery 7 being fixed on holder 1, battery 7 can be that motor 31 is powered with control mainboard 8.The holder 1 wraps
Containing four columns 11, the battery 7 is fixed on column 11 by band (being not shown in figure, can also be other fixed forms)
On.Motor 31 is connected to by motor cabinet 33 on the column 11.
As shown in Fig. 3, the both sides of the holder 1 are distributed in comprising two pieces of batteries 7, two pieces of batteries 7 in the present embodiment, and
Two driving devices 3 are also distributed about the both sides of the holder 1, and control mainboard 8 is located between four columns 11, the benefit being laid out in this way
It is so that the main by weight (i.e. the weight of driving device 3 and battery 7) of driving structure is evenly distributed on the both sides of holder 1 so that
Entire driving structure can keep balance under the gravity of itself, be similar to the effect of tumbler, and in robot kinematics
In, holder 1 will not due to spider gear 2 effect counter-force and significantly negative direction rotate, the steady fortune of robot can be kept
It is dynamic.
The robot of the present invention ingenious reliable, the saving space of differential driving structure, interior layout is reasonable, relies on itself
Gravity can make its own no matter remaining at upright state under motion state or under stationary state, be suitable for spherical machine
The compact robot of the compact structures such as device people.
The above is only a preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (9)
1. robot differential driving structure, it is characterised in that：Including a holder (1), two spider gears (2) and two driving devices
(3)；Two spider gears (2) are set to the holder (1) both sides, and each spider gear (2) drives its phase by a driving device (3)
The holder (1) is rotated；
Spider gear (2) includes wheel body (21) and annular slide track (22)；It is respectively provided with corresponding to each spider gear (2) on holder (1)
There is multigroup wheel latch mechanism (4) for acting on the annular slide track (22), it includes that setting is sliding in annular that latch mechanism (4) is taken turns described in every group
The inner ring in road (22) and two idler wheels (41) of outer ring all have on the excircle of each idler wheel (41) and straddle the annular
Annular groove (411) on slideway (22).
2. robot according to claim 1 differential driving structure, it is characterised in that：The annular slide track (22) it is interior
Circle all has V-shaped lug boss (221) with outer ring, and the annular groove (411) is the V-shaped agreed with V-shaped lug boss (221)
Slot.
3. robot according to claim 1 differential driving structure, it is characterised in that：The spider gear (2) also includes
Gear part (23), the driving device (3) is comprising the motor (31) being fixed on the holder (1) and is mounted on motor (31)
Driving gear (32) on output shaft, the driving gear (32) are engaged with the gear part (23).
4. robot according to claim 3 differential driving structure, it is characterised in that：The gear part (23) is internal tooth
Wheel.
5. robot according to claim 1 differential driving structure, it is characterised in that：Further include being fixed on the holder
(1) control mainboard (8) on.
6. robot according to claim 5 differential driving structure, it is characterised in that：Control mainboard (8) installation
On control mainboard pedestal (5), and control mainboard pedestal (5) is fixed on by connecting pole (6) on the holder (1).
7. according to claim 1-6 any one of them robot differential driving structure, it is characterised in that：Further include being fixed on
Battery (7) on holder (1).
8. robot according to claim 7 differential driving structure, it is characterised in that：The holder (1) includes four
Column (11), the battery (7) are fixed on by band on column (11).
9. robot according to claim 7 differential driving structure, it is characterised in that：Including two pieces of batteries (7), two pieces
Battery (7) is distributed in the both sides of the holder (1), and two driving devices (3) are also distributed about the both sides of the holder (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810252652.2A CN108583707A (en) | 2018-03-26 | 2018-03-26 | Robot differential driving structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810252652.2A CN108583707A (en) | 2018-03-26 | 2018-03-26 | Robot differential driving structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108583707A true CN108583707A (en) | 2018-09-28 |
Family
ID=63623665
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810252652.2A Pending CN108583707A (en) | 2018-03-26 | 2018-03-26 | Robot differential driving structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108583707A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112455566A (en) * | 2020-11-30 | 2021-03-09 | 太原理工大学 | Wheel track adjusting device for ball type wheel-foot composite robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1397408A (en) * | 2002-08-22 | 2003-02-19 | 北京邮电大学 | Dual-roller walking unit for robot |
| CN201941982U (en) * | 2010-11-25 | 2011-08-24 | 西北工业大学 | Spherical rover |
| US20130233630A1 (en) * | 2010-09-29 | 2013-09-12 | 7312903 Canada Inc. | Robotic ball device with improved robustness and a multitude of interactive and sensing capabilities |
| CN106080828A (en) * | 2016-06-30 | 2016-11-09 | 上海智位机器人股份有限公司 | A kind of wheel biped robot |
-
2018
- 2018-03-26 CN CN201810252652.2A patent/CN108583707A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1397408A (en) * | 2002-08-22 | 2003-02-19 | 北京邮电大学 | Dual-roller walking unit for robot |
| US20130233630A1 (en) * | 2010-09-29 | 2013-09-12 | 7312903 Canada Inc. | Robotic ball device with improved robustness and a multitude of interactive and sensing capabilities |
| CN201941982U (en) * | 2010-11-25 | 2011-08-24 | 西北工业大学 | Spherical rover |
| CN106080828A (en) * | 2016-06-30 | 2016-11-09 | 上海智位机器人股份有限公司 | A kind of wheel biped robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112455566A (en) * | 2020-11-30 | 2021-03-09 | 太原理工大学 | Wheel track adjusting device for ball type wheel-foot composite robot |
| CN112455566B (en) * | 2020-11-30 | 2022-02-15 | 太原理工大学 | Wheel track adjusting device for ball type wheel-foot composite robot |
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