CN109676643A - A kind of small scale robot waterproof power cabin of integral type - Google Patents
A kind of small scale robot waterproof power cabin of integral type Download PDFInfo
- Publication number
- CN109676643A CN109676643A CN201910095521.2A CN201910095521A CN109676643A CN 109676643 A CN109676643 A CN 109676643A CN 201910095521 A CN201910095521 A CN 201910095521A CN 109676643 A CN109676643 A CN 109676643A
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- China
- Prior art keywords
- flip
- arm
- motor
- output shaft
- running motor
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- 238000009434 installation Methods 0.000 claims abstract description 5
- 238000007789 sealing Methods 0.000 claims description 13
- 125000006850 spacer group Chemical group 0.000 claims description 7
- 238000010276 construction Methods 0.000 claims description 5
- 230000003014 reinforcing effect Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 239000003638 chemical reducing agent Substances 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 3
- 230000004580 weight loss Effects 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 2
- 230000000930 thermomechanical effect Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 5
- UIIMBOGNXHQVGW-UHFFFAOYSA-M Sodium bicarbonate Chemical compound [Na+].OC([O-])=O UIIMBOGNXHQVGW-UHFFFAOYSA-M 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000006071 cream Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 208000020442 loss of weight Diseases 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 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 description 1
- 229910000030 sodium bicarbonate Inorganic materials 0.000 description 1
- 235000017557 sodium bicarbonate Nutrition 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- 208000016261 weight loss Diseases 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of small scale robot waterproof power cabins of integral type.Mainly solve that current robot piggyback pod waterproof performance is bad, is short of power and bulky technical problem.The technical solution of the present invention is as follows: a kind of small scale robot waterproof power cabin of integral type, including piggyback pod shell, running motor component a is mounted side by side in piggyback pod shell, flip-arm electric machine assembly and running motor component b, flip-arm power output shaft is equipped with below flip-arm electric machine assembly, flip-arm power output shaft both ends are equipped with driving dynamics output gear shaft by bearing holder (housing, cover), running motor component a and running motor component b output shaft installation running motor gear are engaged with flip-arm power output shaft both ends driving dynamics output gear shaft respectively, flip-arm electric machine assembly is fixed on flip-arm motor cabinet, the traveling side electric machine assembly a sets that there are three motor drivers in piggyback pod shell, circuit switching plate is fixed on motor driver, piggyback pod shell lower end is equipped with cabin firm banking.
Description
Technical field
The present invention relates to a kind of waterproof power plant modules used suitable for minitype wheeled, caterpillar type robot, especially relate to
And a kind of small scale robot waterproof power cabin of integral type.
Background technique
The gradually development of robot technology at present, robot technology are unfolded to apply in numerous areas, this is also to machine
People forms many challenges.Being badly in need of robot due to a large amount of dangerous, special occasions at present replaces staff to carry out operation, causes
To the waterproof performance of robot, dynamic index and size have higher requirement.Therefore a kind of waterproof performance is designed
Better power cabin is the task of top priority.
Summary of the invention
The object of the present invention is to provide a kind of small scale robot waterproof power cabins of integral type, mainly solve current machine
People's piggyback pod waterproof performance is bad, is short of power and bulky technical problem.
The technical solution of the present invention is as follows: a kind of small scale robot waterproof power cabin of integral type, including piggyback pod shell,
Running motor component a, flip-arm electric machine assembly and running motor component b, flip-arm motor group are mounted side by side in piggyback pod shell
Flip-arm power output shaft is equipped with below part, flip-arm power output shaft both ends are equipped with driving dynamics output gear by bearing holder (housing, cover)
Wheel shaft, running motor component a and running motor component b output shaft installation running motor gear respectively with flip-arm power output
The engagement of axis both ends driving dynamics output gear shaft, flip-arm electric machine assembly is fixed on flip-arm motor cabinet, in piggyback pod shell
The side running motor component a is set there are three motor driver, is fixed with circuit switching plate on motor driver, under piggyback pod shell
End is equipped with cabin firm banking.Running motor component a or running motor component b include sequentially connected running motor encoder,
Running motor, running motor retarder, running motor are fixed on running motor seat.Flip-arm electric machine assembly includes being sequentially connected
Flip-arm motor encoder, flip-arm motor, flip-arm motor reducer and flip-arm power output shaft, flip-arm motor is defeated
The driving gear of shaft end is both engaged with the driven gear on flip-arm power output shaft out, is also engaged with angle feed-back gear, angle
It spends and ohm rotational potentiometer is housed on feedback gear, ohm rotational potentiometer is fixed on flip-arm motor by potentiometer fixed plate
On seat, piggyback pod shell sets two electric interfaces on rear side of cabin, one of power supply, another transmission of control signals, control
After signal and electric current access cabin, it is connected on circuit switching plate, is separated into 6 beams later, be separately connected two running motors, turn over
Tumbler motor, three motor drivers.
To guarantee the intensity of piggyback pod shell and weight can be mitigated, a plurality of reinforcing rib and loss of weight are equipped on piggyback pod shell
Slot.
Flip-arm power output shaft and piggyback pod shell contact surface set Double seal ring waterproof construction, the big bearing of socket, oil
Seal washer, big oil sealing constitute first of sealing, the small oil sealing of socket, small oil seal spacer ring, small bearing composition second sealing.
The beneficial effects of the present invention are: the own wt of the power plant module is light, but power is sufficient；Size is small, greatly saves
About space installs more multisensor additional for small scale robot and provides advantage；The power plant module has versatility, can pass through replacement
The auxiliary accessories such as different drive trains can obtain different fan-out capabilities；The water proof structure of the inside modules improves anti-
Water grade, reaches IP67；The module built-in drive, optimizes electric-control system, reduces overall space.
Detailed description of the invention
Fig. 1 is overall structure stereogram of the present invention.
Fig. 2 is the half-sectional top view of the present invention.
Fig. 3 is running motor gear driving pair structural schematic diagram of the present invention.
Fig. 4 is schematic diagram of internal structure of the present invention.
Fig. 5 is pivoted arm angle feed-back component structure diagram of the present invention.
Fig. 6 is shell mechanism schematic diagram of the present invention.
Fig. 7 is cabin modular electrical interface schema of the present invention.
Fig. 8 is the waterproof construction schematic diagram of double output shaft of the present invention.
In figure: 1- piggyback pod shell, 2- flip-arm power output shaft, 3- driving dynamics output gear shaft, 4- cabin are fixed
Pedestal, 5- running motor retarder, 6- driving motor, 7- running motor encoder, 8- running motor seat, 9- flip-arm motor subtract
Fast device, 10- flip-arm motor, 11- flip-arm motor encoder, 12- flip-arm motor cabinet, 13- circuit switching plate, 14- shaft
Angle feed-back component, 15- motor driver, 16- potentiometer fixed plate, 17- angle feed-back gear, 18- ohm of rotational potentiometers,
19- driving gear, 20- driven gear, 21- electric interfaces, the big bearing of 22-, 23- oil seal spacer ring, the big oil sealing of 24-, the small oil of 25-
Envelope, the small oil seal spacer ring of 26-, the small bearing of 27-, 28- running motor component a, 29- running motor component b, 30- flip-arm motor group
Part, 31- running motor gear, 32- reinforcing rib, 33- weight loss groove, 34- pin hole, 35- screw locking hole.
Specific embodiment
Referring to Fig.1-8, the small scale robot waterproof power cabin of a kind of integral type, including piggyback pod shell 1, outside piggyback pod
Running motor component a28, flip-arm electric machine assembly 30 and running motor component b29, flip-arm electric machine assembly are mounted side by side in shell 1
30 lower sections are equipped with flip-arm power output shaft 2, and 2 both ends of flip-arm power output shaft are equipped with driving dynamics by bearing holder (housing, cover) and export
Gear shaft 3, running motor component a28 and running motor component b29 output shaft installation running motor gear 31 respectively with overturning
Arm power output shaft both ends driving dynamics output gear shaft 3 engages, and to generate driving power, flip-arm electric machine assembly 30 is fixed
12 on flip-arm motor cabinet, the traveling side electric machine assembly a28 sets that there are three motor driver 15, motors in piggyback pod shell 1
Circuit switching plate 13 is fixed on driver 15,1 lower end of piggyback pod shell is equipped with cabin firm banking 4, and firm banking 4 passes through spiral shell
Silk connection connects with cabin, finally passes through the hole location on firm banking, robot corresponding with bottom plate or any hole location again
Chassis is connected, and realizes modularization installation of the power cabin in different robots.Running motor component a28 or running motor group
Part b29 includes sequentially connected running motor encoder 7, running motor 6, running motor retarder 5, and running motor 6 is fixed on
On running motor seat 8, running motor component a2 and running motor component b29 by way of screws tighten with piggyback pod shell cabin
The motor installing hole of internal wall is connected.Flip-arm electric machine assembly 30 includes sequentially connected flip-arm motor encoder 11, overturning
Arm motor 10, flip-arm motor reducer 9 and flip-arm power output shaft 2, the driving gear of 10 output shaft end of flip-arm motor
19 both engaged with the driven gear 20 on flip-arm power output shaft, also engaged with angle feed-back gear 17, angle feed-back gear
Ohm rotational potentiometer 18 is housed, ohm rotational potentiometer 18 is fixed on flip-arm motor cabinet by potentiometer fixed plate 16 on 17
On 12, flip-arm electric machine assembly 30 by way of screws tighten with the tumbler motor fixed hole position of piggyback pod shell cabin inner wall
It is connected.Wherein ohm rotational potentiometer 18 and angle feed-back gear 17, driving gear 19, driven gear 20 pass through gear drive
Realize linkage.It is final to realize under the drive of flip-arm motor 10, flip-arm power output shaft 2 can output power, while Europe
Nurse rotational potentiometer 18 is capable of the rotational angle of Real-time Feedback flip-arm power output shaft 2, provides closed loop for electric-control system.It is made
As follows with principle, flip-arm electric machine assembly 30 drives driving gear 19 to make flip-arm power output to drive driven gear 20
Axis 2 rotates；The rotation of driving gear 19 simultaneously will drive angle feed-back gear 17 to rotate, to rotate ohm rotational potentiometer 18.
Piggyback pod shell 1 sets two electric interfaces 21 on rear side of cabin, and one of power supply, another transmission of control signals will power
With Signal separator, in order to avoid influence each other between electric signal.After controlling signal and electric current access cabin, it is connected to circuit switching plate 13
On, it is separated into 6 beams later, is separately connected 10, three two running motors 6, flip-arm motor motor drivers 15.It designs in this way
Cabin, assembly and disassembly when, as long as the connector on circuit switching plate is removed, so that it may realize cabin separate, it is easy to maintain；
Meanwhile complicated driver cabling and separated time have been accomplished into inside modules, greatly reduce the route of robot other parts
Pressure optimizes electric-control system, reduces overall space, make this so that the harness drawn from main circuit board is all less more reasonable
Module becomes a power plant module that can be general.
To guarantee the intensity of piggyback pod shell and weight can be mitigated, a plurality of reinforcing rib 32 is equipped on piggyback pod shell and subtracting
Baking soda 33.So that the aluminum hull that integral thickness is 3-5mm is able to bear the output of large torque, while meeting intensity requirement and weight
It is required that.
Flip-arm power output shaft 2 and 1 contact surface of piggyback pod shell set Double seal ring waterproof construction, the big bearing of socket
22, oil seal spacer ring 23, big oil sealing 24 constitutes first of sealing, the small oil sealing 25 of socket, small oil seal spacer ring 26, the small composition of bearing 27
Second sealing.Solid lubrication is smeared in the small space that the big bearing 22, small bearing 27 and piggyback pod shell wall surface are constituted
Cream rouge, further strengthens waterproof effect.To meet waterproof IP67 requirement, multiple pin holes 34 are provided in piggyback pod shell cabin
With screw locking hole 35, it is used for accurate assembly, and in cabin stitching portion, is equipped with seal groove.Electric interfaces are all made of IP67
The waterproof aviation plug seat of rank, so that the power plant module can satisfy the working environment of IP67.
Overall dimensions of the present invention only have 254 × 207 × 131mm, have greatly saved space, install additional more for small scale robot
Multisensor provides advantage；Module self weight only 4.5 kilograms, can satisfy the power needs of gross weight 50kg robot, make its
Muddy road surface (big coefficient of friction ground) reaches at least travel speed of 1.0m/s using under the operating condition of crawler belt and ground face contact,
And the enough speeling stairways of power；If the design gross weight of the caterpillar type robot only has 25kg, then actual measurement can reach 2.1m/s's
Travel speed and can be with speeling stairway, throwing over barrier；By replacing the auxiliary accessories such as different drive trains, can obtain
Different fan-out capabilities (power total value, traveling driving 400w, pivoted arm rotate 70W), and pass through the fixation vacancy of module bottom
It is fixed, the rear portion of the cabin module can be borrowed, side wall surface is auxiliarily fixed, can be easily fixed on different small
On humanoid robot chassis, certain versatility is realized.The machine that the present invention is matched by cabin firm banking 4 and size
After people chassis is fixed, by changing the external output being connected with flip-arm power output shaft 2, driving dynamics output gear shaft 3
Mechanism can obtain completely different power output.When driving dynamics output gear shaft 3 is connected with wheeled construction, due to
The radius of tire is larger, smaller with ground friction resistance, we can obtain the power output mode of fast speed；When we will
After driving dynamics output gear shaft 3 is connected with track structure, since the landform adaptability of track structure is stronger, we
The stronger robot chassis of ground adaptability, landform handling capacity can be obtained.
Claims (4)
1. a kind of small scale robot waterproof power cabin of integral type, including piggyback pod shell, it is characterized in that: in piggyback pod shell
Running motor component a, flip-arm electric machine assembly and running motor component b is mounted side by side, is equipped with and turns over below flip-arm electric machine assembly
Pivoted arm power output shaft, flip-arm power output shaft both ends are equipped with driving dynamics output gear shaft, traveling electricity by bearing holder (housing, cover)
Thermomechanical components a and running motor component b output shaft installation running motor gear are travelled with flip-arm power output shaft both ends respectively
The engagement of power output gear axis, flip-arm electric machine assembly are fixed on flip-arm motor cabinet, running motor group in piggyback pod shell
The side part a is set there are three motor driver, and circuit switching plate is fixed on motor driver, and piggyback pod shell lower end is equipped with cabin
Firm banking.
2. the small scale robot waterproof power cabin of a kind of integral type according to claim 1, it is characterized in that: running motor
Component a or running motor component b includes sequentially connected running motor encoder, running motor, running motor retarder, traveling
Motor is fixed on running motor seat；Flip-arm electric machine assembly includes sequentially connected flip-arm motor encoder, flip-arm electricity
Machine, flip-arm motor reducer and flip-arm power output shaft, the driving gear at flip-arm motor output shaft end both with flip-arm
Driven gear engagement on power output shaft, also engages with angle feed-back gear, ohm electric rotating is housed on angle feed-back gear
Position device, ohm rotational potentiometer are fixed on flip-arm motor cabinet by potentiometer fixed plate, and piggyback pod shell is on rear side of cabin
If two electric interfaces, one of power supply, another transmission of control signals, after controlling signal and electric current access cabin, connection
Onto circuit switching plate, it is separated into 6 beams later, is separately connected two running motors, flip-arm motor, three motor drivers.
3. the small scale robot waterproof power cabin of a kind of integral type according to claim 1, it is characterized in that: in piggyback pod
Shell is equipped with a plurality of reinforcing rib and weight loss groove.
4. the small scale robot waterproof power cabin of a kind of integral type according to claim 1, it is characterized in that: flip-arm is dynamic
Power output shaft and piggyback pod shell contact surface set Double seal ring waterproof construction, the big bearing of socket, oil seal spacer ring, big oil sealing composition
First of sealing, the small oil sealing of socket, small oil seal spacer ring, small bearing constitute second sealing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910095521.2A CN109676643B (en) | 2019-01-31 | 2019-01-31 | Integrated waterproof power cabin of small robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910095521.2A CN109676643B (en) | 2019-01-31 | 2019-01-31 | Integrated waterproof power cabin of small robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109676643A true CN109676643A (en) | 2019-04-26 |
| CN109676643B CN109676643B (en) | 2024-01-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910095521.2A Active CN109676643B (en) | 2019-01-31 | 2019-01-31 | Integrated waterproof power cabin of small robot |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104787133A (en) * | 2015-03-30 | 2015-07-22 | 上海合时智能科技有限公司 | Turnover arm mechanism applicable to wheel-track combined chassis |
| CN105059413A (en) * | 2015-08-18 | 2015-11-18 | 公安部上海消防研究所 | Fire-fighting robot moving carrier having waterproof characteristic |
| CN204935670U (en) * | 2015-09-08 | 2016-01-06 | 中国矿业大学徐海学院 | The special steering wheel of a kind of double output shaft robot |
| CN107651034A (en) * | 2017-08-31 | 2018-02-02 | 北京精密机电控制设备研究所 | A kind of integrated drive module of mobile robot |
| WO2018207955A1 (en) * | 2017-05-08 | 2018-11-15 | (주)로보티즈 | Speed reducer having position feedback device provided therein |
| CN209615563U (en) * | 2019-01-31 | 2019-11-12 | 上海合时智能科技有限公司 | A kind of small scale robot waterproof power cabin of integral type |
-
2019
- 2019-01-31 CN CN201910095521.2A patent/CN109676643B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104787133A (en) * | 2015-03-30 | 2015-07-22 | 上海合时智能科技有限公司 | Turnover arm mechanism applicable to wheel-track combined chassis |
| CN105059413A (en) * | 2015-08-18 | 2015-11-18 | 公安部上海消防研究所 | Fire-fighting robot moving carrier having waterproof characteristic |
| CN204935670U (en) * | 2015-09-08 | 2016-01-06 | 中国矿业大学徐海学院 | The special steering wheel of a kind of double output shaft robot |
| WO2018207955A1 (en) * | 2017-05-08 | 2018-11-15 | (주)로보티즈 | Speed reducer having position feedback device provided therein |
| CN107651034A (en) * | 2017-08-31 | 2018-02-02 | 北京精密机电控制设备研究所 | A kind of integrated drive module of mobile robot |
| CN209615563U (en) * | 2019-01-31 | 2019-11-12 | 上海合时智能科技有限公司 | A kind of small scale robot waterproof power cabin of integral type |
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| Publication number | Publication date |
|---|---|
| CN109676643B (en) | 2024-01-26 |
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