CN111227731B - Robot integrated walking module and control method thereof - Google Patents
Robot integrated walking module and control method thereof Download PDFInfo
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- CN111227731B CN111227731B CN202010205537.7A CN202010205537A CN111227731B CN 111227731 B CN111227731 B CN 111227731B CN 202010205537 A CN202010205537 A CN 202010205537A CN 111227731 B CN111227731 B CN 111227731B
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- 238000000034 method Methods 0.000 title claims abstract description 8
- 230000005540 biological transmission Effects 0.000 claims abstract description 125
- 238000001746 injection moulding Methods 0.000 claims description 16
- 238000004891 communication Methods 0.000 claims description 9
- 230000010354 integration Effects 0.000 claims description 6
- 238000005538 encapsulation Methods 0.000 claims description 5
- 238000009434 installation Methods 0.000 abstract description 18
- 238000009415 formwork Methods 0.000 description 10
- 230000004308 accommodation Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
- 230000003014 reinforcing effect Effects 0.000 description 7
- 239000000243 solution Substances 0.000 description 5
- 238000010073 coating (rubber) Methods 0.000 description 3
- 230000002787 reinforcement Effects 0.000 description 3
- 238000010408 sweeping Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 238000002347 injection Methods 0.000 description 2
- 239000007924 injection Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000009416 shuttering Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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Abstract
The application discloses a robot integrated walking module which comprises a mould shell, a brushless driving assembly, a walking wheel assembly and a transmission gear assembly, wherein the brushless driving assembly and the walking wheel assembly are arranged on one surface of the mould shell; the application also discloses a control method of the robot integrated walking module. The application obtains the integrated walking module by arranging and assembling the brushless driving assembly, the walking wheel assembly and the transmission gear assembly in the integrated mould shell, has small space volume, light weight, flexible and convenient installation, high universality, high structural stability and long service life, and can realize accurate control of walking driving by taking the brushless driving assembly as a driving source, has low noise, and a transmission gear assembly increases transmission force and ensures the walking power of the walking module.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a robot integrated walking module and a control method thereof.
Background
With the development of technology, various kinds of intelligent robots, such as intelligent sweeping robots, are gradually driven into various households. For example, when the intelligent floor sweeping robot runs, the driving motor is required to control the rollers to execute the walking task, and a motor driving module, a transmission gear module and a walking roller module of the intelligent robot in the prior art are separately arranged, so that the space volume of the walking module of the robot is larger, and the structural stability is insufficient.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a robot integrated walking module and a control method thereof.
The invention discloses a robot integrated walking module, comprising:
A mould shell;
The brushless driving assembly and the travelling wheel assembly are arranged on one surface of the mould shell; and
A transmission gear assembly arranged on the other side of the mould shell; the output end of the brushless driving assembly penetrates through the mould shell and is connected with the input end of the transmission gear assembly, and the output end of the transmission gear assembly penetrates through the mould shell and is connected with the travelling wheel assembly.
According to one embodiment of the invention, the mold shell comprises a shell main body, a driving bearing part, a traveling wheel bearing part and a transmission gear bearing part which are integrally formed; the driving bearing part and the travelling wheel bearing part are arranged on one surface of the shell main body, and the transmission gear bearing part is arranged on the other surface of the shell main body; the driving bearing part and the travelling wheel bearing part are respectively communicated with the transmission gear bearing part through the shell main body.
According to an embodiment of the present invention, a brushless driving assembly includes a brushless motor; the brushless motor has a drive shaft and a connection terminal; the driving shaft penetrates through the mould shell and is connected with the input end of the transmission gear assembly.
According to an embodiment of the invention, the road wheel assembly comprises road wheels; the center of the travelling wheel is provided with an output shaft connected with a flat position; the output end of the transmission gear component passes through the mould shell and is connected with the output shaft by a flat position.
According to one embodiment of the invention, the travelling wheel is provided with continuous teeth along its outer edge.
According to one embodiment of the present invention, the drive gear assembly includes a drive gear member, a multi-stage parallel axis gear member, and an output gear member in meshed connection in sequence.
According to one embodiment of the invention, the drive gear member has drive bevel teeth.
According to an embodiment of the present invention, the output gear member includes an output shaft and an output gear; the output gear sleeve is arranged on the output shaft, and the output end of the output shaft is connected with the flat position of the travelling wheel assembly.
According to one embodiment of the invention, the output gear is provided with the injection molding rubber coating part, the injection molding rubber coating part is sleeved on the output shaft, and the injection molding flat position of the output shaft corresponding to the injection molding rubber coating part is arranged.
A control method of a robot integrated walking module comprises the following steps:
the brushless driving assembly drives and generates driving force;
the driving force is transmitted to the travelling wheel assembly through the power of the transmission gear assembly;
The walking wheel assembly walks.
The application has the beneficial effects that: through with brushless drive assembly, walking wheel subassembly and drive gear subassembly rational layout assembly in the integration mould shell, obtain the walking module of integration, its space is small, light in weight, the installation is nimble convenient, the universality is high, structural stability is high moreover, long service life can keep long-time steady operation, in addition regard brushless drive assembly as the accurate control of drive can realize walking drive, and the noise is little, a drive gear subassembly increases the driving force, ensure the walking power of walking module.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
Fig. 1 is a schematic structural diagram of an integrated walking module of a robot in a first embodiment;
FIG. 2 is an exploded view of a robot-integrated walking module according to the first embodiment;
FIG. 3 is a schematic view of a formwork in accordance with one embodiment;
FIG. 4 is a schematic view of another view of a formwork in accordance with one embodiment;
Fig. 5 is a schematic structural diagram of a main body of a middle case, a driving bearing part, a travelling wheel bearing part and a transmission gear bearing part in the first embodiment;
FIG. 6 is a schematic view of the structure of a cover of a transmission gear according to the first embodiment;
FIG. 7 is a schematic diagram of a transmission gear assembly according to the first embodiment;
FIG. 8 is a schematic diagram of the structure of an output gear member according to the first embodiment;
fig. 9 is a cross-sectional view of the output gear member in the first embodiment.
Detailed Description
Various embodiments of the invention are disclosed in the following drawings, in which details of the practice are set forth in the following description for the purpose of clarity. However, it should be understood that these practical details are not to be taken as limiting the invention. That is, in some embodiments of the invention, these practical details are unnecessary. Moreover, for the purpose of simplifying the drawings, some conventional structures and components are shown in the drawings in a simplified schematic manner.
It should be noted that all directional indicators such as up, down, left, right, front, and rear … … in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a specific posture such as that shown in the drawings, and if the specific posture is changed, the directional indicator is changed accordingly.
Furthermore, descriptions such as those related to "first," "second," and the like, are provided for descriptive purposes only and are not intended to be specifically construed as order or sequence, nor are they intended to limit the invention solely for distinguishing between components or operations described in the same technical language and are not to be construed as indicating or implying any relative importance or order of such features. Thus, a feature defining "a first", "a second" may include at least one such feature, either explicitly or implicitly. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
For a further understanding of the invention, its features and advantages, reference is now made to the following examples, which are illustrated in the accompanying drawings in which:
example 1
Referring to fig. 1 and 2, fig. 1 is a schematic structural diagram of a robot-integrated walking module in the first embodiment, and fig. 2 is an exploded view of the robot-integrated walking module in the first embodiment. The robot integrated walking module in the embodiment comprises a mould shell 1, a brushless driving assembly 2, a walking wheel assembly 3 and a transmission gear assembly 4. The brushless driving component 2 and the travelling wheel component 3 are arranged on one surface of the mould shell 1. The transmission gear assembly 4 is arranged on the other side of the mould shell 1. The output end of the brushless driving assembly 2 passes through the mould shell 1 to be connected with the input end of the transmission gear assembly 4, and the output end of the transmission gear assembly 4 passes through the mould shell 1 to be connected with the travelling wheel assembly 3.
Through with brushless drive assembly 2, walking wheel assembly 3 and transmission gear assembly 4 rational layout assembly in integrated mould shell 1, obtain the walking module of integration, its space is small, light in weight, the installation is nimble convenient, the universality is high, structural stability is high moreover, long service life can keep long-time steady operation, in addition regard brushless drive assembly 2 as the accurate control of drive can realize walking drive, and the noise is little, a transmission gear assembly 4 increases the driving force, ensure the walking power of walking module.
With continued reference to fig. 3 to 5, fig. 3 is a schematic structural view of the middle mold shell of the first embodiment, fig. 4 is another schematic structural view of the middle mold shell of the first embodiment, and fig. 5 is a schematic structural view of the main body of the middle mold shell, the driving bearing portion, the travelling wheel bearing portion and the transmission gear bearing portion of the first embodiment. Further, the formwork 1 includes an integrally formed case main body 11, a drive bearing portion 12, a road wheel bearing portion 13, and a transmission gear bearing portion 14. The drive bearing part 12 and the travelling wheel bearing part 13 are arranged on one surface of the shell main body 11, and the transmission gear bearing part 14 is arranged on the other surface of the shell main body 11. The drive carrier 12 and the road wheel carrier 13 are respectively communicated with the transmission gear carrier 14 through the case main body 11. The brushless drive assembly 2, the road wheel assembly 3 and the transmission gear assembly 4 are accommodated and carried in the drive carrier 12, the road wheel carrier 13 and the transmission gear carrier 14, respectively. Preferably, the formwork 1 further comprises a drive gear cover 15. The transmission gear cover 15 covers the transmission gear carrying part 14 and covers the transmission gear assembly 4. The integrally formed driving bearing part 12, the travelling wheel bearing part 13 and the transmission gear bearing part 14 are reasonably distributed through the shell main body 11, so that a single mould shell can compactly and reasonably contain and bear the brushless driving assembly 2, the travelling wheel assembly 3 and the transmission gear assembly 4; and the whole mould shell has simple and stable structure, can ensure long-time stable use and has good practicability.
Referring back to fig. 3 to 5, further, the housing body 11 has a plate shape, and the specific peripheral shape thereof may be determined according to the shapes of the driving bearing portion 12, the traveling wheel bearing portion 13 and the transmission gear bearing portion 14 in specific applications. The case main body 11 in this embodiment is a plate-like shape with both ends approximately circular.
The drive receiving portion 12 includes a brushless motor accommodation groove 121 and a drive receiving communication position 122 provided in the brushless motor accommodation groove 121. The drive-bearing communication position 122 communicates with the transmission gear bearing 14. The brushless motor receiving groove 121 is formed on the surface of the housing body 11 and is located at one end of the housing body 11, and the brushless motor receiving groove 121 in this embodiment is in a groove shape, and a cross section of the groove is circular, so that the brushless motor receiving groove 121 can receive the brushless driving assembly 2. In a specific application, the surface of the shell body 11 is used as the bottom wall of the brushless motor accommodating groove 121, so that the thickness of the mould shell can be reduced, and the volume of the mould shell can be reduced, and at the moment, one end of the shell body 11 is in a shape of a circle matched with the brushless motor accommodating groove 121. The drive-bearing communication site 122 is vertically provided at the bottom wall of the brushless motor accommodation groove 121, and preferably, the brushless motor accommodation groove 121 overlaps with the central axis of the drive-bearing communication site 122. The drive bearing communicating position 122 is in a cylindrical state with a shaft through hole 1221, the position of the shell main body 11 corresponding to the shaft through hole 1221 is provided with a through hole matched with the position of the shell main body 11, the drive bearing communicating position 122 carries the brushless drive assembly 2, and a drive shaft of the brushless drive assembly 2 can pass through the shaft through hole 211 of the drive bearing communicating position 122 and the shell main body 11, then extend into the transmission gear bearing part 14 and are in transmission connection with the transmission gear assembly 4 borne in the transmission gear bearing part 14. The groove wall of the brushless motor accommodation groove 121 is provided with a connection notch 1211. Specifically, the connection notch 1211 is located near the end of the case body 11, and the connection notch 1211 is opened so that the connection terminal of the brushless driving assembly 2 is electrically connected to the outside.
Referring back to fig. 3, further, the road wheel carrying part 13 includes a road wheel accommodating groove 131 and a road wheel carrying communicating position 132 disposed in the road wheel accommodating groove 131. The road wheel carrier communication position 132 communicates with the transmission gear carrier 14. The wall of the traveling wheel accommodating groove 131 is provided with a wheel leakage notch 1311. Wherein, the one end that shell main part 11 kept away from brushless motor holding tank 121 is located to walking wheel holding tank 131, and walking wheel holding tank 131 is just right with brushless motor holding tank 121. The road wheel accommodation groove 131 in this embodiment is a circular groove so that the road wheel accommodation groove 131 can accommodate the road wheel assembly 3. It can be appreciated that the ground is required to be adhered to the ground when the walking wheel assembly 3 walks, so that the outer edge of the walking wheel assembly 3 needs to leak from the walking wheel accommodating groove 131, in this embodiment, the walking wheel assembly 3 leaks from the walking wheel accommodating groove 131 through the opened wheel leaking notch 1311, and in specific application, the opening angle of the wheel leaking notch 1311 can be 120 to 180 degrees, that is, the opened wheel leaking notch 1311 occupies one third to one half of the groove wall of the walking wheel accommodating groove 131, so that the walking wheel assembly 3 leaks outside, and the walking wheel assembly 3 can be protected. In a specific application, the surface of the shell body 11 is used as the bottom wall of the travelling wheel accommodating groove 131, so that the thickness of the mould shell can be reduced, and the volume of the mould shell is reduced, and the shape of the other end of the shell body 11 is a circle matched with the travelling wheel accommodating groove 131. The traveling wheel carrying communication position 132 includes a ring carrying table 1321 and an output through hole 1322 located at the center of the ring carrying table 1321. The center axes of the ring bearing table 1321, the output through hole 1322, and the traveling wheel accommodating groove 131 overlap. The housing main body 11 has a through hole adapted to the position of the output through hole 1322. The ring bearing platform 1321 in this embodiment is an annular boss, the traveling wheel accommodating groove 131 accommodates the traveling wheel assembly 3, the ring bearing platform 1321 rotationally bears the traveling wheel assembly 3, and the output shaft of the transmission gear assembly 4 in the transmission gear bearing portion 14 is connected with the traveling wheel assembly 3 through the shell main body 11 and the output through hole 1322.
The walls of the preferred wheel receiving slot 131 are also provided with cutting notches 1312. The cutting notch 1312 is opposite the tap notch 1311. It will be appreciated that the wheel receiving slot 131 is larger than the brushless motor receiving slot 121, and thus the overall size of the formwork can be further reduced by cutting the notch 312 on the side of the wheel receiving slot 131 opposite the wheel-missing notch 1311.
Referring back to fig. 5, further, the transmission gear carrying part 14 is in a groove shape, specifically, a groove is formed around the periphery of the shell main body 11, and the surface of the shell main body 11 is used as the bottom wall of the transmission gear carrying part 14, so as to reduce the thickness of the mould shell, thereby reducing the volume of the mould shell. A plurality of first gear shaft mounting holes 141 are provided in the transmission gear carrying portion 14 for mounting the gear shaft. A plurality of first fixed mounting holes 142 are provided at the side wall of the drive gear carrier 14.
With continued reference to fig. 3, 4 and 6, fig. 6 is a schematic structural view of a cover of a transmission gear according to the first embodiment. The transmission gear cover 15 is in the form of a cover which is adapted to the transmission gear carrier 14. The transmission gear cover 15 protects the transmission gear assembly 4 carried in the transmission gear carrying part 14, and the transmission gear cover 15 and the transmission gear carrying part 14 cooperate to rotatably carry the gear shaft of the transmission gear assembly 4. The transmission gear cover 15 is provided with a plurality of second gear shaft mounting holes 151 and a plurality of second fixing mounting holes 152. The installation positions of the plurality of second gear shaft mounting holes 151 and the plurality of second fixed mounting holes 152 correspond to the installation positions of the plurality of first gear shaft mounting holes 141 and the plurality of first fixed mounting holes 142, respectively. The first gear shaft mounting hole 141 is matched with the second gear shaft mounting hole 151, and the first gear shaft mounting hole and the second gear shaft mounting hole are matched with each other to carry out rotation of the gear shaft of the transmission gear assembly 4, so that a separate gear bearing carrier position, such as a bearing, can be omitted, and the size of the die shell can be further reduced. The second fixing and mounting hole 152 is matched with the first fixing and mounting hole 142, and the second fixing and mounting hole and the first fixing and mounting hole are approximately fixed by matching screws, so that the transmission gear cover shell 15 is firmly fixed on the transmission gear bearing part 14.
Referring again to FIG. 3, further, the formwork 1 of this embodiment also includes reinforcements 16. The reinforcement portion 16 is provided in the case main body 11, and is connected to the drive bearing portion 12 and the road wheel bearing portion 13, respectively. Specifically, the reinforcing part 16 is located between the travelling wheel accommodating groove 131 and the brushless motor accommodating groove 121, two ends of the reinforcing part 16 are connected with the travelling wheel accommodating groove 131 and the brushless motor accommodating groove 121 respectively, the reinforcing part 16 in this embodiment is a reinforcing rib, and the stability of the formwork can be increased through the arrangement of the reinforcing part 16. Preferably, the number of the reinforcing portions 16 is plural. Preferably, the reinforcement portion 16 is integrally formed with the housing body 11.
Referring again to FIGS. 3-5, the formwork 1 of this embodiment further includes a first mounting location 17. The first mounting and positioning member 17 is provided on the case main body 11 and adjacent to the drive carrying portion 12. The first mounting and positioning member 17 is integrally connected with the drive bearing portion 12 and the road wheel bearing portion 13, respectively. The first mounting location 17 is used for mounting location when the formwork is assembled to the intelligent robot. Specifically, the first mounting and positioning member 17 includes a mounting and positioning post 171 and a stabilizing connection plate 172. The installation positioning column 171 is connected with the outer wall of the brushless motor accommodating groove 121, and two ends of the stable connecting plate 172 are respectively connected with the installation positioning column 171 and the outer wall of the traveling wheel accommodating groove 131. Preferably, the mounting and positioning column 171, the fixing and connecting plate 172, the traveling wheel accommodating groove 131 and the housing main body 11 are integrally formed, so that the strength of the mounting and positioning column 171 and the strength of the whole shuttering can be enhanced. The mounting positioning column 171 is provided with a mounting through hole 1711 for positioning and mounting.
Preferably, the formwork 1 in this embodiment also includes a second mounting location 18. The second mounting and positioning member 18 is provided on the housing main body 11 and connected to the drive bearing portion 12. Specifically, the second installation positioning member 18 is columnar and is connected to the outer wall of the brushless motor accommodating groove 121, and in this embodiment, a clamping manner is adopted, and of course, an integral connection manner may also be adopted. The second installation positioning members 18 and the installation positioning posts 171 are respectively located at two opposite sides of the connection notch 1211. The second installation positioning element 18 is provided with an installation blind hole 181 for positioning installation.
The first installation positioning piece 17 and the second installation positioning piece 18 can increase the installation adaptability of the integrated walking module. In specific applications, the first installation and positioning member 17 and the second installation and positioning member 18 may be specifically designed according to the type of the intelligent robot of the specific application.
Referring back to fig. 1 and 2, further, the brushless drive assembly 2 includes a brushless motor 21. The brushless motor 21 has a drive shaft 211 and a connection terminal 212. A drive shaft 211 is connected to the input of the drive gear assembly 4 through the form 1. Specifically, the brushless motor 21 is accommodated in the brushless motor accommodating groove 121, the drive bearing communication position 122 is adapted to the brushless motor 21, the drive bearing communication position 122 can fixedly bear the brushless motor 21, the driving shaft 211 passes through the shaft through hole 1221 to be connected with the transmission gear assembly 4, and the connection terminal 212 passes through the connection notch 1211 to be connected with the outside, for example, to be connected with the control center of the intelligent robot. In this embodiment, the brushless motor 21 is used as a driving source, the brushless motor has the characteristics of accurate driving and vertical stopping during braking, and is used as a driving source to drive the traveling wheel assembly 3 to rotate through the transmission gear assembly 4, so that the effect of follow-up stopping can be achieved, and the follow-up stopping is accurate in control, so that the follow-up stopping of the robot integrated traveling module can be realized. In addition, brushless motor still has the noise low, long service life's characteristics, can reduce the running noise of integration walking module to increase the life of integration walking module.
Referring back to fig. 1 and 2, further, the road wheel assembly 3 includes road wheels 31. The center of the travelling wheel 31 is provided with an output shaft flat 311. The output end of the transmission gear assembly 4 passes through the mould shell 1 and is connected with the output shaft flat position 311. The traveling wheel 31 in this embodiment is a rotating wheel, the transmission gear assembly 4 uses an output shaft with a flat position as output, the output shaft of the transmission gear assembly 4 is inserted into the connection flat position 311 of the traveling wheel 31, and then the traveling wheel 31 and the output shaft are fixed by screws, so that the transmission gear assembly 4 can stably output the traveling wheel 31. Preferably, the road wheel 31 is provided with continuous teeth 312 along its outer edge to increase the grip of the road wheel 31 when it is walking. Preferably, the number of the teeth 312 is two, the teeth 312 of two rows are arranged on the outer edge of the travelling wheel 31 side by side, and the teeth 312 of two rows are staggered, so as to further increase the grip force of the travelling wheel 31 during travelling.
With continued reference to fig. 7, fig. 7 is a schematic diagram of a transmission gear assembly according to the first embodiment. Still further, the transmission gear assembly 4 includes a drive gear member 41, a multi-stage parallel shaft gear member 42, and an output gear member 43, which are sequentially engaged. The driving gear member 41 is a gear, the driving shaft 211 of the brushless motor 21 passes through the shaft through hole 1221 and is connected to the driving gear member 41, and the driving gear member 41 is driven by the driving shaft 21 to rotate. The specific number of stages of the multi-stage parallel axis gear assembly 42 may be determined according to practical requirements. The multi-stage parallel shaft gear transmission member 42 in the present embodiment includes a primary gear transmission portion 421, a secondary gear transmission portion 422, and a tertiary gear transmission portion 423. The primary gear portion 421 includes a gear shaft 4211, shaft teeth 4212, and gear teeth 4213. Both ends of the gear shaft 4211 are rotatably connected to the first gear shaft mounting hole 141 of the transmission gear carrier 14 and the second gear shaft mounting hole 151 of the transmission gear cover 15, respectively. The shaft teeth 4212 and the gear teeth 4213 are respectively sleeved on the gear shaft 4211, wherein the gear teeth 4213 are located above the shaft teeth 4212. The structure and the operation principle of the secondary gear transmission part 422 and the tertiary gear transmission part 423 are identical to those of the primary gear transmission part 421. The gear teeth of the secondary gear transmission part 422 and the tertiary gear transmission part 423 are positioned below the shaft teeth, and the secondary gear transmission part 422 and the tertiary gear transmission part 423 are respectively supported by the first gear shaft mounting hole 141 of the transmission gear bearing part 14 and the second gear shaft mounting hole 151 of the transmission gear cover shell 15 as rotation. The gear teeth of the secondary gear transmission portion 422 are meshed with the gear teeth 4212 of the primary gear transmission portion 421, the gear teeth of the secondary gear transmission portion 422 are meshed with the gear teeth of the tertiary gear transmission portion 423, the gear teeth of the tertiary gear transmission portion 423 are meshed with the output gear member 43, and the driving gear member 41 is meshed with the gear teeth 4213, so that the driving shaft 211 drives the rotation of the gear member 41, and after the primary gear transmission portion 421, the secondary gear transmission portion 422 and the tertiary gear transmission portion 423 are sequentially transmitted, the output gear member 43 is driven to rotate and output. By providing the multistage parallel shaft gear transmission 42, the transmission force can be increased, and the transmission power can be increased.
Preferably, the drive gear member 41 has drive bevel 411. The gear teeth 4213 of the primary gear transmission portion 421 have helical teeth adapted to the driving helical teeth 411 so that the driving gear member 41 is engaged with the helical teeth of the primary gear transmission portion 421. The noise of the helical tooth engagement mode is low, so that the running noise of the integrated walking module can be further reduced. Preferably, the driving gear member 41 may be made of a sound deadening material to further reduce driving noise.
With continued reference to fig. 7-8, fig. 8 is a schematic structural diagram of an output gear member according to the first embodiment. The output gear member 43 includes an output shaft 431 and an output gear 432. The output gear 432 is sleeved on the output shaft 431, and the output end of the output shaft 431 is connected with the flat position of the travelling wheel assembly 3. Specifically, the tail end of the output shaft 431 has an output flat bit 4311, and the output flat bit 4311 is adapted to the output shaft connection flat bit 311. The output gear 432 is meshed with the shaft teeth of the three-stage gear transmission part 423, and the output flat position 4311 of the output shaft 431 is correspondingly inserted into the output shaft connection flat position 311 of the travelling wheel 31 and is in threaded connection with the travelling wheel 31 through the fixed blind hole 4312 of the end surface, so that the travelling wheel 31 is fixed on the output shaft 43.
Preferably, the output gear member 43 further includes two rotating carrier seats 433. The two rotary bearing seats 433 are respectively arranged on the transmission gear bearing part 14 and the transmission gear cover shell 15, and the two rotary bearing seats 433 are respectively sleeved on the output shaft 431 and are respectively arranged on two opposite sides of the output gear 432. The stability of the rotation output of the output shaft 431 is ensured by the arrangement of the two rotation bearing seats 433. The rotary carrier 433 of this embodiment may employ bearings.
Referring again to fig. 9, fig. 9 is a cross-sectional view of the output gear member in the first embodiment. Furthermore, the output gear 432 has an injection molding and encapsulating portion 4321, the injection molding and encapsulating portion 4321 is sleeved on the output shaft 431, and an injection molding flat portion 4310 is formed at a position of the output shaft 431 corresponding to the injection molding and encapsulating portion 4321. Specifically, the output shaft 431 is recessed along its periphery to form an injection molded flat 4310. The injection molding encapsulation part 4321 is approximately cylindrical, and is connected with the output gear 432 through a hub with a reinforcing rib, and the injection molding encapsulation part 4321 is integrally formed on the injection molding flat part 4310 of the output shaft 431 by adopting an injection molding process. Preferably, the injection molded overmold 4321 is integrally formed with the output gear 432. The connection between the output gear 432 and the output shaft 431 is realized by a rubber-coated injection-molded flat structure, so that the sliding between the output gear 432 and the output shaft 431 is avoided, and the output strength is also increased.
Example two
The control method of the robot integrated walking module in the embodiment comprises the following steps:
the brushless driving assembly 2 drives and generates a driving force.
The driving force is power-transmitted to the traveling wheel assembly 3 through the transmission gear assembly 4.
The walking wheel assembly 3 walks.
The brushless driving assembly 2, the travelling wheel assembly 3 and the transmission gear assembly 4 can refer to the first embodiment, and will not be described herein.
It will be appreciated that the brushless motor 21 of the brushless driving assembly 2 has a control function, so that the brushless motor can be used as a control starting point for walking of the walking wheel assembly 3 without providing an additional walking control chip. After the mold shell 1, the brushless driving assembly 2, the traveling wheel assembly 3 and the transmission gear assembly 4 are assembled into an integrated traveling module, the integrated traveling module can be directly assembled to an intelligent robot, such as an intelligent floor sweeping robot, wherein the connecting terminal 212 of the brushless motor 21 is connected with a control center of the intelligent robot. After the control center of the intelligent robot sends a walking instruction, the brushless motor 21 can execute a corresponding walking task to complete driving and walking of the walking wheel assembly 3.
In this way, the integrated walking module can be adaptively installed on various intelligent robots, and a walking instruction can be sent to the brushless motor 21 only after the intelligent robot is connected with the connecting terminal 212 of the brushless motor 21, so that walking control is completed. Therefore, walking solutions can be provided for various intelligent robots, and the enterprise competitiveness is improved.
Moreover, the brushless motor 21 also has a braking function, and can stop along with rotation, so that the walking wheel assembly 3 stops along with movement, and the intelligent robot can stop along with movement due to strong ground grabbing force of the double-row teeth 312 matched with the outer edge of the walking wheel 31, thereby achieving the purpose of accurate walking control.
To sum up: the robot integrated walking module in this embodiment has characteristics such as small, noise is low, control is accurate, longe-lived, practical nimble and transmission power is big, when being applied to intelligent robot, can greatly promote enterprise competitiveness, is suitable for using widely.
The above are merely embodiments of the present invention, and are not intended to limit the present invention. Various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, or the like, which is within the spirit and principles of the present invention, should be included in the scope of the claims of the present invention.
Claims (8)
1. The utility model provides a robot integration walking module which characterized in that includes:
A mould shell (1); the die shell (1) comprises a shell main body (11), a driving bearing part (12), a travelling wheel bearing part (13) and a transmission gear bearing part (14) which are integrally formed; the driving bearing part (12) and the travelling wheel bearing part (13) are arranged on one surface of the shell main body (11), and the transmission gear bearing part (14) is arranged on the other surface of the shell main body (11); the driving bearing part (12) and the travelling wheel bearing part (13) are respectively communicated with the transmission gear bearing part (14) through the shell main body (11); the drive bearing part (12) comprises a brushless motor accommodating groove (121) and a drive bearing communicating position (122) arranged in the brushless motor accommodating groove (121), and the surface of the shell main body (11) is used as the bottom wall of the brushless motor accommodating groove (121); the travelling wheel bearing part (13) comprises a travelling wheel accommodating groove (131) and a travelling wheel bearing communicating position (132) arranged in the travelling wheel accommodating groove (131), the travelling wheel bearing communicating position (132) is communicated with the transmission gear bearing part (14), a wheel leakage notch (1311) and a cutting notch (1312) are formed in the groove wall of the travelling wheel accommodating groove (131), the opening angle of the wheel leakage notch (1311) can be 120-180 degrees, namely, the wheel leakage notch (1311) is formed to occupy one third to one half of the groove wall of the travelling wheel accommodating groove (131), the surface of the shell main body (11) is used as the bottom wall of the travelling wheel accommodating groove (131), and the cutting notch (1312) is opposite to the wheel leakage notch (1311); the drive bearing communication position (122) is communicated with the transmission gear bearing part (14); the transmission gear bearing part (14) is in a groove shape, specifically, a groove is formed around the periphery of the shell main body (11), and the surface of the shell main body (11) is used as the bottom wall of the transmission gear bearing part (14); a plurality of first gear shaft mounting holes (141) are formed in the transmission gear bearing part (14); the mould shell (1) further comprises a transmission gear cover shell (15), the transmission gear cover shell (15) is covered on the transmission gear bearing part (14) and covers the transmission gear assembly (4), a plurality of second gear shaft mounting holes (151) are formed in the transmission gear cover shell (15), the second gear shaft mounting holes (151) correspond to the arrangement positions of the first gear shaft mounting holes (141), the first gear shaft mounting holes (141) are matched with the second gear shaft mounting holes (151), and the first gear shaft mounting holes and the second gear shaft mounting holes are matched with each other to carry out rotation bearing on a gear shaft of the transmission gear assembly (4);
A brushless driving assembly (2) and a travelling wheel assembly (3) which are arranged on one surface of the mould shell (1); the brushless drive assembly (2) comprises a brushless motor (21); the brushless motor (21) is accommodated in the brushless motor accommodating groove (121); the brushless motor (21) has a drive shaft (211) and a connection terminal (212); the travelling wheel assembly (3) is accommodated in the travelling wheel bearing part (13); and
A transmission gear assembly (4) arranged on the other side of the mould shell (1); the transmission gear assembly (4) is accommodated in the transmission gear bearing part (14); the driving shaft (211) penetrates through the mould shell (1) to be connected with the input end of the transmission gear assembly (4), and the output end of the transmission gear assembly (4) penetrates through the mould shell (1) to be connected with the travelling wheel assembly (3).
2. The robotic integrated walking module of claim 1, wherein the walking wheel assembly (3) comprises a walking wheel (31); an output shaft connecting flat position (311) is arranged at the center of the travelling wheel (31); the output end of the transmission gear assembly (4) penetrates through the mould shell (1) to be connected with the output shaft flat position (311).
3. The robot-integrated walking module according to claim 2, characterized in that the walking wheel (31) is provided with continuous teeth (312) along its outer edge.
4. The robot-integrated walking module of claim 1, wherein the transmission gear assembly (4) comprises a drive gear member (41), a multi-stage parallel axis gear transmission member (42) and an output gear member (43) which are sequentially engaged.
5. The robot-integrated walking module of claim 4, wherein the drive gear member (41) has drive bevel teeth (411).
6. The robot-integrated walking module of claim 5, wherein the output gear member (43) comprises an output shaft (431) and an output gear (432); the output gear (432) is sleeved on the output shaft (431), and the output end of the output shaft (431) is connected with the traveling wheel assembly (3) in a flat position.
7. The robot-integrated traveling module according to claim 6, wherein the output gear (432) has an injection molding encapsulation portion (4321), the injection molding encapsulation portion (4321) is sleeved on the output shaft (431), and an injection molding flat position (4310) is formed at a position of the output shaft (431) corresponding to the injection molding encapsulation portion (4321).
8. A control method of the robot-integrated walking module as claimed in any one of claims 1 to 7, comprising the steps of:
a brushless driving component (2) drives and generates driving force;
The driving force is transmitted to the travelling wheel assembly (3) through the power of the transmission gear assembly (4);
The walking wheel assembly (3) walks.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010205537.7A CN111227731B (en) | 2020-03-20 | 2020-03-20 | Robot integrated walking module and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010205537.7A CN111227731B (en) | 2020-03-20 | 2020-03-20 | Robot integrated walking module and control method thereof |
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| CN111227731A CN111227731A (en) | 2020-06-05 |
| CN111227731B true CN111227731B (en) | 2024-04-19 |
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| CN203953560U (en) * | 2014-07-02 | 2014-11-26 | 东莞市智科智能科技有限公司 | Cleaning robot |
| CN105686765A (en) * | 2016-03-01 | 2016-06-22 | 江苏美的清洁电器股份有限公司 | Floor sweeping robot |
| CN205479213U (en) * | 2016-02-21 | 2016-08-17 | 浙江新剑精密制品有限公司 | Speed change gear of robot sweeps floor |
| CN208988722U (en) * | 2018-06-13 | 2019-06-18 | 山西嘉世达机器人技术有限公司 | Walking component and the clean robot with it |
| CN209529050U (en) * | 2018-09-17 | 2019-10-25 | 东莞市凤瑞电子科技有限公司 | A kind of damping device of sweeping robot |
| CN110604517A (en) * | 2019-10-21 | 2019-12-24 | 广东雷洋智能科技股份有限公司 | Novel sweeping robot |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2570064B1 (en) * | 2011-09-01 | 2015-04-01 | Samsung Electronics Co., Ltd. | Driving wheel assembly and robot cleaner having the same |
| KR102376150B1 (en) * | 2015-03-05 | 2022-03-21 | 삼성전자주식회사 | Robot cleaner and control method thereof |
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203953560U (en) * | 2014-07-02 | 2014-11-26 | 东莞市智科智能科技有限公司 | Cleaning robot |
| CN205479213U (en) * | 2016-02-21 | 2016-08-17 | 浙江新剑精密制品有限公司 | Speed change gear of robot sweeps floor |
| CN105686765A (en) * | 2016-03-01 | 2016-06-22 | 江苏美的清洁电器股份有限公司 | Floor sweeping robot |
| CN208988722U (en) * | 2018-06-13 | 2019-06-18 | 山西嘉世达机器人技术有限公司 | Walking component and the clean robot with it |
| CN209529050U (en) * | 2018-09-17 | 2019-10-25 | 东莞市凤瑞电子科技有限公司 | A kind of damping device of sweeping robot |
| CN110604517A (en) * | 2019-10-21 | 2019-12-24 | 广东雷洋智能科技股份有限公司 | Novel sweeping robot |
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| Publication number | Publication date |
|---|---|
| CN111227731A (en) | 2020-06-05 |
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Country or region after: China Address after: 516223 changbuxinpi village, Xinwei Town, Huiyang District, Huizhou City, Guangdong Province Applicant after: Guangdong Kingly Gear Co.,Ltd. Address before: 516223 changbuxinpi village, Xinwei Town, Huiyang District, Huizhou City, Guangdong Province Applicant before: GUANGDONG KINGLY GEAR Co.,Ltd. Country or region before: China |
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