CN113043829A - Driving device and indoor robot - Google Patents
Driving device and indoor robot Download PDFInfo
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- CN113043829A CN113043829A CN202110316583.9A CN202110316583A CN113043829A CN 113043829 A CN113043829 A CN 113043829A CN 202110316583 A CN202110316583 A CN 202110316583A CN 113043829 A CN113043829 A CN 113043829A
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- gear
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- rotating shaft
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- 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
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
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- 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
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/043—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
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- 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
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0061—Disposition of motor in, or adjacent to, traction wheel the motor axle being parallel to the wheel axle
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Abstract
The embodiment of the application provides a driving device and an indoor robot. The driving device comprises a supporting seat, a driving motor and a transmission mechanism. The driving motor is arranged on the supporting seat and is provided with an output shaft; the transmission mechanism comprises a first rotating shaft, a second rotating shaft, a first transmission wheel, a second transmission wheel, a third transmission wheel, a fourth transmission wheel, a fifth transmission wheel and a sixth transmission wheel; the first driving wheel is sleeved on the output shaft, the first rotating shaft is rotatably arranged on the supporting seat and is parallel to the output shaft, the second driving wheel is sleeved on the first rotating shaft, and the second driving wheel is in transmission connection with the first driving wheel; the third driving wheel is sleeved on the first rotating shaft, the second rotating shaft is rotatably arranged on the supporting seat and is parallel to the first rotating shaft, the fourth driving wheel is sleeved on the second rotating shaft, and the fourth driving wheel is in transmission connection with the third driving wheel; the fifth driving wheel is sleeved on the second rotating shaft. The indoor robot effectively reduces the running noise of the transmission mechanism of the driving device and increases the bearable torque.
Description
Technical Field
The application relates to the technical field of robots, in particular to a driving device and an indoor robot.
Background
At present, building indoor robot wide application is in indoor construction, and building indoor robot is increasingly strict to the actuating system's of walking of driven wheel requirement, if need satisfy the nimble requirement of walking to convenient construction operation, the actuating system of current building indoor robot has above-mentioned advantage, however the actuating system noise ratio of current building indoor robot is bigger, and is also less to the drive power of walking wheel.
Disclosure of Invention
An object of the embodiment of the application is to provide a drive arrangement and indoor robot for solve the big and less problem of drive force to the walking wheel of current building indoor robot's the actuating system noise.
The embodiment of the application provides a driving device, including:
a supporting seat;
the driving motor is arranged on the supporting seat and is provided with an output shaft;
the transmission mechanism comprises a first rotating shaft, a second rotating shaft, a first transmission wheel, a second transmission wheel, a third transmission wheel, a fourth transmission wheel, a fifth transmission wheel and a sixth transmission wheel;
the first driving wheel is sleeved on the output shaft, the first rotating shaft is rotatably arranged on the supporting seat and is parallel to the output shaft, the second driving wheel is sleeved on the first rotating shaft, and the second driving wheel is in transmission connection with the first driving wheel; the third driving wheel is sleeved on the first rotating shaft, the second rotating shaft is rotatably arranged on the supporting seat and is parallel to the first rotating shaft, the fourth driving wheel is sleeved on the second rotating shaft, and the fourth driving wheel is in transmission connection with the third driving wheel; the fifth driving wheel is sleeved on the second rotating shaft; the sixth driving wheel is in transmission connection with the fifth driving wheel and is used for being coaxially arranged with a traveling wheel of the indoor robot;
the diameter of the second driving wheel is larger than that of the first driving wheel, the diameter of the fourth driving wheel is larger than that of the third driving wheel, and the diameter of the sixth driving wheel is larger than that of the fifth driving wheel.
In the driving device, the driving motor and the transmission mechanism are arranged on the supporting seat, the output shaft of the driving motor drives the first transmission wheel to rotate, the diameter of the second transmission wheel is larger than that of the first transmission wheel, so the rotating speed of the second transmission wheel is smaller than that of the first transmission wheel, the diameter of the fourth transmission wheel is larger than that of the third transmission wheel, so the rotating speed of the fourth transmission wheel is smaller than that of the third transmission wheel, the diameter of the sixth transmission wheel is larger than that of the fifth transmission wheel, so the rotating speed of the sixth transmission wheel is smaller than that of the fifth transmission wheel, the rotating speeds of the third transmission wheel and the second transmission wheel are the same, the rotating speeds of the fifth transmission wheel and the fourth transmission wheel are the same, so the rotating speeds of the second transmission wheel, the fourth transmission wheel and the sixth transmission wheel are sequentially reduced, the torques are sequentially increased, and the large gear wheel is driven by the three-, the running noise of the transmission mechanism is effectively reduced, the bearable torque is increased, and the driving force of the travelling wheel is increased; because the second transmission wheel, the fourth transmission wheel and the sixth transmission wheel are not positioned on the same plane, the sizes of the second transmission wheel, the fourth transmission wheel and the sixth transmission wheel can be adjusted to be larger, and the rotating speed can be reduced and the torque can be increased more effectively.
In one embodiment, the first driving wheel, the second driving wheel, the third driving wheel, the fourth driving wheel, the fifth driving wheel and the sixth driving wheel are respectively a first gear, a second gear, a third gear, a fourth gear, a fifth gear and a sixth gear, the second gear is meshed with the first gear, the fourth gear is meshed with the third gear, and the sixth gear is meshed with the fifth gear.
In one embodiment, the first driving wheel, the second driving wheel, the third driving wheel, the fourth driving wheel, the fifth driving wheel and the sixth driving wheel are synchronous belt wheels, the second driving wheel is connected with the first driving wheel through synchronous belt transmission, the fourth driving wheel is connected with the third driving wheel through synchronous belt transmission, and the sixth driving wheel is connected with the fifth driving wheel through synchronous belt transmission.
In one embodiment, the diameter of the third gear is smaller than the diameter of the second gear, and the diameter of the fifth gear is smaller than the diameter of the fourth gear.
In one embodiment, the third gear is adjacent to or in abutment with the second gear and the fifth gear is adjacent to or in abutment with the fourth gear.
In one embodiment, the third gear is located on a side of the second gear facing away from the driving motor, and the fifth gear is located on a side of the fourth gear facing away from the third gear.
In one embodiment, the diameter of the second gear, the diameter of the fourth gear and the diameter of the sixth gear are increased in sequence, and the fifth gear is spaced apart from the second gear.
In one embodiment, a mounting opening is formed in one side surface of the support seat, and the first gear, the second gear, the third gear, the fourth gear, the fifth gear and the sixth gear are respectively located in the mounting opening.
In one embodiment, the supporting seat comprises a supporting seat body and a supporting seat cover, the mounting opening is formed in the side surface of the supporting seat body, the supporting seat cover is detachably connected with the supporting seat body, and the supporting seat cover movably covers the mounting opening.
In one embodiment, the height of the output shaft relative to the bottom of the support seat is greater than the height of the first rotating shaft relative to the bottom of the support seat, the height of the first rotating shaft relative to the bottom of the support seat is greater than the height of the second rotating shaft relative to the bottom of the support seat, the height of the second rotating shaft relative to the bottom of the support seat is greater than the height of the shaft on which the sixth gear is located relative to the bottom of the support seat, and projections of the shafts on the horizontal plane, on which the output shaft, the first rotating shaft, the second rotating shaft and the sixth gear are located, are not collinear.
The utility model provides an indoor robot, includes running gear and the drive arrangement as in any preceding embodiment, running gear includes third pivot and walking wheel, the third pivot is rotated and is located on the supporting seat, and with the second pivot is parallel, the walking wheel cover is located in the third pivot, the sixth drive wheel cover is located in the third pivot.
The indoor robot comprises a walking device and a driving device, wherein a driving motor and a transmission mechanism of the driving device are arranged on a supporting seat, an output shaft of the driving motor drives a first driving wheel to rotate, the diameter of a second driving wheel is larger than that of the first driving wheel, so that the rotating speed of the second driving wheel is smaller than that of the first driving wheel, the diameter of a fourth driving wheel is larger than that of a third driving wheel, so that the rotating speed of the fourth driving wheel is smaller than that of a third driving wheel, the diameter of a sixth driving wheel is larger than that of a fifth driving wheel, so that the rotating speed of the sixth driving wheel is smaller than that of the fifth driving wheel, the rotating speeds of the third driving wheel and the second driving wheel are the same, the rotating speeds of the fifth driving wheel and the fourth driving wheel are the same, so that the rotating speeds of the second driving wheel, the fourth driving wheel and the sixth driving wheel are sequentially reduced, the rotating speed of a transmission mechanism of the driving device is greatly reduced, the running noise of the transmission mechanism is effectively reduced, the bearable torque is increased, and the driving force of the travelling wheel is increased; because the second transmission wheel, the fourth transmission wheel and the sixth transmission wheel are not positioned on the same plane, the sizes of the second transmission wheel, the fourth transmission wheel and the sixth transmission wheel can be adjusted to be larger, and the rotating speed can be reduced and the torque can be increased more effectively.
Additional features and advantages of the disclosure will be set forth in the description which follows, or in part may be learned by the practice of the above-described techniques of the disclosure, or may be learned by practice of the disclosure.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of an indoor robot according to an embodiment of the present disclosure;
fig. 2 is an exploded schematic view of an indoor robot according to an embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "connected" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or a point connection; either directly or indirectly through intervening media, or may be an internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "first," "second," and the like, are used primarily to distinguish one device, element, or component from another (the specific nature and configuration may be the same or different), and are not used to indicate or imply the relative importance or number of the indicated devices, elements, or components. "plurality" means two or more unless otherwise specified.
In one embodiment, a driving device comprises a supporting seat, a driving motor and a transmission mechanism. The driving motor is arranged on the supporting seat and is provided with an output shaft; the transmission mechanism comprises a first rotating shaft, a second rotating shaft, a first transmission wheel, a second transmission wheel, a third transmission wheel, a fourth transmission wheel, a fifth transmission wheel and a sixth transmission wheel; the first driving wheel is sleeved on the output shaft, the first rotating shaft is rotatably arranged on the supporting seat and is parallel to the output shaft, the second driving wheel is sleeved on the first rotating shaft, and the second driving wheel is in transmission connection with the first driving wheel; the third driving wheel is sleeved on the first rotating shaft, the second rotating shaft is rotatably arranged on the supporting seat and is parallel to the first rotating shaft, the fourth driving wheel is sleeved on the second rotating shaft, and the fourth driving wheel is in transmission connection with the third driving wheel; the fifth driving wheel is sleeved on the second rotating shaft; the sixth driving wheel is in transmission connection with the fifth driving wheel and is used for being coaxially arranged with a traveling wheel of the indoor robot; the diameter of the second driving wheel is larger than that of the first driving wheel, the diameter of the fourth driving wheel is larger than that of the third driving wheel, and the diameter of the sixth driving wheel is larger than that of the fifth driving wheel.
As shown in fig. 1 and fig. 2, the driving device 10 of an embodiment includes a supporting base 100, a driving motor 200, and a transmission mechanism 300. The driving motor 200 is arranged on the supporting seat 100, and the driving motor 200 is provided with an output shaft 210; the transmission mechanism 300 comprises a first rotating shaft 301, a second rotating shaft 302, a first transmission wheel 310, a second transmission wheel 320, a third transmission wheel 330, a fourth transmission wheel 340, a fifth transmission wheel 350 and a sixth transmission wheel 360; the first driving wheel 310 is sleeved on the output shaft 210, the first rotating shaft 301 is rotatably arranged on the supporting seat 100 and is parallel to the output shaft 210, the second driving wheel 320 is sleeved on the first rotating shaft 301, and the second driving wheel 320 is in transmission connection with the first driving wheel 310; the third driving wheel 330 is sleeved on the first rotating shaft 301, the second rotating shaft 302 is rotatably arranged on the supporting seat 100 and is parallel to the first rotating shaft 301, the fourth driving wheel 340 is sleeved on the second rotating shaft 302, and the fourth driving wheel 340 is in transmission connection with the third driving wheel 330; the fifth driving wheel 350 is sleeved on the second rotating shaft 302; the sixth driving wheel 360 is in transmission connection with the fifth driving wheel 350, and the sixth driving wheel 360 is used for being coaxially arranged with a traveling wheel of the indoor robot; the diameter of the second driving wheel 320 is greater than that of the first driving wheel 310, the diameter of the fourth driving wheel 340 is greater than that of the third driving wheel 330, and the diameter of the sixth driving wheel 360 is greater than that of the fifth driving wheel 350. In this embodiment, the output shaft 210, the first rotating shaft 301 and the second rotating shaft 302 are respectively disposed at intervals.
In the above-mentioned driving apparatus 10, the driving motor 200 and the transmission mechanism 300 are disposed on the supporting base 100, the output shaft 210 of the driving motor 200 drives the first driving wheel 310 to rotate, the diameter of the second driving wheel 320 is greater than the diameter of the first driving wheel 310, so the rotation speed of the second driving wheel 320 is less than the rotation speed of the first driving wheel 310, the diameter of the fourth driving wheel 340 is greater than the diameter of the third driving wheel 330, so the rotation speed of the fourth driving wheel 340 is less than the rotation speed of the third driving wheel 330, the diameter of the sixth driving wheel 360 is greater than the diameter of the fifth driving wheel 350, so the rotation speed of the sixth driving wheel 360 is less than the rotation speed of the fifth driving wheel 350, the rotation speeds of the third driving wheel 330 and the second driving wheel 320 are the same, the rotation speeds of the fifth driving wheel 350 and the rotation speeds of the fourth driving wheel 340 are the same, so the rotation speeds of the second driving wheel, the three-stage pinion drives the bull gear, so that the rotating speed of the transmission mechanism 300 of the driving device 10 is greatly reduced, the running noise of the transmission mechanism 300 is effectively reduced, the bearable torque is increased, and the driving force of the travelling wheel is increased; because the second driving wheel 320, the fourth driving wheel 340 and the sixth driving wheel 360 are not positioned on the same plane, the sizes of the second driving wheel 320, the fourth driving wheel 340 and the sixth driving wheel 360 can be adjusted to be larger, so that the rotating speed can be reduced and the torque can be increased more effectively.
In order to stabilize the reduction transmission of the transmission mechanism 300, in one embodiment, as shown in fig. 1 and fig. 2, the first transmission wheel 310, the second transmission wheel 320, the third transmission wheel 330, the fourth transmission wheel 340, the fifth transmission wheel 350 and the sixth transmission wheel 360 are respectively a first gear 311, a second gear 321, a third gear 331, a fourth gear 341, a fifth gear 351 and a sixth gear 361, the second gear 321 is meshed with the first gear 311, the fourth gear 341 is meshed with the third gear 331, the sixth gear 361 is meshed with the fifth gear 351, and in the case of multi-stage transmission, the transmission between gears is more reliable and stable, and the reduction transmission of the transmission mechanism 300 is stabilized by the reduction transmission of the gear set.
In other embodiments, the first driving wheel 310, the second driving wheel 320, the third driving wheel 330, the fourth driving wheel 340, the fifth driving wheel 350 and the sixth driving wheel 360 are synchronous pulleys respectively, the second driving wheel 320 is connected with the first driving wheel 310 through synchronous belt transmission, the fourth driving wheel 340 is connected with the third driving wheel 330 through synchronous belt transmission, and the sixth driving wheel 360 is connected with the fifth driving wheel 350 through synchronous belt transmission.
In order to reduce the installation space of the transmission mechanism 300, in one embodiment, the diameter of the third gear 331 is smaller than that of the second gear 321, the diameter of the fifth gear 351 is smaller than that of the fourth gear 341, so that when a certain transmission ratio is required, the size of the third gear 331 is smaller than that of the coaxial second gear 321, so that the size of the fourth gear 341 is not selected to be large when the certain transmission ratio is satisfied, and the size of the fifth gear 351 is smaller than that of the coaxial fourth gear 341, so that the size of the sixth gear 361 is not selected to be large when the certain transmission ratio is satisfied, so that the installation space occupied by the whole transmission mechanism 300 is small, the structure of the driving device 10 is compact, and the occupation of a large size of an indoor robot is avoided.
In order to reduce the installation space of the transmission mechanism 300, in one embodiment, the third gear 331 is adjacent to or abutted against the second gear 321, and the fifth gear 351 is adjacent to or abutted against the fourth gear 341, so that the overall size of the entire transmission mechanism 300 in the direction parallel to the rotation axis is smaller, that is, the horizontal size of the transmission mechanism 300 is smaller, so that the installation space occupied by the entire transmission mechanism 300 is smaller, the structure of the driving device 10 is more compact, and the occupation of a larger size of an indoor robot is avoided. In one embodiment, the third gear 331 abuts against the second gear 321, and the fifth gear 351 abuts against the fourth gear 341, that is, the third gear 331 abuts against the second gear 321, and the fifth gear 351 abuts against the fourth gear 341.
In order to reduce the installation space of the transmission mechanism 300, in one embodiment, the third gear 331 is located on the side of the second gear 321 facing away from the driving motor 200, the fifth gear 351 is located on the side of the fourth gear 341 facing away from the third gear 331, thus, when the driving motor 200 is located at the inner side, the first gear 311 and the second gear 321 are located at the inner side, the fourth gear 341 and the third gear 331 are located at the outer side, the first gear 311 and the second gear 321 are located at the inner side of the fourth gear 341 and the third gear 331, the sixth gear 361 and the fifth gear 351 are located at the inner side of the fourth gear 341 and the third gear 331, thus, the horizontal size of the entire actuator 300 is made small, so that the installation space occupied by the entire actuator 300 is made small, the structure of the driving device 10 is compact, and the large size of the indoor robot is avoided.
In order to avoid interference between the gears and the gears or the rotating shafts, in one embodiment, the diameter of the second gear 321, the diameter of the fourth gear 341, and the diameter of the sixth gear 361 are sequentially increased, and the fifth gear 351 is spaced apart from the second gear 321. Therefore, the interference between the second rotating shaft 302 or the fifth gear 351 and the second gear 321 is avoided, the interference between the fourth gear 341 and the shaft where the sixth gear 361 is located is avoided, and the stable operation of each gear and the rotating shaft is ensured.
In order to reduce the size of the driving device 10, in one embodiment, as shown in fig. 2, a mounting opening 101 is formed in one side surface of the supporting seat 100, and the first gear 311, the second gear 321, the third gear 331, the fourth gear 341, the fifth gear 351 and the sixth gear 361 are respectively located in the mounting opening 101, so that each gear of the transmission mechanism 300 is arranged in the mounting opening 101 of the supporting seat 100, and the supporting seat 100 does not protrude horizontally or protrudes too much from the supporting seat 100, thereby reducing the horizontal size of the driving device 10, making the structure of the driving device 10 compact, and avoiding occupying a larger size of an indoor robot.
In order to protect the transmission mechanism 300 and facilitate maintenance of the transmission mechanism 300, as shown in fig. 2, in one embodiment, the supporting seat 100 includes a supporting seat body 110 and a supporting seat cover 120, the side of the supporting seat body 110 is provided with the mounting opening 101, the supporting seat cover 120 is detachably connected to the supporting seat body 110, the mounting opening 101 is movably covered by the supporting seat cover 120, so that each gear and rotating shaft located in the mounting opening 101 are sealed by the supporting seat cover 120, and the dustproof and waterproof protection effect can be achieved, and since the supporting seat cover is detachably connected to the supporting seat body 110, the supporting seat cover 120 is convenient to detach, and after the supporting seat cover 120 is detached, maintenance operations such as lower support maintenance and the like can be performed on the transmission mechanism 300, which is very convenient. In one embodiment, the support base cover 120 is clamped to the support base body 110. In one embodiment, the support base cover 120 is screwed with the support base 110 by bolts.
In order to reduce the installation space of the transmission mechanism 300, in one embodiment, the height of the output shaft 210 relative to the bottom of the support seat 100 is greater than the height of the first rotating shaft 301 relative to the bottom of the support seat 100, the height of the first rotating shaft 301 relative to the bottom of the support seat 100 is greater than the height of the second rotating shaft 302 relative to the bottom of the support seat 100, the height of the second rotating shaft 302 relative to the bottom of the support seat 100 is used to be greater than the height of the axis on which the sixth gear 361 is located relative to the bottom of the support seat 100, the projections of the axes on the horizontal plane of the output shaft 210, the first rotating shaft 301, the second rotating shaft 302 and the sixth gear 361 are not collinear, in this embodiment, the driving motor 200 and the first gear 311 are located at a position near the top of the support seat 100, and the sixth gear 361 and the traveling wheels are located at a position near the bottom of, reduced like this between each gear not be in a straight line down the distribution in vertical direction, but left and right side distribution under the degressive condition of height, had bigger space like this and set up bigger gear, satisfied bigger moment of torsion under the less circumstances of the installation space of guarantee drive mechanism 300 in the perpendicular to pivot side, installation space in vertical direction for drive arrangement 10's structure is comparatively compact, avoids occuping the great size of indoor robot.
As shown in fig. 1 and 2, an indoor robot 30 includes a traveling device 20 and a driving device 10 according to any of the above embodiments, where the traveling device 20 includes a third rotating shaft 21 and a traveling wheel 22, the third rotating shaft 21 is rotatably disposed on the supporting base 100 and is parallel to the second rotating shaft 302, the traveling wheel 22 is sleeved on the third rotating shaft 21, and the sixth driving wheel 360 is sleeved on the third rotating shaft 21. In this embodiment, the output shaft 210, the first rotating shaft 301, the second rotating shaft 302 and the third rotating shaft 21 are disposed at intervals. In one embodiment, the sixth transmission wheel 360 and the traveling wheel 22 are respectively located at two sides of the supporting seat 100, and the third rotating shaft 21 is disposed through the supporting seat 100 and rotates relative to the supporting seat 100. In one embodiment, the sixth transmission wheel 360 drives the road wheel 22 to rotate through the axle rotator.
The indoor robot 30 includes a walking device 20 and a driving device 10, a driving motor 200 and a transmission mechanism 300 of the driving device 10 are disposed on the supporting base 100, an output shaft 210 of the driving motor 200 drives the first driving wheel 310 to rotate, a diameter of the second driving wheel 320 is greater than a diameter of the first driving wheel 310, so a rotation speed of the second driving wheel 320 is less than a rotation speed of the first driving wheel 310, a diameter of the fourth driving wheel 340 is greater than a diameter of the third driving wheel 330, so a rotation speed of the fourth driving wheel 340 is less than a rotation speed of the third driving wheel 330, a diameter of the sixth driving wheel 360 is greater than a diameter of the fifth driving wheel 350, so a rotation speed of the sixth driving wheel 360 is less than a rotation speed of the fifth driving wheel 350, a rotation speed of the third driving wheel 330 is the same as that of the second driving wheel 320, a rotation speed of the fifth driving wheel 350 is the same as that of the fourth driving wheel 340, so that rotation speeds of the second, the torque is increased in sequence, and the large gear is driven by the three-stage small gear, so that the rotating speed of the transmission mechanism 300 of the driving device 10 is greatly reduced, the running noise of the transmission mechanism 300 is effectively reduced, the bearable torque is increased, and the driving force of the travelling wheel 22 is increased; because the second driving wheel 320, the fourth driving wheel 340 and the sixth driving wheel 360 are not positioned on the same plane, the sizes of the second driving wheel 320, the fourth driving wheel 340 and the sixth driving wheel 360 can be adjusted to be larger, so that the rotating speed can be reduced and the torque can be increased more effectively.
In all embodiments of the present application, the terms "large" and "small" are relatively speaking, and the terms "upper" and "lower" are relatively speaking, so that descriptions of these relative terms are not repeated herein.
It should be appreciated that reference throughout this specification to "in this embodiment," "in an embodiment of the present application," or "as an alternative implementation" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in this embodiment," "in the examples of the present application," or "as an alternative embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Those skilled in the art should also appreciate that the embodiments described in this specification are all alternative embodiments and that the acts and modules involved are not necessarily required for this application.
In various embodiments of the present application, it should be understood that the size of the serial number of each process described above does not mean that the execution sequence is necessarily sequential, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (11)
1. A drive device, comprising:
a supporting seat;
the driving motor is arranged on the supporting seat and is provided with an output shaft;
the transmission mechanism comprises a first rotating shaft, a second rotating shaft, a first transmission wheel, a second transmission wheel, a third transmission wheel, a fourth transmission wheel, a fifth transmission wheel and a sixth transmission wheel;
the first driving wheel is sleeved on the output shaft, the first rotating shaft is rotatably arranged on the supporting seat and is parallel to the output shaft, the second driving wheel is sleeved on the first rotating shaft, and the second driving wheel is in transmission connection with the first driving wheel; the third driving wheel is sleeved on the first rotating shaft, the second rotating shaft is rotatably arranged on the supporting seat and is parallel to the first rotating shaft, the fourth driving wheel is sleeved on the second rotating shaft, and the fourth driving wheel is in transmission connection with the third driving wheel; the fifth driving wheel is sleeved on the second rotating shaft; the sixth driving wheel is in transmission connection with the fifth driving wheel and is used for being coaxially arranged with a traveling wheel of the indoor robot;
the diameter of the second driving wheel is larger than that of the first driving wheel, the diameter of the fourth driving wheel is larger than that of the third driving wheel, and the diameter of the sixth driving wheel is larger than that of the fifth driving wheel.
2. The driving apparatus as claimed in claim 1, wherein the first driving wheel, the second driving wheel, the third driving wheel, the fourth driving wheel, the fifth driving wheel and the sixth driving wheel are respectively a first gear, a second gear, a third gear, a fourth gear, a fifth gear and a sixth gear, the second gear is engaged with the first gear, the fourth gear is engaged with the third gear, and the sixth gear is engaged with the fifth gear.
3. The driving device as claimed in claim 1, wherein the first driving wheel, the second driving wheel, the third driving wheel, the fourth driving wheel, the fifth driving wheel and the sixth driving wheel are synchronous pulleys, the second driving wheel is connected to the first driving wheel through synchronous belt transmission, the fourth driving wheel is connected to the third driving wheel through synchronous belt transmission, and the sixth driving wheel is connected to the fifth driving wheel through synchronous belt transmission.
4. The drive of claim 2, wherein the diameter of the third gear is smaller than the diameter of the second gear and the diameter of the fifth gear is smaller than the diameter of the fourth gear.
5. The drive of claim 2, wherein the third gear is adjacent to or in abutment with the second gear and the fifth gear is adjacent to or in abutment with the fourth gear.
6. The drive of claim 2, wherein the third gear is located on a side of the second gear facing away from the drive motor and the fifth gear is located on a side of the fourth gear facing away from the third gear.
7. The drive of claim 6, wherein the diameter of the second gear, the diameter of the fourth gear, and the diameter of the sixth gear increase in sequence, the fifth gear being spaced apart from the second gear.
8. The driving device as claimed in claim 2, wherein a mounting opening is formed in one side surface of the supporting base, and the first gear, the second gear, the third gear, the fourth gear, the fifth gear and the sixth gear are respectively located in the mounting opening.
9. The driving apparatus as claimed in claim 8, wherein the supporting base includes a supporting base body and a supporting base cover, the mounting opening is formed on a side surface of the supporting base body, the supporting base cover is detachably connected to the supporting base body, and the supporting base cover movably covers the mounting opening.
10. The driving device as claimed in claim 8, wherein the height of the output shaft relative to the bottom of the supporting seat is greater than the height of the first rotating shaft relative to the bottom of the supporting seat, the height of the first rotating shaft relative to the bottom of the supporting seat is greater than the height of the second rotating shaft relative to the bottom of the supporting seat, the height of the second rotating shaft relative to the bottom of the supporting seat is greater than the height of the shaft on which the sixth gear is located relative to the bottom of the supporting seat, and the projections of the shafts on which the output shaft, the first rotating shaft, the second rotating shaft and the sixth gear are located on a horizontal plane are not collinear.
11. An indoor robot, comprising a walking device and a driving device as claimed in any one of claims 1 to 10, wherein the walking device comprises a third rotating shaft and a walking wheel, the third rotating shaft is rotatably disposed on the supporting base and parallel to the second rotating shaft, the walking wheel is sleeved on the third rotating shaft, and the sixth driving wheel is sleeved on the third rotating shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110316583.9A CN113043829A (en) | 2021-03-24 | 2021-03-24 | Driving device and indoor robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110316583.9A CN113043829A (en) | 2021-03-24 | 2021-03-24 | Driving device and indoor robot |
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| CN113043829A true CN113043829A (en) | 2021-06-29 |
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| CN202110316583.9A Pending CN113043829A (en) | 2021-03-24 | 2021-03-24 | Driving device and indoor robot |
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