CN206954340U - The magnetically adsorbed device of one kind driving integration - Google Patents
The magnetically adsorbed device of one kind driving integration Download PDFInfo
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- CN206954340U CN206954340U CN201720948455.5U CN201720948455U CN206954340U CN 206954340 U CN206954340 U CN 206954340U CN 201720948455 U CN201720948455 U CN 201720948455U CN 206954340 U CN206954340 U CN 206954340U
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- 230000010354 integration Effects 0.000 title claims abstract description 29
- 230000005540 biological transmission Effects 0.000 claims abstract description 133
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 41
- 230000001360 synchronised effect Effects 0.000 claims abstract description 37
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims abstract description 32
- 229910052802 copper Inorganic materials 0.000 claims abstract description 32
- 239000010949 copper Substances 0.000 claims abstract description 32
- 230000033001 locomotion Effects 0.000 claims abstract description 6
- 238000007789 sealing Methods 0.000 claims description 10
- 230000007704 transition Effects 0.000 claims description 7
- 239000004744 fabric Substances 0.000 claims description 2
- 239000003292 glue Substances 0.000 claims 1
- 230000009194 climbing Effects 0.000 description 18
- 238000010521 absorption reaction Methods 0.000 description 13
- 238000001179 sorption measurement Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 7
- 239000003463 adsorbent Substances 0.000 description 6
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 230000003068 static effect Effects 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 210000001015 abdomen Anatomy 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
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Abstract
It the utility model is related to a kind of magnetically adsorbed device of driving integration, it is characterized in that the device includes power transmission shaft, harmonic speed reducer, the encapsulated shell of wheel body, motor, transmission bracket, belt shaft, magnet and wheel body end cap, the encapsulated shell of wheel body coordinates with wheel body end cap forms closing space, the power transmission shaft is arranged on the central axis of the encapsulated shell of wheel body, the encapsulated shell of wheel body is stretched out in power transmission shaft one end and wheel body end cap is connected with car body, and the other end is connected by the firm gear of ring flange and harmonic speed reducer；Motor and magnet are respectively arranged in the space of the encapsulated shell of wheel body of the both sides of harmonic speed reducer, magnet side is fixed by No. two magnet holders with No.1 copper sheathing, and the opposite side of magnet is fixed by No.1 magnet holder with power transmission shaft；Described motor one end is fixed by transmission bracket and power transmission shaft；Fixing band wheel shaft in transmission bracket between power transmission shaft and motor, output shaft, belt shaft and the power transmission shaft three of motor are parallel to each other, and pass through synchronous band forms transfer motion power.
Description
Technical field
Robotic technology field, more particularly to magnetic adsorption wall climbing robot absorption and drive device are the utility model is related to,
Specially a kind of integrated magnetically adsorbed device for being used to produce absorption affinity and driving force.
Background technology
Climbing robot can carry certain instrument and substitute people as a kind of specialized robot that can be used in limit operation
Class carries out operation in high-altitude vertical walls.Climbing robot mainly has magnetic suck, high-pressure electrostatic absorption and vacuumizes negative pressure at present
The structure types such as absorption, wherein magnetic adsorption wall climbing robot show the advantages of very prominent in some specific environments, no
Only have working stability, adsorption capacity strong, also embody stronger wall configuration adaptability.The design of magnetic adsorption device is with climbing
The overall weight of wall robot, appearance and size, kinematic dexterity and functional reliability are closely bound up, are magnetic adsorption wall climbing robots
Key technology.
Existing magnetic adsorption wall climbing robot is more using wheeled absorption (magnet is positioned over into inside wheel), to improve robot
Mobile speed and the flexibility of motion.But existing wheeled magnetic suck robot generally existing adsorbent equipment and drive device
The problem of separation, cause climbing robot complicated, volume is bigger than normal, heavier-weight, reduces kinematic dexterity.Meanwhile pin
To the design optimization of magnetic adsorption device, it is primarily upon how greatly improving absorption affinity at present, the less modularization for considering structure is set
Meter.Therefore, the low integrated level of magnetically adsorbed device, non-modularization, cause magnetic adsorption device poor universality, reduce and climb wall machine
Device people's operating efficiency, limits the workplace of climbing robot, especially be related to different operating face, different operating modes continuous work
Industry.If the adsorbed wall-climbing robot that patent document " adsorbed wall-climbing robot (CN104443096A) " is related to is using absorption dress
Put with drive device separate mode, driven using the direct-connected motor in wheel, realized by the magnetic block for being arranged in car body belly
Absorption, compact overall structure is not good enough, is unfavorable for fast assembling-disassembling, and do not possess water-proof function.And for example patent document " climb by magnetic suck
The magnetic adsorption wall climbing robot adsorbent equipment that the magnetic suck of wall robot and driving integrated module (CN106364583A) " is related to
Though adsorbent equipment and drive device are integrated in into wheel module, it is easy to dismount, its internal structure is excessively complicated, and layout, which lacks, closes
Rationality, it is in ellipticity that profile is caused while causing to assemble inconvenience, takes a large amount of installing spaces, and then causes robot overall
Physical dimension is larger, while the device final drive uses toothed belt transmission, and the timing belt with certain flexibility exists for a long time
Worked under high capacity, reduce transmission accuracy, it is necessary to be tensioned, in addition without water-proof function.
In summary, although existing magnetically adsorbed device can provide the absorption affinity of climbing robot, generally existing with
Lower 2 points of deficiencies：First, adsorbent equipment separates with drive device, and integrated level is low, poor universality, non-modularization, it is impossible to realizes fast
Speed dismounting, and result in and climb that wall device people is complicated, and volume is bigger than normal, and function is single, and operating efficiency is low.Second, for existing one
The magnetically adsorbed device of bodyization, its internal structure is complicated, and appearance and size is larger, takes installing space, and reliability is low.Therefore, urgently
It is high that a kind of integrated level need to be researched and developed, versatile, reliability is high, compact-sized, is easily assembled, fast demountable, has waterproof work(
The integrated magnetically adsorbed device of energy.
Utility model content
In view of the shortcomings of the prior art, the technical problem that the utility model intends to solve is：A kind of integrated magnetic of driving is provided
Adsorbed device.It is integrated with drive device that the magnetically adsorbed device realizes adsorbent equipment, and integrated level is high, versatility
By force, reliability is high, compact-sized, is easily assembled, fast demountable, and carries out waterproof to the module using static seal and dynamic sealing
Processing.A composite module of the module as magnetic adsorption wall climbing robot, can not only provide climbing robot absorption affinity, again
Driving force can be provided, simplify the body construction of climbing robot, overall dimensions are reduced, improve the flexible of climbing robot
Property.The Rapid Combination from different wall-climbing device human bodies can be realized using installation axle simultaneously, various working requirement is adapted to, makes machine
Device people more commercialization, engineering.
The utility model solves the technical scheme that the technical problem uses：A kind of integrated magnetic absorbing wheel of driving is provided
Formula device, it is characterised in that the device includes power transmission shaft, harmonic speed reducer, the encapsulated shell of wheel body, motor, transmission bracket, belt wheel
Axle, magnet, No.1 magnet holder, No. two magnet holders and wheel body end cap, the encapsulated shell one end closing of wheel body, one end is opened
Mouthful, openend is connected with wheel body end cap, and the encapsulated closed termination of outer cover inner side end of wheel body sets cantilever support beam, the support beam
It is encapsulated including the encapsulated shell No.1 shaft part of wheel body and wheel body No. two shaft parts of encapsulated shell, the encapsulated shell No.1 shaft part of wheel body and wheel body
The transition position of No. two shaft parts of shell sets the shaft shoulder, at the shaft shoulder of the encapsulated shell No.1 shaft part of wheel body and encapsulated No. two shaft parts of shell of wheel body
No.1 copper sheathing is fixedly mounted, the outer end of encapsulated No. two shaft parts of shell of wheel body of support beam sets positioning spigot and flange, and the positioning stops
Mouth and the connection of the output end of flange and harmonic speed reducer；The encapsulated shell aperture end of wheel body is stepped, by the No.1 face of cylinder
Formed with No. two faces of cylinder, the No.1 face of cylinder and axially position of the step that No. two faces of cylinder are formed for No. two copper sheathings, two
Number face of cylinder coordinates with No. two copper sheathing outer rings to be slided；
The encapsulated shell of wheel body coordinates with wheel body end cap forms closing space, and the power transmission shaft is arranged on the encapsulated shell of wheel body
On central axis, the encapsulated shell of wheel body is stretched out in power transmission shaft one end and wheel body end cap is connected with car body, the other end by ring flange and
The firm gear connection of harmonic speed reducer；Motor and magnetic are respectively arranged in the space of the encapsulated shell of wheel body of the both sides of harmonic speed reducer
Iron, magnet side are fixed by No. two magnet holders with No.1 copper sheathing, and the opposite side of magnet passes through No.1 magnet holder and transmission
Axle is fixed；Described motor one end is fixed by transmission bracket and power transmission shaft；It is solid in transmission bracket between power transmission shaft and motor
Determine belt shaft, output shaft, belt shaft and the power transmission shaft three of motor are parallel to each other, and pass through synchronous band forms transfer motion power；Institute
State between the encapsulated shell of wheel body and No. two copper sheathings, pacify between No. two copper sheathings and wheel body end cap, between wheel body end cap and power transmission shaft
Equipped with sealing ring；
The harmonic speed reducer is hollow type, and wave producer input is flange form input, the firm gear of harmonic speed reducer with
The ring flange connection of power transmission shaft, is fixing end；The flexbile gear of the harmonic speed reducer and the positioning spigot on the encapsulated shell of wheel body and
Flange connects, and is output end.
Compared with prior art, the beneficial effects of the utility model are：
1) the utility model realizes the modularization of magnetically adsorbed device, is a combination of magnetic adsorption wall climbing robot
Module.Rapid Combination with wall-climbing device human body can be realized by power transmission shaft, it is easy for installation, it can repeatedly dismantle, be easy to transport
It is defeated.
2) the utility model is integrated with driver element by absorbing unit, in the encapsulated shell of wheel body.Climbed in offer
While wall robot absorption affinity, and can enough provides driving force, and integrated level is high, versatile, for different duty requirements, can take
Different machines people car body and mechanical arm are carried, realizes job requirements.And the body construction of climbing robot is effectively simplified, is reduced
Overall dimensions, improve the flexibility of climbing robot.
3) the magnetically adsorbed apparatus structure of the utility model driving integration is compact, and rationally distributed, reliability is high.Driving
In the magnetically adsorbed device of integration, from motor output end to harmonic speed reducer input, zig-zag type cloth is carried out using timing belt
Office, realizes double reduction, makes drive mechanism compacter；As viewed from device one end, absorbing unit erects with driver element in 1 font
Straight distribution, motor are located at device topmost, and magnet is located at device foot, motor is maximized with magnet distance, reduce magnetic field
Influence, ensure the performance of motor in long-time use, improve device functional reliability；Motor driver passes through motor driver branch
Frame is positioned over the side of driver element, has fully used the space in the encapsulated shell of wheel body, makes the diameter of the encapsulated shell of wheel body slightly
More than magnet external diameter, in the case of identical suction, overall dimensions are farthest reduced.This layout type cleverly utilizes
The useful space in the encapsulated shell of wheel body, the reliability of adsorbent equipment work is strengthened, appearance and size is reduced, makes overall knot
Structure is compacter.
4) connected inside the utility model device using single shaft series system, ensureing that harmonic speed reducer, wheel body are encapsulated outer
While the important spare part axialities such as shell, magnet carrier, wheel body end cap, convenience simple in construction, it is easily assembled.It is main inside device
Parts are wanted to be arranged using series system, centered on power transmission shaft, through harmonic speed reducer, magnet holder, transmission branch
Frame and wheel body end cap, cleverly make use of power transmission shaft to ensure that the axiality of important spare part, realize the axial direction of important feature
Positioning and circumferential transmission, are finally fixed using locking nut, make the assembling of magnetically adsorbed apparatus module more reasonable, convenient.
Between wheel body end cap and the encapsulated shell of wheel body, copper sheathing is all provided between magnet holder and the encapsulated enclosure support beam of wheel body, is protected
The lubricity rotated is demonstrate,proved, avoids important spare part from wearing.
5) the utility model device has water proof and dust proof performance.By between the encapsulated shell of wheel body and copper sheathing, copper sheathing with
Between wheel body end cap, O-ring seal is set between wheel body end cap and power transmission shaft, the module is carried out using static seal and dynamic sealing close
Envelope processing, with the use of waterproof quick connector, realize water-proof function, improve the reliability of wheeled devices, so as to adapt to water splash or
The adverse circumstances such as liquid-immersed.
Brief description of the drawings
Fig. 1 is a kind of stereochemical structure signal for driving a kind of magnetically adsorbed embodiment of device of integration of the utility model
Figure；
Fig. 2 is a kind of main structure diagram for driving the magnetically adsorbed device of integration of the utility model；
Fig. 3 is the cross section structure diagram in A-A faces in Fig. 2；
Fig. 4 is the cross section structure diagram in B-B faces in Fig. 2；
Fig. 5 is that a kind of right side for driving the magnetically adsorbed device of integration of the utility model regards cross section structure diagram；
Fig. 6 is a kind of a kind of main view of the power transmission shaft 1 of the magnetically adsorbed embodiment of device of driving integration of the utility model
Figure；
Fig. 7 is a kind of a kind of knot of the transmission bracket 5 of the magnetically adsorbed embodiment of device of driving integration of the utility model
Composition；
Fig. 8 is a kind of a kind of main view of the belt shaft 9 of the magnetically adsorbed embodiment of device of driving integration of the utility model
Figure；
Fig. 9 is a kind of a kind of encapsulated shell 3 of integrated magnetically adsorbed wheel body of embodiment of device of driving of the utility model
Dimensional structure diagram；
Figure 10 is a kind of No.1 magnet holder for driving a kind of magnetically adsorbed embodiment of device of integration of the utility model
17 dimensional structure diagram；
Figure 11 is a kind of No. two magnet holders for driving a kind of magnetically adsorbed embodiment of device of integration of the utility model
18 dimensional structure diagram；
Figure 12 is a kind of structural representation for driving the magnetically adsorbed device of integration to combine connection with car body of the utility model
Figure；
Figure 13 is Figure 12 top view；
In figure：1 power transmission shaft, 2 harmonic speed reducers, the encapsulated shell of 3 wheel bodys, 4 motors, 5 transmission brackets, 6 No.1 synchronous pulleys,
7 No.1 timing belts, 8 No. two synchronous pulleys, 9 belt shafts, 10 No. three synchronous pulleys, 11 No. two timing belts, 12 No. four synchronous pulleys,
13 deep groove ball bearings, 14 hole back-up rings, 15 keys, 16 magnet, 17 No.1 magnet holders, 18 No. two magnet holders, 19 No.1 copper sheathings,
20 wheel body end caps, 21 No. two copper sheathings, 22 No.1 O-ring seals, 23 No. two O-ring seals, 24 No. three O-ring seals, 25 annulars
Rubber, 26 waterproof quick connectors, 27 motor driver supports, 28 motor drivers, 29 locking nuts, 101 transmission shaft flanges
Disk, 102 power transmission shaft No.1 cylindrical sections, 103 cylindrical sections of power transmission shaft two, 104 power transmission shaft square shaft sections, 105 cylinders of power transmission shaft three
Section, 106 power transmission shaft thread segments, 107 cylindrical sections of power transmission shaft four, 108 power transmission shafts square shaft section with threaded hole, 301 wheel bodys are encapsulated outer
Shell No.1 shaft part, 302 wheel bodys No. two shaft parts of encapsulated shell, the 303 No.1 faces of cylinder, 304 No. two faces of cylinder, 501 transmission brackets are led to
Hole, 502 transmission bracket boss, the short boss of 503 transmission brackets, the long boss of 504 transmission brackets, 901 belt shaft No.1 shaft parts, 902
No. two shaft parts of belt shaft, 903 shaft parts of belt shaft three, 904 shaft parts of belt shaft four, 905 shaft parts of belt shaft five, 906 belt wheels
No. six shaft parts of axle.
Embodiment
The utility model is further discussed below with reference to embodiment and its accompanying drawing.But claims hereof protection domain
It is not limited to the description scope of the embodiment.
The magnetically adsorbed device (abbreviation device, referring to Fig. 1-6) of the utility model driving integration includes power transmission shaft 1, humorous
17, No. two encapsulated shell 3 of ripple decelerator 2, wheel body, motor 4, transmission bracket 5, belt shaft 9, magnet 16, No.1 magnet holder magnetic
Retort stand 18 and wheel body end cap 20, the encapsulated shell 3 (referring to Fig. 9) of wheel body are uncovered cylinder cavity, and one end is closed, one end
Opening, blind end medial surface set cantilever hollow circuit cylinder support beam, and the support beam includes the encapsulated shell No.1 shaft part 301 of wheel body
No. two shaft parts 302 of shell encapsulated with wheel body, the encapsulated shell No.1 shaft part 301 of wheel body and wheel body No. two shaft parts 302 of encapsulated shell
Transition position sets the shaft shoulder, is fixedly mounted at the shaft shoulder of the encapsulated shell No.1 shaft part 301 of wheel body and encapsulated No. two shaft parts 302 of shell of wheel body
No.1 copper sheathing 19, the outer end of encapsulated No. two shaft parts 302 of shell of wheel body of support beam set positioning spigot and flange, the positioning spigot and
Flange is connected with the output end of harmonic speed reducer 2, and harmonic speed reducer 2 drives the encapsulated shell 3 of wheel body to rotate；The wheel body is encapsulated outer
The openend of shell 3 is stepped, is made up of the No.1 face of cylinder 303 and No. two faces of cylinder 304, the No.1 face of cylinder 303 and No. two cylinders
The step that face 304 is formed is used for the axially position of No. two copper sheathings 21, and No. two faces of cylinder 304 and No. two outer rings of copper sheathing 21, which coordinate, to be slided
It is dynamic, when the encapsulated shell 3 of wheel body rotates, lubrication is played, reduces the abrasion of the encapsulated shell 3 of wheel body；
The encapsulated shell 3 of wheel body coordinates with wheel body end cap 20 forms closing space, and it is encapsulated outer that the power transmission shaft 1 is arranged on wheel body
On the central axis of shell 3, power transmission shaft one end stretches out the encapsulated shell 3 of wheel body and wheel body end cap is connected with car body, the other end and harmonic wave
Decelerator 2 connects；Motor 4 and magnet 16 are respectively arranged in the space of the encapsulated shell 3 of wheel body of the both sides of harmonic speed reducer 2,
The side of magnet 16 is fixed by No. two magnet holders 18 with No.1 copper sheathing 19, the opposite side of magnet by No.1 magnet holder 17 with
Power transmission shaft 1 is fixed；Described one end of motor 4 is fixed by transmission bracket 5 and power transmission shaft 1；Transmission between power transmission shaft and motor 4
Fixing band wheel shaft 9 on support 5, output shaft, belt shaft 9 and the three of power transmission shaft 1 of motor 4 are parallel to each other, and pass through timing belt shape
Formula transfer motion power；Between the encapsulated shell 3 of wheel body and No. two copper sheathings 21, between No. two copper sheathings 21 and wheel body end cap 20, wheel body
Sealing ring is mounted between end cap 20 and power transmission shaft 1；
The power transmission shaft 1 (referring to Fig. 6) is ring flange multi-diameter shaft, and one end is provided with ring flange 101, and the other end is with threaded hole
Square shaft section 108, quickly it is connected with car body by square shaft section 108 with threaded hole, passes through ring flange 101 and harmonic speed reducer 2
Firm gear connection；102, No. two cylindrical sections of No.1 cylindrical section are sequentially provided between ring flange 101 and square shaft section 108 with threaded hole
103rd, 104, No. three cylindrical sections 105 of square shaft section, thread segment 106 and No. four cylindrical sections 107, the No.1 cylindrical section 102 and harmonic wave
The centre bore of decelerator 2 coordinates, and ensures concentric, No. two cylindrical sections 103 and the square shaft section of harmonic speed reducer 2 and power transmission shaft 1
104 transition positions set the shaft shoulder, and the positioning of the axial direction for realizing No.1 magnet holder 17 and circumference is coordinated with square shaft section 104；Described No. three
Keyway is set on cylindrical section 105, for the circumferentially positioned of transmission bracket 5 and wheel body end cap 20, No. three cylindrical sections 105 are located at wheel body
The inner side of end cap 20, thread segment 106 stretch out wheel body end cap；The thread segment 106 is used to screw locking nut 29, the locking screw
Female outside of 29 one end contact roller body end lid 20, realizes the final axially position of shafting structure and locking.No. three on the power transmission shaft 1
Cylindrical section 105 should be located in the outside of wheel body end cap 20, ensure the useful effect of locking nut 29 on wheel body end cap 20；
Transmission bracket 5 (referring to Fig. 7) top is provided with the through hole 501 being engaged with the seam of motor 4, for realizing motor
4 and the connection of transmission bracket 5, the transmission bracket boss 502 with shoulder hole is provided with the middle part of transmission bracket, under transmission bracket
Portion's one side is provided with the short boss 503 of transmission bracket with dowel hole, and another side sets the long boss of transmission bracket with dowel hole
504；The end face of the short boss 503 of transmission bracket contacts with No.1 magnet holder 17, the end of the long boss 504 of transmission bracket
Face and the interior side contacts of wheel body end cap 20, transmission bracket 5 pass through where the short boss 503 of transmission bracket and the long boss 504 of transmission bracket
Mounting hole be engaged with the keyway of No. three cylindrical sections 105 on power transmission shaft, realize transmission bracket 5 axial and circumferential positioning；Institute
State transmission bracket boss 502 and pass through deep groove ball bearing 13, the realization of hole back-up ring 14 and the fixation of belt shaft 9；The transmission bracket
Upper through-hole 501, transmission bracket boss 502 and the short boss of transmission bracket are triangularly arranged；
The belt shaft 9 (referring to Fig. 8) is thin ends and thick middle multi-diameter shaft, successively including No. six shaft parts 906 of belt shaft,
Belt shaft No.1 shaft part 901, No. two shaft parts 902 of belt shaft, No. three shaft parts 903 of belt shaft, No. four shaft parts 904 of belt shaft and belt wheel
No. five shaft parts 905 of axle, each shaft part transition position are equipped with the shaft shoulder, and belt shaft No.1 shaft part 901 passes through deep groove ball bearing 13, with zanjon
The inner hole of ball bearing 13, belt shaft No.1 shaft part 901 at the shaft shoulder of No. two shaft parts 902 of belt shaft with acting on deep-groove ball axle
Hold on 13 inner rings, No. three shaft parts 903 of belt shaft and the hole in the transmission bracket boss 502 at the middle part of transmission bracket 5 are solid with back-up ring 14
It is fixed, realize fixation of the belt shaft 9 in transmission bracket 5；The shaft shoulder of No. four shaft parts 904 of belt shaft and No. five shaft parts 905 of belt shaft
Locate the axially position for No. three synchronous pulleys 10, set keyway and screwed hole on No. five shaft parts 905 of belt shaft, connected by key 15
And No. three synchronous pulleys 10 are fixedly mounted in shim screw, circumferential transmission and the axial restraint of No. three synchronous pulleys are realized；The band
No. five length of shaft part 905 of wheel shaft should be less than hole length in No. three synchronous pulleys 10, ensure that shaft end pad can compress No. three synchronizations
Belt wheel 10；Determine the axial direction that the shaft shoulder at No. six shaft parts 906 of belt shaft No.1 shaft part 901 and belt shaft is used for No. two synchronous pulleys 8
Position, No. six shaft parts 906 of belt shaft set keyway and screwed hole, and No. two synchronous pulleys 8 are fixedly mounted by key connection and shim screw,
Realize circumferential transmission and the axial restraint of No. two synchronous pulleys；Described No. six length of shaft part 906 of belt shaft should be less than No. two synchronizations
Hole length in belt wheel 8, ensure that shaft end pad can compress No. two synchronous pulleys 8；
The motor 4 exports axis connection No.1 synchronous pulley 6, and the No.1 synchronous pulley 6 is provided with two in 90 ° of distributions
Top wire hole, the fixation for No.1 synchronous pulley 6 and motor output shaft；The No.1 synchronous pulley 6 passes through No.1 timing belt 7
Simultaneously passing power is connected with No. two synchronous pulleys 8；The input of the wave producer of the harmonic speed reducer 2 connects No. four timing belts
Wheel, No. four synchronous pulleys 12 are arranged on No. two cylindrical sections 103, and concentric with harmonic speed reducer 2；No. three synchronous pulleys
10 are connected by No. two timing belts 11 with No. four synchronous pulleys 12, drive No. four synchronous pulleys 12 to rotate；No. four timing belts
The center-hole diameter of wheel 12 is more than the diameter of No. two cylindrical sections 103, prevents from touching transmission when No. four synchronous pulleys 12 rotate
Axle 1, No. four synchronous pulleys 12 are connected one end with the wave producer of harmonic speed reducer 2 and set to be occurred with the ripple of harmonic speed reducer 2
The concentric counterbore of the centre bore of device, pass through the counterbore and realize cooperation with the input seam of harmonic speed reducer 2, ensure No. four synchronizations
Belt wheel 12 is concentric with harmonic speed reducer 2.
The harmonic speed reducer 2 is hollow type, and wave producer input inputs for flange form, the harmonic speed reducer 2
Firm gear is connected with the ring flange 101 of power transmission shaft 1, is fixing end；On the flexbile gear and the encapsulated shell 3 of wheel body of the harmonic speed reducer 2
Positioning spigot and flange connection, be output end；
In the utility model device the upper through-hole of transmission bracket 5 with the center of both short boss of bottom transmission bracket same
On one vertical curve.Motor 4 is symmetrically arranged in the encapsulated shell 3 of wheel body with magnet 16 relative to the central axis of harmonic speed reducer 2, and two
Person leaves certain interval with the encapsulated inwall of shell 3 of wheel body, and the arrangement makes motor 4, apart from maximization, reduce magnetic with magnet 16
Field influences on motor 4, ensures the performance of motor 4 in long-time use；Motor driver support is installed in the transmission bracket 5
27, motor driver 28 is fixed on motor driver support 27, and motor driver 28 is positioned over the side of motor 4, driving electricity
Machine 4 moves, and has fully used the space in the encapsulated shell 3 of wheel body.
The center of wheel body end cap 20 is provided with the wheel body end cap boss with dowel hole, the wheel body end cap boss with dowel hole with
Keyway on No. three cylindrical sections 105 is engaged, and realizes the circumferentially positioned of wheel body end cap 20, the inner face contact of wheel body end cap boss
The outer face of the long boss 504 of transmission bracket, realize the axially position of wheel body end cap 20.It is fast in the outside of wheel body end cap 20 installation waterproof
Connection-peg 26, the connection for required circuit in device.
No.1 magnet holder 17 and No. two magnet holders 18 coordinate the fixation for realizing magnet 16 in the utility model, and described one
The lower disposed of number magnet holder 17 (referring to Figure 10) has two symmetrical magnet holder through holes 172, in two magnet branch
Be disposed with No.1 ring shaped step 171 in No.1 magnet holder between frame through hole 172, No.1 ring shaped step external diameter with magnet 16
Footpath size is identical, for the circumferentially positioned of magnet 16；Square hole 173, square hole and No.1 are provided with the top of No.1 magnet holder 17
Ring shaped step 171 is concentric, ensures that magnet is installed with power transmission shaft coaxial line, is hung on No.1 magnet holder 17 by square hole 173
On power transmission shaft 1；The lower disposed of No. two magnet holders 18 (referring to Figure 11) has two symmetrical tapped through holes 182,
Be disposed with No. two ring shaped steps 181 in No. two magnet holders 18 between two tapped through holes, No. two ring shaped step internal diameters with
The internal diameter size of magnet 16 is identical, for the circumferentially positioned of magnet 16；The top of the magnet 16 be disposed with two it is symmetrical
Through hole, fixing screws pass through from the magnet holder through hole of No.1 magnet holder 17, through the through hole on magnet 16, are combined on No. two magnetic
The tapped through hole of retort stand 18, three is fixedly installed togather；No. two magnet holders 18 above No. two ring shaped steps 181
On set circular hole 183, circular hole 183 and No. two ring shaped steps 181 are concentric, ensure magnet shell 3 encapsulated with wheel body in support beam it is same
Axis is installed, and is hung on No. two magnet holders 18 in the encapsulated inner support beam of shell 3 of wheel body by circular hole 183；No. two magnet branch
No.1 copper sheathing 19 is set between the support beam of frame 18 and the encapsulated shell 3 of wheel body, ensures the lubricity rotated, avoids No. two magnet branch 18
The support beam contact surface abrasion of shell 3 encapsulated with wheel body.
Magnet 16 described in the utility model device is permanent magnet or electromagnet, and magnet 16 is a quarter circular ring type, magnetic
Two arc surfaces of iron 16 are magnetic pole, and the exterior arc surface of magnet 16 has gap, inner arc surface with the encapsulated inner arc surface of shell 3 of wheel body
Do not interfere with harmonic speed reducer.
Ring-like rubber 25 is surrounded by outside the encapsulated shell 3 of wheel body described in the utility model device, among the ring-like rubber 25
For inner concave shape, both sides are plane, increase rubber and working face contact area, and prevent from extruding the accumulation of debris during wheel movement.
No. two copper sheathings 21 outer ring is provided with O-ring seal groove, and the axis hole of wheel body end cap 20 and outer ring are provided with O-shaped close
Seal groove.No.1 O-ring seal 22 is set between the encapsulated shell 3 of wheel body and No. two copper sheathings 21, integrated magnetic suck can be realized
Dynamic sealing in wheeled devices between the encapsulated shell 3 of wheel body and No. two copper sheathings 21.Between No. two copper sheathings 21 and wheel body end cap 20
If No. two O-ring seals 23, realize in the magnetically adsorbed device of integration between No. two copper sheathings 21 and the contact surface of wheel body end cap 20
Static seal.No. three O-ring seals 24 are set between wheel body end cap 20 and power transmission shaft 1, realize the magnetically adsorbed device of integration
Static seal between middle wheel body end cap 20 and power transmission shaft 1 contact surface.The utility model device is in 22, No. two O of No.1 O-ring seal
Under the sealing of type sealing ring 23 and No. three O-ring seals 24, coordinate waterproof quick connector 26, the integral sealing of realization device.
The whole operation principle and process of the magnetically adsorbed device of the utility model driving integration be：For motor driver
Simultaneously drive control motor 4 works for 28 power supplies, realizes one-level, double reduction by toothed belt transmission mode, acts on harmonic reduction
The input of device 2, realize that three-level is slowed down through harmonic speed reducer 2, and final output torque is provided, drive encapsulated 3 turns of the shell of wheel body
It is dynamic.Firm gear connection power transmission shaft 1 ring flange one end of the harmonic speed reducer 2, is fixing end, flexbile gear connects the encapsulated shell 3 of wheel body
Internal positioning spigot and flange, is output end.Magnet provides the absorption affinity of device.Meanwhile in power transmission shaft 1 and wheel body end cap
20th, wheel body end cap 20 and the mating surface of 21, No. two copper sheathings 21 of No. two copper sheathings and the encapsulated shell 3 of wheel body are all provided with sealing ring, then coordinate
Waterproof quick connector 26, realize the water-proof function of the magnetically adsorbed device of driving integration.
The utility model device make use of the drive characteristic and structure type of harmonic speed reducer, from the output end of motor 4 to humorous
The output end of ripple decelerator 2 is slowed down for three-level, wherein carrying out zig-zag type layout using timing belt, is realized that I and II slows down, is effectively increased
Big speed reducing ratio, improves output torque, i.e., realizes No. four synchronous pulleys 12 and No. three synchronous pulleys 10 by No. two timing belts 11
Transmission, No. three synchronous pulleys 10 are coaxially connected by belt shaft 9 and No. two synchronous pulleys 8, and No. two synchronous pulleys 8 pass through No.1
Timing belt 7 realizes the transmission with No.1 synchronous pulley 6, and No.1 synchronous pulley 6 is arranged on the output shaft of motor 4, forms I and II and subtracts
Speed, so as to realize the transmission of torque, while so structure setting makes drive mechanism compacter.Motor passes through two-stage timing belt
Slow down, there is provided torque drives the wave producer of harmonic speed reducer to rotate, and so as to realize the rotation of the encapsulated shell of wheel body, and drives single
First (motor) and absorbing unit (magnet) are each provided in the encapsulated shell of wheel body, realize driving and absorption integration.The utility model
Support beam is hollow cylindrical in device, and No.1 magnet holder 17 and No. two magnet holders 18 have also carried out hollow processing, made dress
Put on the premise of job requirement is ensured, further realize lightweight.
The utility model does not address part and is applied to prior art.
Claims (9)
1. the magnetically adsorbed device of one kind driving integration, it is characterised in that the device includes power transmission shaft, harmonic speed reducer, wheel body
Encapsulated shell, motor, transmission bracket, belt shaft, magnet, No.1 magnet holder, No. two magnet holders and wheel body end cap, the wheel
The encapsulated shell one end closing of body, one end open, openend are connected with wheel body end cap, the encapsulated closed termination of outer cover medial extremity of wheel body
Face sets cantilever support beam, and the support beam includes the encapsulated shell No.1 shaft part of wheel body and wheel body No. two shaft parts of encapsulated shell, wheel body
The transition position of encapsulated encapsulated No. two shaft parts of shell of shell No.1 shaft part and wheel body sets the shaft shoulder, the encapsulated shell No.1 shaft part of wheel body and wheel
No.1 copper sheathing, the outer end of encapsulated No. two shaft parts of shell of wheel body of support beam are fixedly mounted at the shaft shoulder of encapsulated No. two shaft parts of shell of body
If positioning spigot and flange, the positioning spigot and the connection of the output end of flange and harmonic speed reducer；The encapsulated shell of wheel body is opened
Mouth end is stepped, is made up of the No.1 face of cylinder and No. two faces of cylinder, the step that the No.1 face of cylinder is formed with No. two faces of cylinder
For the axially position of No. two copper sheathings, No. two faces of cylinder coordinate with No. two copper sheathing outer rings to be slided；
The encapsulated shell of wheel body coordinates with wheel body end cap forms closing space, and the power transmission shaft is arranged on the center of the encapsulated shell of wheel body
On axis, the encapsulated shell of wheel body is stretched out in power transmission shaft one end and wheel body end cap is connected with car body, and the other end passes through ring flange and harmonic wave
The firm gear connection of decelerator；Motor and magnet are respectively arranged in the space of the encapsulated shell of wheel body of the both sides of harmonic speed reducer,
Magnet side is fixed by No. two magnet holders with No.1 copper sheathing, and the opposite side of magnet is consolidated by No.1 magnet holder with power transmission shaft
It is fixed；Described motor one end is fixed by transmission bracket and power transmission shaft；Fixing band in transmission bracket between power transmission shaft and motor
Wheel shaft, output shaft, belt shaft and the power transmission shaft three of motor are parallel to each other, and pass through synchronous band forms transfer motion power；The wheel
It is mounted between the encapsulated shell of body and No. two copper sheathings, between No. two copper sheathings and wheel body end cap, between wheel body end cap and power transmission shaft
Sealing ring；
The harmonic speed reducer is hollow type, and wave producer input inputs for flange form, the firm gear of harmonic speed reducer and transmission
The ring flange connection of axle, is fixing end；The flexbile gear of the harmonic speed reducer and the positioning spigot and flange on the encapsulated shell of wheel body
Connection, is output end.
2. the magnetically adsorbed device of driving integration according to claim 1, it is characterised in that the power transmission shaft is flange
Disk multi-diameter shaft, one end are provided with ring flange, and the other end is square shaft section with threaded hole, is quickly connected with car body by square shaft section with threaded hole
Fixation is connect, is connected by the firm gear of ring flange and harmonic speed reducer；It is sequentially provided between ring flange and square shaft section with threaded hole
No.1 cylindrical section, No. two cylindrical sections, square shaft section, No. three cylindrical sections, thread segment and No. four cylindrical sections, the No.1 cylindrical section with it is humorous
The centre bore of ripple decelerator coordinates, and No. two cylindrical sections set the shaft shoulder with square shaft section transition position, coordinates fixed No.1 magnet with square shaft section
Support；Keyway is set on No. three cylindrical sections, No. three cylindrical sections are located at the inner side of wheel body end cap, and thread segment stretches out wheel body end cap；It is described
Locking nut, locking nut one end contact roller body end outer side of lid are screwed on thread segment.
3. the magnetically adsorbed device of driving integration according to claim 2, it is characterised in that the transmission bracket top
Provided with the through hole being engaged with motor seam, the transmission bracket boss with shoulder hole is provided with the middle part of transmission bracket, in transmission branch
Frame bottom one side is provided with the short boss of transmission bracket with dowel hole, and another side sets the long boss of transmission bracket with dowel hole；
The end face of the short boss of transmission bracket contacts with No.1 magnet holder, end face and the wheel body end cap of the long boss of transmission bracket
Interior side contacts, transmission bracket pass through No. three on the mounting hole and power transmission shaft where the short boss of transmission bracket and the long boss of transmission bracket
The keyway of cylindrical section is engaged；The transmission bracket boss is fixed by deep groove ball bearing, hole with back-up ring and belt shaft；The biography
Dynamic frame upper through hole, transmission bracket boss and the short boss of transmission bracket are triangularly arranged.
4. the magnetically adsorbed device of driving integration according to claim 3, it is characterised in that the belt shaft is centre
The thin multi-diameter shaft in thick both ends, successively including No. six shaft parts of belt shaft, belt shaft No.1 shaft part, belt shaft No. two shaft parts, belt shafts
No. five No. three shaft parts, No. four shaft parts of belt shaft and belt shaft shaft parts, each shaft part transition position are equipped with the shaft shoulder, belt shaft No.1 shaft part
Through deep groove ball bearing, the inner hole with deep groove ball bearing, at the shaft shoulder of belt shaft No.1 shaft part and No. two shaft parts of belt shaft
Act on deep groove ball bearing inner ring, No. three shaft parts of belt shaft and the hole back-up ring in the transmission bracket boss in the middle part of transmission bracket
It is fixed；No. four shaft parts of belt shaft and the axially position for being used for No. three synchronous pulleys at the shaft shoulder of No. five shaft parts of belt shaft, belt shaft
Keyway and screwed hole are set on No. five shaft parts, No. three synchronous pulleys are fixedly mounted by key connection and shim screw；Belt shaft No.1
The shaft shoulder at shaft part and No. six shaft parts of belt shaft is used for the axially position of No. two synchronous pulleys, No. six shaft parts of belt shaft set keyway and
Screwed hole, No. two synchronous pulleys are fixedly mounted by key connection and shim screw.
5. the magnetically adsorbed device of driving integration according to claim 3, it is characterised in that the top of transmission bracket leads to
Hole and the center of both short boss of bottom transmission bracket are on same vertical curve.
6. according to any described magnetically adsorbed devices of driving integration of claim 1-5, it is characterised in that the wheel body end
Outer side of lid installs waterproof quick connector.
7. the magnetically adsorbed device of driving integration according to claim 6, it is characterised in that the encapsulated shell of wheel body
Ring-like rubber is surrounded by outside, is inner concave shape among the ring-like rubber, both sides are plane.
8. the magnetically adsorbed device of driving integration according to claim 6, it is characterised in that the magnet is permanent magnet
Or electromagnet, magnet are a quarter circular ring type, two arc surfaces of the magnet are magnetic pole, magnet exterior arc surface and wheel body bag
Glue shell inner arc surface has gap.
9. the magnetically adsorbed device of driving integration according to claim 8, it is characterised in that the No.1 magnet holder
Lower disposed have two symmetrical magnet holder through holes, in the No.1 magnet holder between two magnet holder through holes
No.1 ring shaped step is disposed with, No.1 ring shaped step external diameter is identical with magnet internal diameter size；Opened on the top of No.1 magnet holder
There is square hole, square hole and No.1 ring shaped step are concentric, hang on No.1 magnet holder on power transmission shaft by square hole；No. two magnetic
The lower disposed of retort stand has two symmetrical tapped through holes, cloth in No. two magnet holders between two tapped through holes
No. two ring shaped steps are equipped with, No. two ring shaped step internal diameters are identical with magnet internal diameter size；No. two above No. two ring shaped steps
Circular hole is set in magnet holder, circular hole and No. two ring shaped steps are concentric, and it is encapsulated that No. two magnet holders are hung on into wheel body by circular hole
In shell inner support beam.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720948455.5U CN206954340U (en) | 2017-08-01 | 2017-08-01 | The magnetically adsorbed device of one kind driving integration |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720948455.5U CN206954340U (en) | 2017-08-01 | 2017-08-01 | The magnetically adsorbed device of one kind driving integration |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206954340U true CN206954340U (en) | 2018-02-02 |
Family
ID=61381802
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720948455.5U Expired - Fee Related CN206954340U (en) | 2017-08-01 | 2017-08-01 | The magnetically adsorbed device of one kind driving integration |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206954340U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107264664A (en) * | 2017-08-01 | 2017-10-20 | 河北工业大学 | The integrated magnetically adsorbed device of one kind driving |
| CN110371209A (en) * | 2019-07-31 | 2019-10-25 | 上海酷酷机器人有限公司 | A kind of absorption robot case type magnet-wheel and the absorption robot with it |
-
2017
- 2017-08-01 CN CN201720948455.5U patent/CN206954340U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107264664A (en) * | 2017-08-01 | 2017-10-20 | 河北工业大学 | The integrated magnetically adsorbed device of one kind driving |
| CN110371209A (en) * | 2019-07-31 | 2019-10-25 | 上海酷酷机器人有限公司 | A kind of absorption robot case type magnet-wheel and the absorption robot with it |
| CN110371209B (en) * | 2019-07-31 | 2022-07-29 | 北京汇力智能科技有限公司 | Shell type magnetic wheel for adsorption robot and adsorption robot with shell type magnetic wheel |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180202 |