CN207773234U - Robot turning mechanism - Google Patents
Robot turning mechanism Download PDFInfo
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- CN207773234U CN207773234U CN201721712120.XU CN201721712120U CN207773234U CN 207773234 U CN207773234 U CN 207773234U CN 201721712120 U CN201721712120 U CN 201721712120U CN 207773234 U CN207773234 U CN 207773234U
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- speed reducer
- driving member
- steering shaft
- drive mechanism
- slowing
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Abstract
The utility model discloses a kind of robot turning mechanisms,Including driving structure,Tire,Car owner's beam,Slowing-down structure and drive mechanism,Slowing-down structure includes speed reducer input end connection,Speed reducer and reductor shaft,Drive mechanism includes steering shaft driving member,Pinboard and wheel carrier,Driving structure includes motor,The output shaft of motor stretches into speed reducer input end connection and coordinates with speed reducer input end connection,Speed reducer inputs end connection and reductor shaft is individually fixed in the opposite end of speed reducer,Reductor shaft is partially submerged into steering shaft driving member and is fixedly connected with steering shaft driving member,Steering shaft driving member is fixedly connected with pinboard,Wheel carrier is fixedly installed in pinboard,Tire is installed on wheel carrier,Driving structure,Slowing-down structure,Drive mechanism and tire are installed on car owner's beam,Motor drives tire to be turned to respect to car owner's beam by slowing-down structure and drive mechanism.By above-mentioned design, robot turning mechanism is simple in structure, bodywork height is low, light-weight, work efficiency is high.
Description
Technical field
The utility model is related to robot more particularly to a kind of robot turning mechanisms.
Background technology
The steering structure that wheeled crusing robot uses at present has differential steering and 360 degree of pivot stud two ways.Difference
Speed is turned to and is turned to using the differential between travel wheel, and this method belongs to passive steering on turning to driving, and disadvantage is apparent, is turned
It is big to radius.And 360 degree rotate in place formula steering, 4 tires first mutual one circle of phase composition when steering, then pass through wheel drive
Original place 360 degree rotation is formed, after the completion of to be diverted, then tire is adjusted to straight-going state.360 degree of pivot stud structures are multiple because of it
Miscellaneous steering mechanism causes internal structure complicated, and bodywork height is drawn high, and whole car weight increases.Common 360 degree of steering structures are multiple
Miscellaneous, stroke is long, this consumes energy movement when increasing robot inspection work, to reduce working efficiency.
Utility model content
That for overcome the deficiencies in the prior art, the purpose of this utility model is to provide a kind of bodywork heights is low, light-weight,
The robot turning mechanism that work efficiency is high.
The purpose of this utility model is realized using following technical scheme：
A kind of robot turning mechanism, including driving structure, tire and car owner's beam, the robot turning mechanism further include
Slowing-down structure and drive mechanism, the slowing-down structure include speed reducer input end connection, speed reducer and reductor shaft, the biography
Dynamic structure includes steering shaft driving member, pinboard and wheel carrier, and the driving structure includes motor, and the output shaft of the motor stretches into
Speed reducer input end connection simultaneously with speed reducer input end connection cooperation, the speed reducer input end connection and
The reductor shaft is individually fixed in the opposite end of the speed reducer, and the reductor shaft is partially submerged into the steering shaft transmission
Part is simultaneously fixedly connected with the steering shaft driving member, and the steering shaft driving member is fixedly connected with the pinboard, the wheel carrier
Be fixedly installed in the pinboard, the tire is installed on the wheel carrier, the driving structure, slowing-down structure, drive mechanism and
Tire is installed on car owner's beam, and the motor drives the tire with respect to institute by the slowing-down structure and the drive mechanism
State the steering of car owner's beam.
Further, the drive mechanism further includes axis pin, and the axis pin is across the reductor shaft and both ends and institute
Stating the fixation of steering shaft driving member makes the reductor shaft be fixedly connected with the steering shaft driving member.
Further, the reductor shaft and the steering shaft driving member clearance fit.
Further, the drive mechanism further includes deep groove ball bearing and axle sleeve, and the steering shaft driving member is contained in institute
State axle sleeve, the deep groove ball bearing be sheathed on the steering shaft driving member and positioned at the steering shaft driving member and the axle sleeve it
Between.
Further, the drive mechanism further includes bearing rib, and the deep groove ball bearing quantity is 2, the bearing interstage sleeve
Set on the steering shaft driving member and between 2 deep groove ball bearings.
Further, the slowing-down structure further includes plane bearing and flexbile gear tabletting, and the plane bearing is sheathed on described
Speed reducer inputs end connection, and the flexbile gear tabletting is installed on the plane bearing with the fixation plane bearing.
Further, the slowing-down structure further includes motor contact, and the driving structure further includes upper encoder, described
Upper encoder is contained in the motor contact and is located at flexbile gear tabletting side, the motor contact and the flexbile gear pressure
Piece connects.
Further, the speed reducer is harmonic wave speed reducing machine.
Further, the drive mechanism further includes lower encoder and turns to encoder, and the steering encoder fixes peace
Loaded on the pinboard and it is contained in the lower encoder.
Compared with prior art, the output shaft of the utility model robot turning mechanism motor stretches into the connection of speed reducer input terminal
Part simultaneously coordinates with speed reducer input end connection, and speed reducer inputs end connection and reductor shaft is individually fixed in the phase of speed reducer
To both ends, reductor shaft is partially submerged into steering shaft driving member and is fixedly connected with steering shaft driving member, steering shaft driving member with turn
Fishplate bar is fixedly connected, and wheel carrier is fixedly installed in pinboard, and tire is installed on wheel carrier, driving structure, slowing-down structure, drive mechanism and
Tire is installed on car owner's beam, and motor drives tire to be turned to respect to car owner's beam, set by above-mentioned by slowing-down structure and drive mechanism
Meter, the robot turning mechanism of the utility model is simple in structure, bodywork height is low, light-weight, work efficiency is high.
Description of the drawings
Fig. 1 is a structural schematic diagram of the utility model robot turning mechanism；
Fig. 2 is the enlarged drawing at the A of Fig. 1 robots turning mechanism.
In figure：100, robot turning mechanism；10, driving structure；12, motor；14, upper encoder；20, slowing-down structure；
21, motor contact；22, flexbile gear tabletting；23, plane bearing；24, speed reducer inputs end connection；25, speed reducer；26, slow down
Arbor；30, drive mechanism；31, axle sleeve；32, steering shaft driving member；33, axis pin；34, deep groove ball bearing；35, bearing rib；36、
Pinboard；37, lower encoder；38, encoder is turned to；39, wheel carrier；40, tire；50, Che Zhuliang.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
It should be noted that when component is referred to as " being fixed on " another component, it can be directly on another component
Or there may also be components placed in the middle.When a component is considered as " connection " another component, it can be directly connected to
To another component or it may be simultaneously present component placed in the middle.When a component is considered as " being set to " another component, it
Can be set up directly on another component or may be simultaneously present component placed in the middle.Term as used herein is " vertical
", " horizontal ", "left", "right" and similar statement for illustrative purposes only.
Unless otherwise defined, all of technologies and scientific terms used here by the article is led with the technology for belonging to the utility model
The normally understood meaning of technical staff in domain is identical.Terminology used in the description of the utility model herein only be
The purpose of description specific embodiment, it is not intended that in limitation the utility model.Term " and or " used herein includes
Any and all combinations of one or more relevant Listed Items.
It please refers to Fig.1 to Fig. 2, a kind of robot turning mechanism 100 includes driving structure 10, slowing-down structure 20, transmission knot
Structure 30, tire 40 and car owner's beam 50.
Driving structure 10 includes motor 12, upper encoder 14.
Slowing-down structure 20 includes motor contact 21, flexbile gear tabletting 22, plane bearing 23, speed reducer input end connection
24, speed reducer 25 and reductor shaft 26.Speed reducer 25 is harmonic wave speed reducing machine.
Drive mechanism 30 includes axle sleeve 31, steering shaft driving member 32, axis pin 33, deep groove ball bearing 34, bearing rib 35, switching
Plate 36, turns to encoder 38 and wheel carrier 39 at lower encoder 37.
When mounter people's turning mechanism 100, the output shaft of motor 12 stretches into motor contact 21.It is upper encoder 14, soft
Wheel tablet 22 and plane bearing 23 are installed on speed reducer input end connection 24.Flexbile gear tabletting 22 is located at upper encoder 14 and plane
Between bearing 23.The output shaft of motor 12 stretches into speed reducer input end connection 24 and is fixed with speed reducer input end connection 24
Connection.Upper encoder 14 is contained in motor contact 21 at this time.Flexbile gear tabletting 22 be located at 14 side of upper encoder to prevent on
Encoder 14 is detached from motor contact 21.Plane bearing 23 is located in the concave ring of flexbile gear tabletting 22, when plane bearing 23 being made to work
Bearing the uplifting pressure of 25 driving wheel of harmonic wave speed reducing machine can also be freely rotated.Speed reducer 25 and reductor shaft 26 and speed reducer are defeated
Enter the opposite end that end connection 24 is fixedly connected and is located at speed reducer input end connection 24.Axis pin 33 passes through speed reducer
Axis 26 and both ends are fixedly connected with steering shaft driving member 32 respectively makes reductor shaft 26 be fixedly connected with steering shaft driving member 32.
Reductor shaft 26 and 32 clearance fit of steering shaft driving member.
The quantity of deep groove ball bearing 34 is 2, and two deep groove ball bearings 34 and bearing rib 35 are sheathed on steering shaft driving member 32,
Bearing rib 35 is between two deep groove ball bearings 34.Axle sleeve 31 is fixedly installed in car owner's beam 50.Steering shaft driving member 32, deep-groove ball
Bearing 34 and bearing rib 35 are contained in axle sleeve 31.32 end of steering shaft driving member is fixedly installed in pinboard 36, pinboard 36 with
Wheel carrier 39 is fixedly connected.Tire 40 is installed on wheel carrier 39.Encoder 38 is turned to be fixedly installed in pinboard 36 and be contained in lower volume
Code device 37.
When using robot turning mechanism 100, the motor 12 of driving structure 10 drives speed reducer 25 to operate by output shaft,
Speed reducer 25 drives steering shaft driving member 32 to be rotated relative to car owner's beam 50 by reductor shaft 26, and steering shaft driving member 32 is by turning
Fishplate bar 36 and wheel carrier 39 make tire 40 be turned to respect to car owner's beam 50.
By above-mentioned design, the robot turning mechanism 100 of the utility model is simple in structure, bodywork height is low, it is light-weight,
Work efficiency is high.
It will be apparent to those skilled in the art that technical solution that can be as described above and design, make various other
Corresponding change and deformation, and all these changes and deformation should all belong to the protection of the utility model claims
Within the scope of.
Claims (9)
1. a kind of robot turning mechanism, including driving structure, tire and car owner's beam, it is characterised in that：The robot turning
Mechanism further includes slowing-down structure and drive mechanism, and the slowing-down structure includes speed reducer input end connection, speed reducer and deceleration
Arbor, the drive mechanism include steering shaft driving member, pinboard and wheel carrier, and the driving structure includes motor, the motor
Output shaft stretch into speed reducer input end connection and with speed reducer input end connection cooperation, the speed reducer is defeated
Enter end connection and the reductor shaft is individually fixed in the opposite end of the speed reducer, the reductor shaft is partially submerged into institute
It states steering shaft driving member and is fixedly connected with the steering shaft driving member, the steering shaft driving member is fixed with the pinboard to be connected
Connect, the wheel carrier is fixedly installed in the pinboard, and the tire is installed on the wheel carrier, the driving structure, slowing-down structure,
Drive mechanism and tire are installed on car owner's beam, and the motor passes through described in the slowing-down structure and drive mechanism drive
The relatively described car owner's beam of tire turns to.
2. robot turning mechanism according to claim 1, it is characterised in that：The drive mechanism further includes axis pin, institute
State axis pin makes the reductor shaft and the steering across the reductor shaft and both ends and steering shaft driving member fixation
Axis driving member is fixedly connected.
3. robot turning mechanism according to claim 2, it is characterised in that：The reductor shaft is passed with the steering shaft
Moving part clearance fit.
4. robot turning mechanism according to claim 1, it is characterised in that：The drive mechanism further includes deep-groove ball axis
It holds and axle sleeve, the steering shaft driving member is contained in the axle sleeve, the deep groove ball bearing is sheathed on the steering shaft driving member
And between the steering shaft driving member and the axle sleeve.
5. robot turning mechanism according to claim 4, it is characterised in that：The drive mechanism further includes bearing rib,
The deep groove ball bearing quantity is 2, and the bearing rib is sheathed on the steering shaft driving member and between 2 deep groove ball bearings.
6. robot turning mechanism according to claim 1, it is characterised in that：The slowing-down structure further includes plane bearing
And flexbile gear tabletting, the plane bearing are sheathed on the speed reducer input end connection, the flexbile gear tabletting is installed on described flat
Spherical bearing is with the fixation plane bearing.
7. robot turning mechanism according to claim 6, it is characterised in that：The slowing-down structure further includes motor connection
Part, the driving structure further include upper encoder, and the upper encoder is contained in the motor contact and is located at the flexbile gear
Tabletting side, the motor contact are connect with the flexbile gear tabletting.
8. robot turning mechanism according to claim 1, it is characterised in that：The speed reducer is harmonic wave speed reducing machine.
9. robot turning mechanism according to claim 1, it is characterised in that：The drive mechanism further includes lower encoder
And encoder is turned to, the steering encoder is fixedly installed in the pinboard and is contained in the lower encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721712120.XU CN207773234U (en) | 2017-12-11 | 2017-12-11 | Robot turning mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721712120.XU CN207773234U (en) | 2017-12-11 | 2017-12-11 | Robot turning mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207773234U true CN207773234U (en) | 2018-08-28 |
Family
ID=63232050
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721712120.XU Active CN207773234U (en) | 2017-12-11 | 2017-12-11 | Robot turning mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207773234U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108082281A (en) * | 2017-12-11 | 2018-05-29 | 浙江捷尚人工智能研究发展有限公司 | Robot turning mechanism |
| CN109199272A (en) * | 2018-10-31 | 2019-01-15 | 旌德县安德力磨具有限公司 | A kind of steering structure of daily life clean robot |
-
2017
- 2017-12-11 CN CN201721712120.XU patent/CN207773234U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108082281A (en) * | 2017-12-11 | 2018-05-29 | 浙江捷尚人工智能研究发展有限公司 | Robot turning mechanism |
| CN109199272A (en) * | 2018-10-31 | 2019-01-15 | 旌德县安德力磨具有限公司 | A kind of steering structure of daily life clean robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220926 Address after: Room 802, Building 18, No. 998, Wenyi West Road, Wuchang Street, Yuhang District, Hangzhou City, Zhejiang Province, 310000 Patentee after: Zhejiang Lishi industrial Interconnection Technology Co.,Ltd. Address before: 310000 rooms 502 and 602, unit 1, building 7, No. 998, Wenyi West Road, Wuchang Street, Yuhang District, Hangzhou City, Zhejiang Province Patentee before: ZHEJIANG JIESHANG ARTIFICIAL INTELLIGENCE RESEARCH AND DEVELOPMENT Co.,Ltd. |
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| TR01 | Transfer of patent right |