CN207942915U - A kind of mobile robot chassis drive train - Google Patents
A kind of mobile robot chassis drive train Download PDFInfo
- Publication number
- CN207942915U CN207942915U CN201820019831.7U CN201820019831U CN207942915U CN 207942915 U CN207942915 U CN 207942915U CN 201820019831 U CN201820019831 U CN 201820019831U CN 207942915 U CN207942915 U CN 207942915U
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- mobile robot
- shaft
- gearbox
- drive train
- robot chassis
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Abstract
The utility model is related to robotic technology field more particularly to a kind of mobile robot chassis drive trains.The drive train includes motor, planetary reducer and gearbox, the input axis connection that the motor passes through the planetary reducer and the gearbox, the driving axis connection that the output shaft of the gearbox passes through driving section and driving wheel, the driving main body of comprising modules, it is easy for installation, have the characteristics that energy speed change and loads big, in addition axial direction setting of the output shaft of the output shaft of the motor, the output shaft of planetary reducer and the gearbox perpendicular to the driving wheel, installation space is saved, the layout in each portion and installation in mobile robot chassis are conducive to.
Description
Technical field
The utility model is related to robotic technology field more particularly to a kind of mobile robot chassis drive trains.
Background technology
With the progress of the reach of science and technology, ground mobile robot has been able to replace mankind's execution more and more
Task.For example, carrying out scouting explosive work, scene of fire prospecting fire behavior, processing ignition point in struggle against terror, held instead of the mankind
In the tasks such as row inspection, robot starts to play a greater and greater role.
Carrier of the mobile robot chassis as robot function module, kinetic stability, reliability directly affect whole
The performance of a robot system.And the stability of mobile chassis drive train is the key technical index of mobile chassis, and move
The structure and the kind of drive of dynamic chassis drive train will have a direct impact on the topology layout of mobile chassis.
Utility model content
The purpose of this utility model is to provide a kind of modularization and the reliable and stable mobile robot chassis of drive mechanism is driven
Driving wheel system.
In order to solve to reach above-mentioned purpose, the utility model provides a kind of mobile robot chassis drive train, including
Motor, planetary reducer and gearbox, the motor pass through the input axis connection of the planetary reducer and the gearbox, institute
The output shaft of gearbox is stated by the driving axis connection of driving section and driving wheel, and the output shaft of the motor, planetary reduction gear
Axial direction setting of the output shaft of the output shaft of machine and the gearbox perpendicular to the driving wheel.
Preferably, the driving section is a bevel gear pair, and one of bevel gear is set in the output shaft of the gearbox
On, another bevel gear is set in the drive shaft.
Preferably, it is worn in the mobile robot tray side panel and is equipped with shaft sleeve at the drive shaft, it is described
Shaft sleeve is fixedly connected with the mobile robot tray side panel, and the drive shaft passes through bearing and the shaft sleeve
It is rotatably connected.
Preferably, dynamic sealing is set between the drive shaft and the shaft sleeve；The shaft sleeve with
Static seal is set between the mobile robot tray side panel.
Preferably, the output shaft of the planetary reducer is connect with the input shaft of the gearbox by shaft coupling.
Preferably, the planetary reducer is fixed on by fixed frame in the mobile robot tray side panel.
Preferably, the dynamic sealing is outside framework oil seal, and the static seal seals for O-ring seal.
Preferably, the drive shaft is by driving wheel sleeve to be fixedly connected with the driving wheel.
The above-mentioned technical proposal of the utility model has the following advantages that：It drives on mobile robot chassis provided by the utility model
Driving wheel system includes motor, planetary reducer and gearbox, and the motor is defeated by the planetary reducer and the gearbox
Enter axis connection, the output shaft of the gearbox passes through the driving axis connection of driving section and driving wheel, the driving master of comprising modules
Body, it is easy for installation, have the characteristics that energy speed change and load are big, in addition the output shaft of the output shaft of the motor, planetary reducer
Output shaft with the gearbox saves installation space, is conducive to mobile robot perpendicular to the axial direction setting of the driving wheel
The layout in each portion and installation in chassis.
Description of the drawings
Fig. 1 is the utility model embodiment mobile robot chassis drive train structural schematic diagram；
Fig. 2 is the A-A diagrammatic cross-sections of the utility model embodiment Fig. 1；
Fig. 3 is the structural schematic diagram of the utility model embodiment fixed frame.
In figure：101：Motor；102：Planetary reducer；103：Gearbox；104：Driving wheel；105：Drive shaft；106：Umbrella
Gear pair；1061：Bevel gear；107：Mobile robot tray side panel；108：Shaft sleeve；109：Bearing；110：Dynamic sealing；
111：Static seal；112：Fixed frame.
Specific implementation mode
It is new below in conjunction with this practicality to keep the purpose, technical scheme and advantage of the utility model embodiment clearer
Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched
The embodiment stated is a part of the embodiment of the utility model, instead of all the embodiments.Based on the reality in the utility model
Apply example, the every other embodiment that those of ordinary skill in the art are obtained without making creative work, all
Belong to the range of the utility model protection.
As depicted in figs. 1 and 2, the mobile robot chassis drive train that the utility model embodiment provides, including motor
101, planetary reducer 102 and gearbox 103, wherein the input shaft that motor 101 passes through planetary reducer 102 and gearbox 103
Connection, the output shaft of gearbox 103 is connect by driving section with the drive shaft 105 of driving wheel 104, and the output of motor 101
Axial direction setting of the output shaft of axis, the output shaft of planetary reducer 102 and gearbox 103 perpendicular to driving wheel 104.That is motor
101, planetary reducer 102 and the composition driving main body of gearbox 103, installation have the characteristics that energy speed change and load are big, and
And entirety is arranged in parallel with mobile robot tray side panel 107, saves installation space, is conducive to each portion in mobile robot chassis
Layout and installation.
Preferably, as shown in Figure 1, driving section is bevel gear pair 106, one of bevel gear 1061 is set in gearbox
On 103 output shaft, another bevel gear 1061 is set in drive shaft 105, simple in structure, stable transmission.
As shown in Fig. 2, driving wheel 104 is located at the outside of mobile robot tray side panel 107, in mobile robot chassis side
On plate 107, shaft sleeve 108, the shaft sleeve 108 and mobile robot is arranged in the position for wearing drive shaft 105
Tray side panel 107 is fixedly connected, such as is keyed or is bolted.Drive shaft 105 is supported by bearing 109 and shaft sleeve
108 are rotatably connected, and realize positioning axially and radially.
Preferably, drive shaft 105 is rotatably connected by two spaced bearings 109 with shaft sleeve 108, real
Existing more stable transmission and support.
Further, drive shaft 105 avoids driving force direct by driving wheel sleeve 113 to be fixedly connected with driving wheel 104
Driving wheel 104 is acted on, the abrasion of driving wheel 104 is reduced, extends the service life of driving wheel 104.
Specifically, driving wheel sleeve 113 is embedded in the mesoporous of driving wheel 104, is fixed by screw, drive shaft 105 is worn
It is keyed in the driving wheel sleeve 113, and with driving wheel sleeve 113, here, driving wheel sleeve 113 can be regarded as
The bushing of drive shaft 105 carries driving force.
In order to realize better seal, as shown in Fig. 2, dynamic sealing is arranged between drive shaft 105 and shaft sleeve 109
110；Static seal 111 is set between shaft sleeve 109 and mobile robot tray side panel 107, it is preferable that dynamic sealing 110
Using outside framework oil seal, static seal 111 is sealed using O-ring.
In order to reduce transmission deviation, the stability of transmission is improved, it is preferable that as shown in Figure 1, planetary reducer 102 is defeated
Shaft is connect with the input shaft of gearbox 103 by shaft coupling.
Further, in order to reduce transmission deviation, the stability of transmission is improved, as shown in Figure 1, planetary reducer 102
It is fixed in mobile robot tray side panel 107 by fixed frame 112.
Preferably, as shown in Figure 1, fixed frame 112 includes the fixed part of mounting portion, the mounting portion is mounted on by bolt
Mobile robot tray side panel 107, fixed part are the fixed plate with via, the fixed plate one end and fixed part vertical connection,
The part of planetary reducer 102 passes through the via of fixed plate to fix, and by bolt by the shell and fixed plate of planetary reducer
It is fixed.
Finally it should be noted that：Above example is only to illustrate the technical solution of the utility model, rather than its limitations；
Although the utility model is described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that：
It still can be with technical scheme described in the above embodiments is modified, or is carried out to which part technical characteristic etc.
With replacement；And these modifications or replacements, various embodiments of the utility model technology that it does not separate the essence of the corresponding technical solution
The spirit and scope of scheme.
Claims (8)
1. a kind of mobile robot chassis drive train, it is characterised in that：It is described including motor, planetary reducer and gearbox
Motor by the input axis connection of the planetary reducer and the gearbox, the output shaft of the gearbox by driving section with
The driving axis connection of driving wheel, and the output of the output shaft of the motor, the output shaft of planetary reducer and the gearbox
Axial direction setting of the axis perpendicular to the driving wheel.
2. mobile robot chassis according to claim 1 drive train, it is characterised in that：The driving section is a umbrella tooth
Wheel set, one of bevel gear are set on the output shaft of the gearbox, another bevel gear is set in the drive shaft.
3. mobile robot chassis according to claim 2 drive train, it is characterised in that：At the mobile robot bottom
It is worn on disk side plate and is equipped with shaft sleeve at the drive shaft, the shaft sleeve and the mobile robot tray side panel
It is fixedly connected, the drive shaft is rotatably connected by bearing and the shaft sleeve.
4. mobile robot chassis according to claim 3 drive train, it is characterised in that：The drive shaft with it is described
Dynamic sealing is set between shaft sleeve；It is arranged between the shaft sleeve and the mobile robot tray side panel quiet close
Envelope.
5. mobile robot chassis according to claim 1 drive train, it is characterised in that：The planetary reducer it is defeated
Shaft is connect with the input shaft of the gearbox by shaft coupling.
6. mobile robot chassis according to claim 1 drive train, it is characterised in that：The planetary reducer passes through
Fixed frame is fixed in the mobile robot tray side panel.
7. mobile robot chassis according to claim 4 drive train, it is characterised in that：The dynamic sealing is skeleton oil
Envelope, the static seal seal for O-ring seal.
8. mobile robot chassis according to claim 3 drive train, it is characterised in that：The drive shaft passes through driving
Wheel sleeve is fixedly connected with the driving wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820019831.7U CN207942915U (en) | 2018-01-06 | 2018-01-06 | A kind of mobile robot chassis drive train |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820019831.7U CN207942915U (en) | 2018-01-06 | 2018-01-06 | A kind of mobile robot chassis drive train |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207942915U true CN207942915U (en) | 2018-10-09 |
Family
ID=63701507
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820019831.7U Active CN207942915U (en) | 2018-01-06 | 2018-01-06 | A kind of mobile robot chassis drive train |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207942915U (en) |
-
2018
- 2018-01-06 CN CN201820019831.7U patent/CN207942915U/en active Active
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