CN208007134U - Robot differential driving structure - Google Patents

Abstract

The utility model discloses a differential driving structure for a robot, which comprises a bracket, two differential wheels and two driving devices; the two differential wheels are arranged on both sides of the bracket, and each differential wheel is driven by a driving device Drive it to rotate relative to the bracket; the differential wheel includes a wheel body and an annular slideway; corresponding to each differential wheel, multiple groups of wheel lock mechanisms acting on the annular slideway are provided on the bracket, and each set of The wheel lock mechanism includes two rollers arranged on the inner ring and the outer ring of the annular slideway, and the outer circumference of each roller has a ring groove riding on the annular slideway. The robot differential drive structure of the utility model is ingenious and reliable, saves space, and has a reasonable internal layout. It relies on its own gravity to keep itself in an upright state regardless of whether it is in a moving state or a static state. It is suitable for small and exquisite structures such as spherical robots. Compact robot.

Description

Differential drive structure for robots

technical field

The utility model relates to the field of robots, in particular to a differential drive mechanism for a robot.

Background technique

A spherical robot is an independent moving body with a spherical or approximately spherical structure as its shell. The existing spherical robots are divided into two types, one is the spherical robot whose driving mechanism is located inside the spherical robot shell, which can drive the entire spherical shell to rotate universally, and the other is the spherical robot driven by the double-wheel differential speed. The utility model is mainly aimed at the second type of spherical robot. Due to the limited internal space of the spherical robot, the requirements for the size and reliability of the driving structure are relatively high. Most of the existing spherical robots have complicated driving structures and are inconvenient to disassemble and maintain.

Utility model content

Purpose of the utility model: In order to overcome the deficiencies in the prior art, the utility model provides a differential drive structure for robots with simple structure, compactness, reliability and space saving.

Technical solution: In order to achieve the above purpose, the differential drive structure for robots of the present invention includes a bracket, two differential wheels and two driving devices; the two differential wheels are arranged on both sides of the bracket, and each differential wheel are all driven by a driving device to rotate relative to the bracket;

The differential wheel includes a wheel body and an annular slideway; corresponding to each differential wheel, multiple sets of wheel lock mechanisms acting on the annular slideway are provided on the bracket, and each set of wheel lock mechanisms includes a The inner ring and the two rollers of the outer ring, each roller has an annular groove straddling the annular slideway on the outer circumference.

Further, both the inner ring and the outer ring of the annular slideway have V-shaped protrusions, and the ring groove is a V-shaped groove fitting with the V-shaped protrusions.

Further, the differential wheel further includes a gear part, and the driving device includes a motor fixed on the bracket and a driving gear mounted on an output shaft of the motor, and the driving gear meshes with the gear part.

Further, the gear part is an internal gear.

Further, it also includes a control main board fixed on the bracket.

Further, the control main board is installed on the control main board base, and the control main board base is fixed on the bracket through the connecting column.

Further, a battery fixed on the bracket is also included.

Further, the bracket includes four uprights, and the battery is fixed on the uprights through cable ties.

Beneficial effects: the robot differential drive structure of the utility model is ingenious and reliable, saves space, and has a reasonable internal layout. It relies on its own gravity to keep itself in an upright state regardless of whether it is in a moving state or a static state, and is suitable for spherical robots. and other small and compact robots.

Description of drawings

Accompanying drawing 1 is the overall structural diagram of robot with differential drive structure;

Accompanying drawing 2 is the partial enlarged view of position A in accompanying drawing 1;

Accompanying drawing 3 is the front view of robot differential drive structure;

Accompanying drawing 4 is the side view of differential drive structure for robot.

Detailed ways

Below in conjunction with accompanying drawing, the utility model is described further.

The robot differential drive structure shown in accompanying drawing 1,3,4 comprises a bracket 1, two differential wheels 2 and two driving devices 3; two differential wheels 2 are arranged on both sides of the bracket 1 and two The differential wheels 2 are arranged coaxially, and each differential wheel 2 is driven by a driving device 3 to rotate relative to the bracket 1 .

The differential wheel 2 includes a wheel body 21 and an annular slideway 22; corresponding to each differential wheel 2, multiple groups of wheel lock mechanisms 4 acting on the annular slideway 22 are arranged on the bracket 1, and each group of the wheel locks The mechanism 4 includes two rollers 41 arranged on the inner ring and the outer ring of the annular slideway 22 , and the outer circumference of each roller 41 has a ring groove 411 riding on the annular slideway 22 . The roller 41 is installed on the roller bracket 42 and can rotate relative to the roller bracket 42 , and the roller bracket 42 is fixedly installed relative to the bracket 1 . With this structure, the differential wheel 2 can be rotated relative to the bracket 1 without a rotating shaft, and the differential wheel 2 can be restricted from moving axially. In theory, two sets of wheel lock mechanisms 4 are required to keep the differential wheel 2 rotate around a central axis. In order to ensure the stability and reliability of the structure in this embodiment, 6 sets of wheel lock mechanisms 4 are used, of which two sets of wheel lock mechanisms 4 are symmetrically installed on both sides of the upper end of the bracket 1, and the other 4 sets of wheel lock mechanisms The mechanism 4 is divided into two groups and installed symmetrically on both sides of the lower end of the bracket 1 .

In this embodiment, in order to reduce the cost, the roller 41 is a V-groove bearing, the ring groove 411 is a V-shaped groove, and both the inner ring and the outer ring of the annular slideway 22 have a V-shaped shape that matches the shape of the ring groove 411. raised portion 221 .

The differential wheel 2 also includes a gear portion 23, and the driving device 3 includes a motor 31 fixed on the bracket 1 and a driving gear 32 installed on the output shaft of the motor 31, and the driving gear 32 is connected to the gear Part 23 engages. In this embodiment, the gear part 23 is an internal gear, so that the differential wheel 2 can be made into a hollow ring as a whole, so that the driving gear 32 is inside, which not only makes the structure more compact, but also makes the structure more compact. Weight reduction.

It also includes a control board 8 fixed on the bracket 1, the two motors 31 are connected to the control board 8, and the control board 8 drives the two motors 31 to rotate respectively. When the speeds of the two motors 31 are different, two differentials can be realized. The differential motion of the speed wheel 2 can realize the forward and backward motion and turning motion of the robot. The control mainboard 8 is installed on the control mainboard base 5 , and the control mainboard base 5 is fixed on the bracket 1 through the connecting column 6 .

It also includes a battery 7 fixed on the bracket 1 , the battery 7 can supply power to the motor 31 and the control board 8 . The bracket 1 includes four uprights 11 , and the battery 7 is fixed on the uprights 11 by cable ties (not shown in the figure, other fixing methods are also possible). The motor 31 is connected to the column 11 through a motor base 33 .

As shown in accompanying drawing 3, comprise two batteries 7 in the present embodiment, two batteries 7 are distributed on the both sides of described support 1, and two driving devices 3 are also distributed on the both sides of described support 1, control mainboard 8 Located between the four columns 11, the advantage of this layout is that the main weight of the driving structure (ie the weight of the driving device 3 and the battery 7) is evenly distributed on both sides of the bracket 1, so that the entire driving structure can be under its own gravity. Maintaining balance is similar to the effect of a tumbler, and during the movement of the robot, the bracket 1 will not rotate in the opposite direction due to the reaction force of the differential wheel 2, which can maintain the smooth movement of the robot.

The robot differential drive structure of the utility model is ingenious and reliable, saves space, and has a reasonable internal layout. It relies on its own gravity to keep itself in an upright state regardless of whether it is in motion or in a static state. It is suitable for small and exquisite structures such as spherical robots. Compact robot.

The above is only a preferred embodiment of the utility model, it should be pointed out that for those of ordinary skill in the art, without departing from the principle of the utility model, some improvements and modifications can also be made. Retouching should also be regarded as the scope of protection of the present utility model.

Claims (9)

1. The differential drive structure for the robot is characterized in that: it comprises a support (1), two differential wheels (2) and two driving devices (3); the two differential wheels (2) are arranged on the support (1) on both sides, and each differential wheel (2) is driven by a driving device (3) to rotate relative to the bracket (1); The differential wheel (2) includes a wheel body (21) and an annular slideway (22); corresponding to each differential wheel (2) on the bracket (1), a plurality of groups are arranged to act on the annular slideway (22) The wheel lock mechanism (4), each group of said wheel lock mechanism (4) includes two rollers (41) arranged on the inner ring and the outer ring of the annular slideway (22), and the outer circumference of each roller (41) Each has an annular groove (411) riding on the annular slideway (22). 2. The robot differential drive structure according to claim 1, characterized in that: the inner ring and the outer ring of the annular slideway (22) all have a V-shaped protrusion (221), and the annular groove ( 411) is a V-shaped groove fitting with the V-shaped protrusion (221). 3. The robot differential drive structure according to claim 1, characterized in that: the differential wheel (2) also includes a gear portion (23), and the driving device (3) includes a gear portion fixed on the bracket ( 1) the motor (31) on the motor (31) and the driving gear (32) installed on the output shaft of the motor (31), the driving gear (32) meshes with the gear part (23). 4. The differential drive structure for a robot according to claim 3, characterized in that the gear part (23) is an internal gear. 5. The differential drive structure for a robot according to claim 1, characterized in that it further comprises a control board (8) fixed on the bracket (1). 6. The robot differential drive structure according to claim 5, characterized in that: the control board (8) is installed on the control board base (5), and the control board base (5) passes through the connecting column (6) fixed on the bracket (1). 7. The differential drive structure for a robot according to any one of claims 1-6, characterized in that it further comprises a battery (7) fixed on the bracket (1). 8. The robot differential drive structure according to claim 7, characterized in that: the bracket (1) includes four uprights (11), and the battery (7) is fixed on the uprights (11) by cable ties . 9. The differential drive structure for the robot according to claim 7, characterized in that: it comprises two batteries (7), and the two batteries (7) are distributed on both sides of the support (1), and the two driving devices (3) are also distributed on both sides of the bracket (1).