CN208880693U - A kind of driving wheel apparatus for heavy load climbing robot - Google Patents
A kind of driving wheel apparatus for heavy load climbing robot Download PDFInfo
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- CN208880693U CN208880693U CN201821336285.6U CN201821336285U CN208880693U CN 208880693 U CN208880693 U CN 208880693U CN 201821336285 U CN201821336285 U CN 201821336285U CN 208880693 U CN208880693 U CN 208880693U
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- bearing
- driving wheel
- worm gear
- gear reducer
- wheel hub
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Abstract
A kind of driving wheel apparatus for heavy load climbing robot, including drive wheel mechanism, gear reducer mechanism, driving motor and motor mount, drive wheel mechanism are fixedly connected with gear reducer mechanism, and driving motor is fixedly connected by motor mount with gear reducer mechanism.ThisUtility modelDrive wheel mechanism uses nested designs, and is connect between gear reducer mechanism and driving motor using L-type, keeps driving wheel apparatus structure compact, effectively controls the axial dimension of driving wheel apparatus；Wheel hub is set on bearing cylinder by angular contact ball bearing, and worm gear shaft only transmits power, without driving wheel load is subjected to, is effectively improved the axially and radially bearing capacity of driving wheel apparatus, and worm gear shaft radial dimension can be effectively controlled, is mitigated self weight；Reduction case is formed by connecting using plate, effectively reduces difficulty of processing and cost, alleviates self weight；Power transmitting is carried out using worm gear mechanism, the self-locking of driving wheel apparatus is realized, effectively increases robot manipulating task safety.
Description
Technical field
The utility model belongs to robotic technology field.
Background technique
Climbing robot is a kind of particular kind of machine for organically combining ground mobile robot technology and wall adsorption technology
People, can carrying operation tool specific function is completed on wall surface, be widely used at present shipping industry, nuclear industry,
The industries such as construction industry.
Running on wheels mode is flexible, steady due to having the characteristics that movement, becomes climbing for the operations such as weld, polish
The main walking manner of wall robot.
For being engaged in the climbing robot of the operations such as welding, polishing, the operating equipment weight carried is big, and driving wheel needs
It is capable of providing very big driving force and there is enough bearing capacitys.Existing driving wheel apparatus is mostly that part is axially disposed,
Axial dimension is big, so that robot overall structure is not compact；Power output shaft is directly connected to driving wheel, needs to bear simultaneously to turn round
Square and moment of flexure cause output shaft diameter big, increase self weight；Device does not have self-locking function, increases the operation wind of robot
Danger.
Chinese Patent Application No. 200910304692.8 describes a kind of " climbing robot compact-type active driving wheel dress
Set ", driving wheel, motor, rack tube three's nesting mounting means are used, driving motor is mounted on the cylinder of rack tube by bolt
Shape is intracavitary, and rack tube is mounted in driving wheel cylindrical chamber, and is supported by rolling bearing to driving wheel, rigid meeting structure
While property, the axial dimension of device is shortened.
Although the patent described device shortens the axial dimension of device using the method for nested installation, driving wheel,
Remain as axially mounted between rack tube, motor three, axial dimension is determined by motor length, and there is no from truly
Realize that robot architecture's is compact；Appliance stand cylinder supports driving wheel by bearing, although increasing driving wheel radial
Bearing value, but used deep groove ball bearing axial carrying capacity is limited, is unable to satisfy heavy load climbing robot to drive
The requirement of driving wheel axial carrying capacity；Device does not have self-locking function, when happen suddenly power blackout situation when, only rely on motor internal drive
Resistance between component can not prevent the downslide of heavy load climbing robot, increase the operating risk of robot.
Chinese Patent Application No. 201710278688.3 describes a kind of " universal drive module of climbing robot ", special
Sign is the drive system modularization using support frame, drive module, Tension module and magnetic suck module to climbing robot.
The patent described device components are excessive, and structure is complicated；Using toothed belt transmission, driving wheel plant bulk is caused
Greatly, structure is not compact；Rotation shaft of wheel is directly connected to driving wheel, provides driving moment for driving wheel, while being also subjected to magnetic
Moment of flexure caused by attached power and driving force, therefore its structural-load-carrying capacity is limited, is unsuitable for the driving of heavy load climbing robot.
Utility model content
It is existing to solve the purpose of the utility model is to provide a kind of driving wheel apparatus for heavy load climbing robot
Climbing robot driving wheel device axial direction structure size is big, and bearing capacity is insufficient and does not have self-locking problem.
The utility model is achieved through the following technical solutions.
A kind of driving wheel apparatus for heavy load climbing robot described in the utility model, comprising: drive wheel mechanism,
Gear reducer mechanism, driving motor and motor mount, drive wheel mechanism are fixedly connected with gear reducer mechanism, and driving motor passes through
Motor mount is fixedly connected with gear reducer mechanism.
The drive wheel mechanism include: wheel hub, rubber ring, wheel hub end housing, bearing cylinder, bearing (ball) cover and in pairs back-to-back
The angular contact ball bearing of installation, in which: rubber ring is cast in hub outside surface, and wheel hub is set in bearing by angular contact ball bearing
On cylinder, bearing (ball) cover is installed in bearing cylinder end face, and wheel hub end housing is installed in wheel hub end face.
The gear reducer mechanism includes: worm screw, two bearing blocks, worm gear, worm gear shaft, sleeve, outside plate, inner panel, upper fixation
Plate, bottom plate, two dust covers, connecting flange, positioning pin, flat key and bearing.Wherein, outside plate and inner panel respectively with it is upper
Fixed plate, bottom plate are fixedly connected with composition reduction case, and worm gear set is loaded on worm gear shaft and is connected by flat key, and passes through two
A deep groove ball bearing is installed in reduction-gear housing body, and worm screw is sleeved on two bearing blocks by angular contact ball bearing, and is passed through
Bearing block is installed in reduction-gear housing body.
The utility model has the advantages that compared with prior art
The utility model drive wheel mechanism uses nested designs, and L-type is used between gear reducer mechanism and driving motor
Connection effectively controls the axial dimension of driving wheel apparatus so that driving wheel apparatus structure is compact；Wheel hub is supported by bearing cylinder,
Between be provided with a pair of of angular contact ball bearing, and worm gear shaft only transmits power, without driving wheel load is subjected to, effectively improves driving
The axially and radially bearing capacity of wheel apparatus, and worm gear shaft radial dimension is effectively controlled, to alleviate self weight；Reduction-gear housing
Body is formed by connecting using plate, effectively reduces difficulty of processing and cost, and alleviates self weight；It is carried out using worm gear mechanism
Power transmitting realizes the self-locking of driving wheel apparatus, effectively increases the operational security of robot.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model.
Fig. 2 is the top view of the utility model.
Fig. 3 is A-A ' cross-sectional view of the utility model in Fig. 2 view.
Fig. 4 is B-B ' cross-sectional view of the utility model in Fig. 2 view.
In figure, 1 it is drive wheel mechanism, 2 is gear reducer mechanism, 3 is motor mount, 4 is driving motor, 5 is wheel hub, 6
For rubber ring, 7 be bearing cylinder, 8 be angular contact ball bearing, 9 be bearing (ball) cover, 10 be wheel hub end housing, 11 be outside plate, 12 be in
Plate, 13 be upper mounted plate, 14 be bottom plate, 15 be positioning pin, 16 be dust cover, 17 be worm gear, 18 be worm gear shaft, 19 be
Flat key, 20 be sleeve, 21 be deep groove ball bearing, 22 be connecting flange, 23 be flat key, 24 be bearing block, 25 be positioning pin, 26 be
Angular contact ball bearing, 27 be worm screw, 28 be holding screw.
Specific embodiment
Below in conjunction with drawings and examples, the utility model is described in further detail.
As shown in Fig.1 and Fig.2, heavy load climbing robot driving wheel apparatus include: drive wheel mechanism 1, gear reducer mechanism 2,
Motor mount 3 and driving motor 4.
Such as Fig. 2, shown in Fig. 3, drive wheel mechanism 1 includes: wheel hub 5, rubber ring 6, bearing cylinder 7, installs back-to-back in pairs
Angular contact ball bearing 8, bearing (ball) cover 9 and wheel hub end housing 10.
As shown in figure 3, the outer wall of the wheel hub 5 is cast with rubber ring 6, rubber ring 6 is made of polyurethane material, to increase
Coefficient of friction between drive wheel mechanism 1 and wall surface, to improve driving wheel apparatus to the adhesive force of wall surface.
As shown in figure 3, the wheel hub 5 is sleeved on bearing cylinder 7, and is supported cylinder 7 and is located in the cylindrical chamber of wheel hub 5, it is described
The angular contact ball bearing 8 installed back-to-back in pairs is provided between the inner wall of wheel hub 5 and the outer wall for supporting cylinder 7, wheel hub 5 is by supporting
Cylinder 7 is supported, and the radial bearing capacity of drive wheel mechanism 1 is improved.
As shown in figure 3, the inner wall of the wheel hub 5 and bearing cylinder 7 outer wall be provided with the shaft shoulder, respectively with angular contact ball axis
The outer ring for holding 8 and inner ring are against the bearing (ball) cover 9 is set in the inner ring of angular contact ball bearing 8, and is installed in bearing cylinder 7
The outer wall of end face, bearing (ball) cover 9 is provided with the shaft shoulder, and the inner ring with angular contact ball bearing 8 is against the wheel hub end housing 10 is installed in
The end face of wheel hub 5, wheel hub end housing 10 are provided with boss, with the outer ring of angular contact ball bearing 8 against.So set, effectivelying prevent
The axial float of angular contact ball bearing 8, improves the axial carrying capacity of drive wheel mechanism 1.
As shown in figure 3, the outer wall of the wheel hub 5 is provided with the shaft shoulder, the end face of wheel hub end housing 10 and rubber ring 6 against.Such as
This setting can be avoided rubber ring 6 when bearing big axial load, removes and damages with the outer wall of wheel hub 5.
As shown in figure 3, wheel hub 5, bearing cylinder 7, angular contact ball bearing 8, bearing (ball) cover 9, wheel hub end housing 10 are all made of nesting
Mounting means ensure that the compact-sized of drive wheel mechanism.
Such as Fig. 2, Fig. 3, shown in Fig. 4, gear reducer mechanism 2 includes: outside plate 11, inner panel 12, upper mounted plate 13, bottom plate
14,15, two dust covers 16 of positioning pin, worm gear 17, worm gear shaft 18, flat key 19,20, two deep groove ball bearings 21 of sleeve, company
Acting flange 22,23, two bearing blocks 24 of flat key, 25, two angular contact ball bearings 26 of positioning pin, worm screw 27 and holding screw
28。
Such as Fig. 2, shown in Fig. 3, the outside plate 11 is provided with mounting hole, between drive wheel mechanism 1 and gear reducer mechanism 2
Installation positioning, the outside plate 11 and inner panel 12 are fixedly connected with upper mounted plate 13, bottom plate 14 respectively constitutes retarder machine
The cabinet of structure 2, the outside plate 11, inner panel 12, upper mounted plate 13, bottom plate 14 are provided with pin hole, and utilize positioning pin 15
Realize positioning.So set, ensure that installation accuracy, processing cost is reduced, and alleviates the self weight of gear reducer mechanism 2.
As shown in Fig. 2, described two dust covers 16 are installed in the both ends of outside plate 11 and inner panel 12 respectively, to prevent dust
Or foreign matter enters the inside of gear reducer mechanism 2, and the normal operation of gear reducer mechanism 2 has been effectively ensured.
As shown in figure 3, the worm gear 17 is sleeved on worm gear shaft 18 simultaneously and the shaft shoulder is against dynamic using the connection realization of flat key 19
Power transmitting, the sleeve 20 are sleeved on worm gear shaft 18, lean with worm gear 17, and the worm gear shaft 18 passes through two deep-groove ball axis
21 are held to be mounted in reduction-gear housing body, the inner ring of two deep groove ball bearings 21 respectively with the shaft shoulder of worm gear shaft 18, sleeve 20 against,
The outer ring of two deep groove ball bearings 21 respectively with bearing cylinder 7, connecting flange 22 against.So set, worm gear 17 is effectively prevent to send out
Raw axial float.
As shown in figure 3, the worm gear shaft 18 is sleeved in the cylindrical chamber of wheel hub end housing 10, and connected using flat key 23
It connects, realizes that the power between gear reducer mechanism 2 and drive wheel mechanism 1 transmits, worm gear shaft 18 only provides torque, drive wheel mechanism 1
It axially and radially loads by bearing cylinder carrying.So set, can be improved the bearing capacity of driving wheel apparatus, and effectively control
The radial dimension of worm gear shaft 18, to mitigate self weight.
As shown in figure 3, being provided with mounting hole on the connecting flange 22, entire driving wheel apparatus and robot frame are realized
Connection, be provided with mounting hole on the inner panel 12, the installation for connecting flange 22 positions, to guarantee driving wheel apparatus in machine
Installation accuracy on device people.
As shown in figure 4, described two bearing blocks 24 are fixedly connected with outside plate 11, inner panel 12 respectively, and pass through positioning pin 25
Realize positioning, described two angular contact ball bearings 26 are sleeved on 27 both ends of worm screw, and with 27 shaft shoulder of worm screw against the worm screw 27
It is sleeved in 24 cylindrical chamber of bearing block by angular contact ball bearing 26, the bearing block 24 is provided with the shaft shoulder, to realize worm screw 27
Axially position, effectively prevent worm screw 27 occur axial float.
As shown in figure 4, the worm screw 27 uses hollow design, inside is that through-hole effectively subtracts while not influencing intensity
The light self weight of gear reducer mechanism 2.
As shown in figure 4, the driving motor 4 is packed on motor mount 3, motor mount 3 is packed in bearing block 24
On, the worm screw 27 is provided with threaded hole close to one end of driving motor 4, and 4 output sleeve of driving motor is mounted in the logical of worm screw 27
It in hole, is attached using holding screw 28, to realize that the power between driving motor 4 and gear reducer mechanism 2 transmits.
Such as Fig. 3, shown in Fig. 4, driving wheel apparatus working principle is that driving motor 4 imparts power to worm screw 27, worm screw 27
Worm gear 17 is imparted power to, worm gear 17 imparts power to worm gear shaft 18, and worm gear shaft 18 imparts power to wheel hub end housing 10,
To finally impart power to wheel hub 5, worm gear mechanism is used in power transmission process, to realize driving wheel apparatus
It is self-locking, improve robot manipulating task safety.
Such as Fig. 1, Fig. 2, Fig. 3, shown in Fig. 4, drive wheel mechanism 1, gear reducer mechanism 2 are connected using L-type between driving motor 4
It connects, compact overall structure, is effectively controlled the axial dimension of driving wheel apparatus.
Claims (1)
1. a kind of driving wheel apparatus for heavy load climbing robot, it is characterized in that include drive wheel mechanism, gear reducer mechanism,
Driving motor and motor mount, drive wheel mechanism are fixedly connected with gear reducer mechanism, and driving motor passes through motor mount
It is fixedly connected with gear reducer mechanism；
The drive wheel mechanism includes wheel hub, rubber ring, wheel hub end housing, bearing cylinder, bearing (ball) cover and installation back-to-back in pairs
Angular contact ball bearing；Rubber ring is cast in hub outside surface, and wheel hub is set on bearing cylinder by angular contact ball bearing, bearing
End cap is installed in bearing cylinder end face, and wheel hub end housing is installed in wheel hub end face；
The gear reducer mechanism include worm screw, two bearing blocks, worm gear, worm gear shaft, sleeve, outside plate, inner panel, upper mounted plate, under
Fixed plate, two dust covers, connecting flange, positioning pin, flat key and bearing；Outside plate and inner panel respectively with upper mounted plate, under
Fixed plate is fixedly connected with composition reduction case, and worm gear set is loaded on worm gear shaft and is connected by flat key, and passes through two deep-groove balls
Bearing is installed in reduction-gear housing body, and worm screw is sleeved on two bearing blocks by angular contact ball bearing, and is pacified by bearing block
Loaded in reduction-gear housing body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821336285.6U CN208880693U (en) | 2018-08-20 | 2018-08-20 | A kind of driving wheel apparatus for heavy load climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821336285.6U CN208880693U (en) | 2018-08-20 | 2018-08-20 | A kind of driving wheel apparatus for heavy load climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208880693U true CN208880693U (en) | 2019-05-21 |
Family
ID=66509202
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821336285.6U Expired - Fee Related CN208880693U (en) | 2018-08-20 | 2018-08-20 | A kind of driving wheel apparatus for heavy load climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208880693U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108890613A (en) * | 2018-08-20 | 2018-11-27 | 南昌大学 | A kind of driving wheel apparatus for heavy load climbing robot |
| CN110421554A (en) * | 2019-09-02 | 2019-11-08 | 西安安森智能机器人有限公司 | A kind of crusing robot transmission device |
| CN111483278A (en) * | 2020-06-28 | 2020-08-04 | 之江实验室 | Vertical buffer integrated suspension-steering mechanism |
| CN114101162A (en) * | 2021-10-08 | 2022-03-01 | 河北工业大学 | Wall climbing robot for cleaning jacket of ocean platform |
-
2018
- 2018-08-20 CN CN201821336285.6U patent/CN208880693U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108890613A (en) * | 2018-08-20 | 2018-11-27 | 南昌大学 | A kind of driving wheel apparatus for heavy load climbing robot |
| CN110421554A (en) * | 2019-09-02 | 2019-11-08 | 西安安森智能机器人有限公司 | A kind of crusing robot transmission device |
| CN111483278A (en) * | 2020-06-28 | 2020-08-04 | 之江实验室 | Vertical buffer integrated suspension-steering mechanism |
| CN111483278B (en) * | 2020-06-28 | 2020-10-13 | 之江实验室 | Vertical buffer integrated suspension-steering mechanism |
| CN114101162A (en) * | 2021-10-08 | 2022-03-01 | 河北工业大学 | Wall climbing robot for cleaning jacket of ocean platform |
| CN114101162B (en) * | 2021-10-08 | 2022-11-01 | 河北工业大学 | Wall climbing robot for cleaning jacket of ocean platform |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190521 Termination date: 20190820 |
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| CF01 | Termination of patent right due to non-payment of annual fee |