CN208946147U - Robot ambulation wheel mounting structure - Google Patents
Robot ambulation wheel mounting structure Download PDFInfo
- Publication number
- CN208946147U CN208946147U CN201821616568.6U CN201821616568U CN208946147U CN 208946147 U CN208946147 U CN 208946147U CN 201821616568 U CN201821616568 U CN 201821616568U CN 208946147 U CN208946147 U CN 208946147U
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- China
- Prior art keywords
- shaft
- traveling wheel
- mounting structure
- lid
- transmission device
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- Expired - Fee Related
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- 230000005540 biological transmission Effects 0.000 claims abstract description 37
- 230000001360 synchronised effect Effects 0.000 claims abstract description 29
- 230000003014 reinforcing effect Effects 0.000 claims description 7
- 230000007704 transition Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 abstract description 14
- 230000000694 effects Effects 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
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Abstract
The utility model discloses a kind of robot ambulation wheel mounting structure, the fastener of lid, traveling wheel axis, transmission device axial limiting will be synchronized on the driving shaft including drive shaft, for installing traveling wheel on the driving shaft, the transmission device for being driven cooperation with drive shaft and being located on the inside of traveling wheel, being installed in drive shaft and being located at the synchronous lid and setting on the outside of traveling wheel for rotating synchronously traveling wheel and transmission device；The utility model transmission device, traveling wheel, synchronous lid, fastener successively install and drive shaft on, by the pretightning force of fastener by above-mentioned component drive shaft axis location, installation can be completed by fastener in traveling wheel, enormously simplify the mounting means of traveling wheel, replacement easy to disassemble, improves productive temp.
Description
Technical field
The utility model belongs to robotic technology field, is related to robot running gear, in particular to a kind of robot row
Walk wheel mounting structure.
Background technique
In automatic field, the application of moveable industrial robot is very universal, and the walking wheel of robot is
The very important component of robot is directly related to robot energy normal operation, and robot is outdoors in application, traveling wheel disappears
Consumption is serious, and current traveling wheel generally replace it is very complicated, it usually needs the device of special replacement traveling wheel, not can guarantee and
When quickly replace traveling wheel.
Therefore, it is necessary to improve to existing robot ambulation wheel mounting structure, solve the problems, such as that disassembling, assembling and replacing is cumbersome.
Utility model content
In view of this, the present invention provides a kind of robot ambulation wheel mounting structure, solve that disassembling, assembling and replacing is cumbersome to ask
Topic.
The robot ambulation wheel mounting structure of the utility model, including drive shaft, for installing walking on the driving shaft
Wheel, is installed in drive shaft and is located at traveling wheel the transmission device for being driven cooperation with drive shaft and being located on the inside of traveling wheel
The synchronous lid and be arranged synchronous lid, traveling wheel on the driving shaft that outside is used to that traveling wheel and transmission device to be made to rotate synchronously
The fastener of axis, transmission device axial limiting.
Further, the synchronous lid includes for wearing on the driving shaft and annular shape compatible with traveling wheel outer end face
Lid and several and drive shaft synchronizing shaft disposed in parallel for being connected to lid inner face, the synchronizing shaft are applied in walking
For driving the circumferential clocking of turbine of traveling wheel and transmission device to rotate in the synchronization hole of wheel and transmission device.
Further, the transmission device is the drive plate of the annular shape of installation on the driving shaft with drive shaft transmission cooperation.
Further, the opposite side of the drive plate and traveling wheel is connected with a pair being mutually adapted for mutually compressing to be formed
The friction plate of Synchronous Transmission.
Further, the drive shaft is by being sequentially connected group along axial direction four sections of connecting shafts that diameter successively becomes smaller from inside to outside
At, the junction of four sections of connecting shafts formed three at the shaft shoulder, the drive plate cooperates with the transmission of second segment connecting shaft from inside to outside,
With in third section connecting shaft from inside to outside, the fastener is installed in outermost connecting shaft for the traveling wheel and lid installation
And inwardly it is pressed on lid end.
Further, the friction plate inner face be provided with indent for accommodates the shaft shoulder adjacent with its medial surface and annularly
Allow bit space.
Further, the drive plate edge is crimped onto the guiding that arc-shaped is formed on its outer end face towards its outer end face side
Face, the guide surface are connected with the synchronous outer end of hole face arc transition for accommodating synchronizing shaft.
Further, the drive plate inner face is provided with the reinforcing ring of at least one coaxial arrangement.
Further, the synchronizing shaft free end and synchronization hole bottom corresponding thereto, which are provided with, a pair of mutually adsorbs
Magnetic.
The utility model has the beneficial effects that
The utility model transmission device, traveling wheel, synchronous lid, fastener are successively installed in drive shaft, and fastener is passed through
Pretightning force by above-mentioned component in the axis location of drive shaft, traveling wheel can be completed installation by fastener, enormously simplifies
The mounting means of traveling wheel, replacement easy to disassemble, improves productive temp；
More synchronizing shafts of the utility model are integrated on lid, so that lid and synchronizing shaft are installed simultaneously, reduce peace
The step of filling traveling wheel, improves installation effectiveness；
The utility model is by friction plate synchronous walking wheel and drive plate, so that the two synchronizes reliably, stable drive reduces
Because of rigid collision caused by synchronizing shaft and synchronous hole mismatch error, synchronizing shaft is protected, increase synchronizing shaft uses the longevity
Life, by the collective effect of synchronizing shaft and friction plate, improves driving torque.
Detailed description of the invention
The utility model is further described with reference to the accompanying drawings and examples.
FIG. 1 is a schematic structural view of the utility model；
Specific embodiment
FIG. 1 is a schematic structural view of the utility model；
Inside and outside direction described in the present embodiment is the axial direction of drive shaft, wherein interior is oneself of traction drive axis
By holding the side towards drive shaft, the free end of peripheral driver axis is directed away from the side of drive shaft.
It is as shown in the figure: the robot ambulation wheel mounting structure of the present embodiment, including drive shaft 1, for being mounted on drive shaft
On traveling wheel 2, the transmission device for being driven cooperation with drive shaft and being located on the inside of traveling wheel, be installed in drive shaft and position
Synchronous lid and setting on the outside of traveling wheel for rotating synchronously traveling wheel and transmission device will synchronize on the driving shaft
The fastener of lid, traveling wheel axis, transmission device axial limiting；Transmission device, traveling wheel, synchronous lid, fastener are successively installed
In drive shaft, wherein the inner end of transmission device is limited by the shaft shoulder, and fastener is the lock for being threaded in drive shaft free end
Tight nut 10, by the pretightning force of fastener by above-mentioned component in the axis location of drive shaft, traveling wheel passes through fastener
Installation is completed, enormously simplifies the mounting means of traveling wheel, replacement easy to disassemble improves productive temp.
In the present embodiment, the synchronous lid includes for wearing on the driving shaft and circle compatible with traveling wheel outer end face
Annular cover 3 and several and drive shaft synchronizing shaft 4 disposed in parallel for being connected to 3 inner face of lid, the synchronizing shaft 4 pass through
It is through in the synchronization hole of traveling wheel and transmission device for driving the circumferential clocking of turbine of traveling wheel and transmission device to rotate；It is synchronous
Axis is symmetrical centered on center transmission shaft line, so that stress equalization is distributed on synchronizing shaft, it can be by required for robot
Driving torque setting synchronizing shaft diameter and quantity, more synchronizing shafts are integrated on lid, so that lid and synchronizing shaft are same
When the step of installing, reducing installation traveling wheel, installation effectiveness is improved, for the integral strength and surely for keeping synchronizing shaft and lid
Qualitative, synchronizing shaft can be integrally formed with lid, certainly can also split settings, details are not described herein again.
In the present embodiment, the transmission device is the transmission of the annular shape of installation on the driving shaft with drive shaft transmission cooperation
Disk 5；Drive plate and drive shaft can carry out transmission cooperation by spline, and transmission can also be carried out by flat key or other modes and is matched
It closes, specific details are not described herein again, and traveling wheel rotates synchronously it with drive plate by synchronizing shaft, and drive plate is coaxially set with drive shaft
It sets, its stress equalization in rotation is made by disk-like structure, shake is reduced, enhances the stability of system.
In the present embodiment, the opposite side of the drive plate 5 and traveling wheel is connected with a pair being mutually adapted for mutually pressing
The tight friction plate 6 for forming Synchronous Transmission；Due to the accuracy of manufacture, when forming clearance fit between synchronizing shaft and synchronous hole, together
In synchronous hole radial displacement can occur for step axis, will lead to drive plate and subtle relative rotation occurs for traveling wheel, drive plate and
Traveling wheel synchronizing shaft can occur rigid collision, and especially traveling wheel frequently starts stopping can cause serious damage to synchronizing shaft
It is bad, therefore friction plate is added, by friction plate synchronous walking wheel and drive plate, so that the two synchronizes reliably, stable drive is reduced
Rigid collision caused by mismatch error, protects synchronizing shaft, increases the service life of synchronizing shaft, passes through synchronizing shaft and friction plate
Collective effect, improve driving torque.
In the present embodiment, the drive shaft 1 along axial direction four sections of connecting shafts that diameter successively becomes smaller from inside to outside by successively connecting
Connect composition, the junction of four sections of connecting shafts formed three at the shaft shoulder, the drive plate 5 is driven with second segment connecting shaft from inside to outside
With in third section connecting shaft from inside to outside, the fastener is installed on outermost for cooperation, the traveling wheel 2 and the installation of lid 3
In connecting shaft and inwardly it is pressed on 3 end of lid；The drive shaft of this structure is easy to each components easy for installation of other component
Axially position traveling wheel inside is against by friction plate on the outside of drive plate wherein the innermost shaft shoulder is against on the inside of drive plate,
It is against on the inside of end cap, is against on locking nut 10 on the outside of end cap, wherein the outside of lid 3 extends axially outward on the outside of traveling wheel
Flange, flange extends in the outermost small journal axle of drive shaft 1, and locking nut 10 is threaded in small journal axle and for flange
Inside pretightning force is provided.
In the present embodiment, 6 inner face of friction plate be provided with indent for accommodate the shaft shoulder adjacent with its medial surface and
The annular in shape bit space 7 that allows；This allows bit space that the shaft shoulder herein is avoided to be in contact the interference shaft shoulder to all parts with friction plate 6
Positioning.
In the present embodiment, 5 edge of drive plate is crimped on its outer end face towards its outer end face side forms arc-shaped
Guide surface, the guide surface and for accommodate synchronizing shaft 4 synchronous outer end of hole face arc transition connect；This cambered surface is synchronizing shaft
Guiding is provided with the installation in synchronous hole, when synchronizing shaft is against the outside in synchronous hole, keeps its slide downward sliding by cambered surface guidance
To synchronous hole, positioned convenient for the installation of synchronizing shaft.
In the present embodiment, 5 inner face of drive plate is provided with the reinforcing ring 8 of at least one coaxial arrangement；To guarantee to pass
The quantity of the intensity addition reinforcing ring of Moving plate, reinforcing ring is determined according to axial force suffered by reinforcing ring, ensures it by reinforcing ring
In the axial compressive force by friction plate, deformation occurs, improves the durability of drive plate, extends the service life of drive plate.
In the present embodiment, 4 free end of synchronizing shaft and synchronization hole bottom corresponding thereto be provided with it is a pair of mutually
The magnetic 9 of absorption；This magnetic enters in synchronous hole the free end of adsorbable synchronizing shaft, and the installation of synchronizing shaft is facilitated to position,
To avoid magnetic from having an impact in synchronizing shaft axial limiting to other component axially position, the magnetic that is connected on synchronizing shaft and same
Walking can be connected between axis by spring, so that this magnetic can be axially displaced in synchronizing shaft, avoid magnetic to synchronizing shaft axis
It is limited to direction.
Finally, it is stated that above embodiments are merely intended for describing the technical solutions of the present application, but not for limiting the present application, although ginseng
The utility model is described in detail according to preferred embodiment, those skilled in the art should understand that, it can be to this
The technical solution of utility model is modified or replaced equivalently, without departing from the objective and model of technical solutions of the utility model
It encloses, should all cover in the scope of the claims of the utility model.
Claims (9)
1. a kind of robot ambulation wheel mounting structure, it is characterised in that: including drive shaft, for installing walking on the driving shaft
Wheel, is installed in drive shaft and is located at traveling wheel the transmission device for being driven cooperation with drive shaft and being located on the inside of traveling wheel
The synchronous lid and be arranged synchronous lid, traveling wheel on the driving shaft that outside is used to that traveling wheel and transmission device to be made to rotate synchronously
The fastener of axis, transmission device axial limiting.
2. robot ambulation wheel mounting structure according to claim 1, it is characterised in that: the synchronous lid includes for wearing
If on the driving shaft and circular lid compatible with traveling wheel outer end face and be connected to several of lid inner face with
Drive shaft synchronizing shaft disposed in parallel, the synchronizing shaft are applied in the synchronization hole of traveling wheel and transmission device for driving row
Walk the circumferential clocking of turbine rotation of wheel and transmission device.
3. robot ambulation wheel mounting structure according to claim 2, it is characterised in that: the transmission device is to be mounted on
Annular shape and the drive plate of drive shaft transmission cooperation in drive shaft.
4. robot ambulation wheel mounting structure according to claim 3, it is characterised in that: the drive plate and traveling wheel
Opposite side is connected with a pair being mutually adapted for mutually compressing the friction plate to form Synchronous Transmission.
5. robot ambulation wheel mounting structure according to claim 4, it is characterised in that: the drive shaft by along axial direction from
Interior four successively to become smaller to overall diameter section connecting shaft is sequentially connected composition, the junction of four sections of connecting shafts formed three at the shaft shoulder,
The drive plate cooperates with the transmission of second segment connecting shaft from inside to outside, and the traveling wheel and lid are installed and third section from inside to outside
In connecting shaft, the fastener is installed in outermost connecting shaft and is inwardly pressed on lid end.
6. robot ambulation wheel mounting structure according to claim 5, it is characterised in that: the friction plate inner face setting
Have indent for accommodates the shaft shoulder adjacent with its medial surface and annularly allow bit space.
7. robot ambulation wheel mounting structure according to claim 3, it is characterised in that: the drive plate edge towards its
Outer end face side be crimped on its outer end face formed arc-shaped guide surface, the guide surface be used for accommodate the synchronous of synchronizing shaft
The connection of outer end of hole face arc transition.
8. robot ambulation wheel mounting structure according to claim 3, it is characterised in that: the drive plate inner face setting
The reinforcing ring for thering is at least one to be coaxially disposed.
9. robot ambulation wheel mounting structure according to claim 3, it is characterised in that: the synchronizing shaft free end and
Synchronization hole bottom corresponding thereto is provided with a pair of magnetic mutually adsorbed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821616568.6U CN208946147U (en) | 2018-09-30 | 2018-09-30 | Robot ambulation wheel mounting structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821616568.6U CN208946147U (en) | 2018-09-30 | 2018-09-30 | Robot ambulation wheel mounting structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208946147U true CN208946147U (en) | 2019-06-07 |
Family
ID=66740463
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821616568.6U Expired - Fee Related CN208946147U (en) | 2018-09-30 | 2018-09-30 | Robot ambulation wheel mounting structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208946147U (en) |
-
2018
- 2018-09-30 CN CN201821616568.6U patent/CN208946147U/en not_active Expired - Fee Related
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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: 20190607 |