CN209224843U - Planetary gear set and robot - Google Patents

Abstract

The utility model discloses a kind of planetary gear set and robots, planetary gear set includes supporting element, drive shaft, transmission component and multiple driving wheels, driving wheel is successively rotatably set on supporting element along the corner location of polygon, the outer edge of driving wheel stretches out supporting element, driving wheel includes the first idler wheel and the second idler wheel that can be rotated synchronously, first idler wheel, second idler wheel is respectively arranged on the two sides of supporting element, drive shaft wears supporting element and rotatably cooperates with supporting element, transmission component includes first gear and multiple second gears, first gear fixing sleeve is set in drive shaft, second gear, which is arranged around first gear and is driven with first gear, to be cooperated, second gear and the first idler wheel rotate synchronously.Above-mentioned planetary gear set forms the wheel group structure of polygon, and the first idler wheel, the second idler wheel are respectively arranged on the two sides of supporting element, and more stable when moving, obstacle climbing ability is strong, can preferably repair or rescue work.

Description

Planetary gear set and robot

Technical field

The utility model relates to mobile device technology fields, more particularly to a kind of planetary gear set and robot.

Background technique

Power grid is the basic facilities of urban electricity supply, ensure that continuing and stablizing for power supply.But the building ring of power grid Border is complex, such as the transmission line of electricity in tunnel aerial or located underground, if break down or accident, maintenance or rescue personnel by It is limited to landform, accident spot can not be arrived in time, understood accident situation, affect the progress of maintenance or rescue work.

Utility model content

Based on this, the utility model lies in that overcoming the deficiencies of the prior art and provide a kind of row with good obstacle climbing ability Star-wheel group and robot.

Its technical solution is as follows:

A kind of planetary gear set, including supporting element, drive shaft, transmission component and multiple driving wheels, the driving wheel is along polygon The corner location of shape is successively rotatably set on the supporting element, and the outer edge of the driving wheel stretches out the supporting element, described Driving wheel includes the first idler wheel and the second idler wheel that can be rotated synchronously, and first idler wheel, second idler wheel are respectively arranged on institute The two sides of supporting element are stated, the drive shaft wears the supporting element and rotatably cooperates with the supporting element, the transmission component Including first gear and multiple second gears, the first gear fixing sleeve is set in the drive shaft, and the second gear is enclosed It is arranged around the first gear and is driven with the first gear and cooperated, the second gear is synchronous with first idler wheel is turned It is dynamic.

Above-mentioned planetary gear set, the corner location due to driving wheel along polygon are successively rotatably set on supporting element, pass through Rotate driving axis can drive first gear to rotate, and first gear drives multiple second gear rotations, and second gear is same with driving wheel Step rotation, forms the wheel group structure of polygon, the driving wheel rotation at level land can be used for moving forward or back；Encountering obstacle When, due to engaging for first gear and second gear, drive shaft drives driving wheel to revolve around drive shaft, can surmount obstacles, simultaneously Since the first idler wheel, the second idler wheel are respectively arranged on the two sides of supporting element, when moving, the first idler wheel, the second idler wheel can divide jointly The support to the first car body is carried on a shoulder pole, compared to single-wheel load-bearing, structure is more stable, is not susceptible to failure, and bearing capacity is stronger, therefore above-mentioned Robot obstacle climbing ability is strong, is suitable for different landform, and locomotivity in the presence of a harsh environment is strong, can preferably repair or Rescue work.

Further, the supporting element includes spaced first mounting plate and the second mounting plate, the first gear, The second gear is set between first mounting plate and second mounting plate, first mounting plate and described second Mounting post is equipped between mounting plate, the quantity of the mounting post and the quantity of the second gear are correspondingly arranged, second tooth Wheel is sheathed on outside the mounting post.

Further, the quantity of the driving wheel is three, and three driving wheels are respectively the first minute wheel, the second minute wheel And third minute wheel, first minute wheel, second minute wheel and the third minute wheel along triangle three corner locations successively On the supporting element, the supporting element includes middle part and three branch portions connecting with the middle part, and described first Minute wheel, second minute wheel and the third minute wheel are rotatably set on three branch portions respectively.

A kind of robot, including the first car body, power source and planetary gear set as described in any one of the above embodiments, the planetary gear Group is at least three groups, and first car body is bottom end close to one end of bottom surface, and the drive shaft rotatably cooperates with the bottom end, The power source is set in first car body, and the power source and drive shaft transmission cooperate.

Above-mentioned robot, by the way that planetary gear set is arranged, after being driven using power source to drive shaft, planetary gear set exists Level land can be moved forward or back by the rotation of driving wheel, can cross barrier around the revolution of drive shaft by driving wheel when encountering obstacle Hinder, and the first idler wheel, the second idler wheel can share the support to the first car body jointly, therefore above-mentioned robot obstacle climbing ability is strong, it can Adapt to different landform.

Further, above-mentioned robot further includes controller, and planetary gear set described in two of them is respectively to be set to described the The first round group of one car body two sides and the second wheel group, the power source include first motor and the second motor, the first motor For driving the first gear of the first round group, second motor is used to drive the first gear of the second wheel group, institute State first motor, second motor with the controller be electrically connected, the controller for control the first motor, The rotation direction of second motor makes the rotation of the first gear of the first round group and the first gear of the second wheel group Direction is identical or opposite.

Further, the quantity of the first motor and the first round group is correspondingly arranged, the quantity of the first round group It is at least two, second motor and the quantity of the second wheel group are correspondingly arranged, and the quantity of the second wheel group is at least Two.

Further, first car body is equipped with double photodetectors, is covered with protective cover outside double photodetectors, institute Stating double photodetectors includes infrared light detection unit and visible detection unit.

Further, above-mentioned robot further includes the second car body and power wheel group, and the power wheel group is rotatably set to institute It states on the second car body, second car body and first car body are hinged, and second car body is rotated relative to first car body Shaft in horizontally disposed.

Further, the quantity of the power wheel group is two, and two power wheel groups are respectively arranged on second vehicle The two sides of body, the power wheel are mounted on the one end of second car body far from first car body.

Further, second car body is equipped with loading chute, and the loading groove upper cap is equipped with protection cap, the protection cap It is detachably connected with second car body.

Detailed description of the invention

Fig. 1 is the side view of planetary gear set described in the utility model embodiment；

Fig. 2 is the top view of planetary gear set described in the utility model embodiment；

Fig. 3 is the side view of robot described in the utility model embodiment；

Fig. 4 is the top view of robot described in the utility model embodiment.

Description of symbols:

100, planetary gear set, 101, first round group, the 102, second wheel group, 110, supporting element, the 111, first mounting plate, 112, Second mounting plate, 120, transmission component, 121, second gear, 130, driving wheel, the 131, first idler wheel, the 132, second idler wheel, 133, the first minute wheel, the 134, second minute wheel, 135, third minute wheel, the 200, first car body, 300, double photodetectors, 310, protection Cover, the 400, second car body, 500, power wheel group.

Specific embodiment

The utility model is more fully retouched below with reference to relevant drawings for the ease of understanding the utility model, It states.The better embodiment of the utility model is given in attached drawing.But the utility model can come in many different forms It realizes, however it is not limited to embodiments described herein.On the contrary, the purpose of providing these embodiments is that making practical new to this The disclosure of type understands more thorough and comprehensive.

It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ", " right side " and similar statement for illustrative purposes only, are not meant to be the only embodiment.

Unless otherwise defined, all technical and scientific terms used herein are led with the technology for belonging to the utility model The normally understood meaning of the 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 as used herein "and/or" packet Include any and all combinations of one or more related listed items.

" first " described in the utility model, " second " do not represent specific quantity and sequence, are only used for title It distinguishes.

As shown in Figures 1 and 2, an embodiment discloses a kind of planetary gear set 100, including supporting element 110, drive shaft, biography Dynamic component 120 and multiple driving wheels 130, driving wheel 130 are successively rotatably set to supporting element 110 along the corner location of polygon On, the outer edge of driving wheel 130 stretches out supporting element 110, and driving wheel 130 includes the first idler wheel 131 and second that can be rotated synchronously Idler wheel 132, the first idler wheel 131, the second idler wheel 132 are respectively arranged on the two sides of supporting element 110, and drive shaft wears supporting element 110 simultaneously Rotatably cooperate with supporting element 110, transmission component 120 includes first gear and multiple second gears 121, first gear fixing sleeve In drive shaft, second gear 121, which is arranged around first gear and is driven with first gear, to be cooperated, second gear 121 and the One idler wheel 131 rotates synchronously.

Above-mentioned planetary gear set 100, the corner location due to driving wheel 130 along polygon are successively rotatably set to supporting element On 110, by rotate driving axis, first gear can be driven to rotate, first gear drives multiple second gears 121 to rotate, and second Gear 121 and driving wheel 130 rotate synchronously, and form the wheel group structure of polygon, 130 rotation of driving wheel at level land can be used In forward or backward；When encountering obstacle, due to engaging for first gear and second gear 121, drive shaft drives driving wheel 130 It revolves, can surmount obstacles, simultaneously because the first idler wheel 131, the second idler wheel 132 are respectively arranged on the two of supporting element 110 around drive shaft Side, when moving, the first idler wheel 131, the second idler wheel 132 can share the support to the first car body 200 jointly, hold compared to single-wheel Weight, structure is more stable, is not susceptible to failure, and bearing capacity is stronger, therefore above-mentioned robot obstacle climbing ability is strong, is suitable for different ground Shape, locomotivity in the presence of a harsh environment is strong, can preferably repair or rescue work.

Specifically, when above-mentioned robot is on level land, second gear 121 is driven by first gear, and then drive first Idler wheel 131 and the second idler wheel 132 rotate synchronously, and keep robot mobile, when above-mentioned robot faces rugged road conditions, example When such as pit, driving wheel 130 is likely to be in vacant state, at this time driving wheel 130 since friction is small between road surface or There is no frictions, then when first gear rotates, driving wheel 130 can directly be driven to revolve around first gear, until driving wheel 130 Again with obstacle or ground face contact, while the frictional force between driving wheel 130 and ground or obstacle drives first gear again Second gear 121 rotates, and then driving wheel 130 rotates, and robot is made to sail out of rugged road conditions.

Optionally, first gear can be engaged directly with second gear 121 or first gear can be by chaindriven mode band Dynamic second gear 121 rotates.

Optionally, lines is equipped on the lateral surface of the first idler wheel 131 and the second idler wheel 132.Frictional force can be increased, improved The obstacle climbing ability of robot.

Further, as shown in Fig. 2, supporting element 110 includes spaced first mounting plate 111 and the second mounting plate 112, first gear, second gear 121 are set between the first mounting plate 111 and the second mounting plate 112, the first mounting plate 111 Mounting post is equipped between the second mounting plate 112, the quantity of the quantity and second gear 121 of mounting post is correspondingly arranged, the second tooth Wheel 121 is sheathed on outside mounting post.First gear and second gear 121 are respectively positioned on the first mounting plate 111 and the second mounting plate at this time It is more preferable to the protecting effect of first gear and second gear 121 between 112, first gear or second gear 121 can be prevented miscellaneous Object, which blocks etc., causes first gear and second gear 121 to be damaged, and ensure that the locomotivity of above-mentioned robot, and then can protect Card robot can reach destination in adverse circumstances, can preferably repair or rescue work.

In addition, the first mounting plate 111 can also limit first gear, second gear 121 with the second mounting plate 112, Guarantee that first gear, second gear 121 can continue to engage.

Specifically, first gear is between multiple second gears 121.At this time first gear can simultaneously with multiple second teeth 121 engaged transmission cooperation of wheel.

Further, as shown in Figure 1, the quantity of driving wheel 130 is three, three driving wheels 130 are respectively the first minute wheel 133, the second minute wheel 134 and third minute wheel 135, the first minute wheel 133, the second minute wheel 134 and third minute wheel 135 are along the three of triangle A corner location is sequentially arranged on supporting element 110, and supporting element 110 includes middle part and three branch portions connecting with middle part, First minute wheel 133, the second minute wheel 134 and third minute wheel 135 are rotatably set on three branch portions respectively.Planetary gear set at this time 100 structure is relatively simple, is not susceptible to failure, while can realize crossing obstacle automatically function, mobility strong.

Specifically, the concrete shape of supporting element 110 is the triangular structure that side sets to the concave.It can prevent supporting element 110 contact with obstacle, and planetary gear set 100 is caused to be stuck, and influence the locomotivity of robot.

Specifically, the installation site of the first minute wheel 133, the second minute wheel 134 and third minute wheel 135 surrounds equilateral triangle. Being spaced apart uniformly between different minute wheels at this time, is conducive to carry out obstacle detouring operation when driving wheel 130 encounters obstacle.

As shown in Figures 2 to 4, an embodiment discloses a kind of robot, including the first car body 200, power source and as above The planetary gear set 100 of any one is stated, planetary gear set 100 is at least three groups, and the first car body 200 is bottom end close to one end of bottom surface, Drive shaft rotatably cooperates with bottom end, and power source is set in the first car body 200, and power source and drive shaft transmission cooperate.

Above-mentioned robot, by the way that planetary gear set 100, after driving using power source to drive shaft, planetary gear is arranged Group 100 can be moved forward or back on level land by the rotation of driving wheel 130, can be by driving wheel 130 around driving when encountering obstacle The revolution of axis surmounts obstacles, and the first idler wheel 131, the second idler wheel 132 can share the support to the first car body 200 jointly, therefore Above-mentioned robot obstacle climbing ability is strong, is suitable for different landform.In addition, when the bottom end of drive shaft and the first car body 200 cooperates, the One car body, 200 ground clearance is higher, can further improve the obstacle climbing ability of robot.

Further, as shown in figure 4, above-mentioned robot further includes controller, two of them planetary gear set 100 is respectively to set First round group 101 and the second wheel group 102 in 200 two sides of the first car body, power source include first motor and the second motor, and first Motor is used to driving the first gear of first round group 101, and the second motor is for driving the first gear of the second wheel group 102, and first Motor, the second motor are electrically connected with controller, and controller is used to control the rotation direction of first motor, the second motor, are made The first gear of first round group 101 and the rotation direction of first gear of the second wheel group 102 are identical or opposite.When first round group 101 and second wheel group 102 first gear rotation direction it is identical when, robot is movable linearly, when first round group 101 and When the rotation direction of the first gear of two wheel groups 102 is opposite, since two side of robot is mobile to different directions, make robot original place Rotation can adjust the direction of robot, and the radius of gyration of robot is small at this time, and the flexibility of steering is high, facilitates robot and exists Movement in the smaller situation in space.

Further, the quantity of first motor and first round group 101 is correspondingly arranged, and the quantity of first round group 101 is at least Two, the second motor and the quantity of the second wheel group 102 are correspondingly arranged, and the quantity of the second wheel group 102 is at least two.At this time first Wheel group 101 and the second wheel group 102 are by respective motor driven, then the driving force of first round group 101 and the second wheel group 102 is more By force, by when different motor revolving speed may be the same or different, especially when first round group 101 or the second wheel group 102 are located at pit When place, the revolving speed of motor can be accordingly increased, enhances driving force, allows the robot to smoothly carry out obstacle detouring.

Optionally, the quantity of first round group 101 and the second wheel group 102 is two, and first round group 101 and the second wheel group 102 are relatively arranged on the two sides of the first car body 200.The steering operation to robot can be facilitated at this time.

In other embodiments, the quantity of planetary gear set 100 can also be three, and three planetary gear sets 100 are along triangle Three corner settings.The first car body 200 can also be driven mobile at this time.

In other embodiments, the quantity of planetary gear set 100 can also be for more than four.When the quantity of planetary gear set 100 is got over More, the movement of robot is more stable, and power is stronger.

Further, as shown in Figures 3 and 4, the first car body 200 is equipped with double photodetectors 300, double photodetectors 300 It is covered with protective cover 310 outside, double photodetectors 300 include infrared light detection unit and visible detection unit.No matter destination Light it is whether sufficient, can be detected, the environment of destination can adequately be examined by double photodetectors 300 It surveys.

Optionally, the units such as temperature detection, gas detection be may also set up on the first car body 200, to the environment of destination into The more detailed detection of row, detection destination enters if appropriate for personnel, prevents temperature excessively high or there are pernicious gases, make to personnel At personal injury.

Optionally, it may also set up wireless communication unit on the first car body 200, wireless communication unit electrically connects with controller It connects, double photodetectors 300 are electrically connected by controller and wireless communication unit.It conveniently will test various data to pass out It goes, facilitates the extraneous concrete condition for understanding destination by data, or remotely control robot.

Optionally, it may also set up mechanical arm on the first car body 200, mechanical arm and controller are electrically connected.Machinery can be passed through Arm is operated, and realizes long-distance service function.

Optionally, the start-stop button being electrically connected with controller is additionally provided on the first car body 200.Start-stop button control can be passed through The starting and stopping for making the first car body 200, in case of emergency being manually controlled to robot.

Further, as shown in Figures 3 and 4, above-mentioned robot further includes the second car body 400 and power wheel group 500, power Wheel group 500 is rotatably set on the second car body 400, and the second car body 400 is hinged with the first car body 200, and the second car body 400 is with respect to the The shaft of one car body 200 rotation is in horizontally disposed.By the multiple car bodies of setting, loading space can be increased, realize multiple functions, and Since the first car body 200 and the second car body 400 are hinged, even if encounter rugged obstacle on the move, the first car body 200 Even if relative position can also be adjusted between the second car body 400, it not will cause car body and block.

Optionally, above-mentioned robot further includes torque output device, structure and the planetary gear set 100 of power wheel group 500 Structure is identical, and torque output device is for driving power wheel group 500.Power wheel group 500 can also drive robot at this time, Improve the bearing capacity and locomotivity of robot.

Specifically, torque output device is motor or engine etc..

Further, as shown in figure 4, the quantity of power wheel group 500 is two, two power wheel groups 500 are respectively arranged on the The two sides of two car bodies 400, power wheel group 500 are set to the one end of the second car body 400 far from the first car body 200.Above structure is simple, Power wheel group 500 can be used as assistance force when the first car body 200 blocks simultaneously, and robot is pushed to leave barrier, improve The obstacle climbing ability of robot can be arrived at the destination smoothly, realize the functions such as detection.

Further, the second car body 400 is equipped with loading chute, loads groove upper cap and is equipped with protection cap, protection cap and the second vehicle Body 400 is detachably connected.If destination someone of accident or failure occurs, loaded using the loading chute on the second car body 400 Drug or food etc. are used for first aid；Or for placing escape device etc..

Specifically, the first car body 200 is equipped with cover, and cover and the first car body 200 surround installation space, in installation space Equipped with power supply, power supply is used to be electrically connected with power source, torque output device, and cover is equipped with opening, and double photodetectors 300 are worn If opening, protective cover 310 are provide with opening.The first car body 200 is mainly used for installing battery and various functional modules, the second vehicle at this time Body 400 is mainly used for loading, and makes the function of robot more fully, to adapt to various situations.

Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited In contradiction, all should be considered as described in this specification.

Above-described embodiments merely represent several embodiments of the utility model, the description thereof is more specific and detailed, But it cannot be understood as the limitations to utility model patent range.It should be pointed out that for the common skill of this field For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to The protection scope of the utility model.Therefore, the scope of protection shall be subject to the appended claims for the utility model patent.

Claims (10)

1. a kind of planetary gear set, which is characterized in that including supporting element, drive shaft, transmission component and multiple driving wheels, the active The corner location taken turns along polygon is successively rotatably set on the supporting element, and the outer edge of the driving wheel stretches out the support Part, the driving wheel include the first idler wheel and the second idler wheel that can be rotated synchronously, first idler wheel, second idler wheel difference Set on the two sides of the supporting element, the drive shaft wears the supporting element and rotatably cooperates with the supporting element, the biography Dynamic component includes first gear and multiple second gears, and the first gear fixing sleeve is set in the drive shaft, and described second Gear, which is arranged around the first gear and is driven with the first gear, to be cooperated, and the second gear and first idler wheel are same Step rotation.

2. planetary gear set according to claim 1, which is characterized in that the supporting element includes spaced first installation Plate and the second mounting plate, the first gear, the second gear are set to first mounting plate and second mounting plate Between, mounting post, the quantity of the mounting post and described second are equipped between first mounting plate and second mounting plate The quantity of gear is correspondingly arranged, and the second gear is sheathed on outside the mounting post.

3. planetary gear set according to claim 1, which is characterized in that the quantity of the driving wheel is three, described in three Driving wheel is respectively the first minute wheel, the second minute wheel and third minute wheel, first minute wheel, second minute wheel and the third point Take turns and be sequentially arranged on the supporting element along three corner locations of triangle, the supporting element include middle part and with the centre Three branch portions of portion's connection, first minute wheel, second minute wheel and the third minute wheel are rotatably set to three respectively On the branch portion.

4. a kind of robot, which is characterized in that including the first car body, power source and row as described in any one of claims 1-3 Star-wheel group, the planetary gear set are at least three groups, and first car body is bottom end, the drive shaft and institute close to one end of bottom surface It states bottom end rotatably to cooperate, the power source is set in first car body, and the power source and drive shaft transmission cooperate.

5. robot according to claim 4, which is characterized in that further include controller, planetary gear set described in two of them It is respectively set to the first round group and the second wheel group of first car body two sides, the power source includes first motor and the second electricity Machine, the first motor are used to drive the first gear of the first round group, and second motor is for driving second wheel The first gear of group, the first motor, second motor are electrically connected with the controller, and the controller is for controlling The rotation direction for making the first motor, second motor makes the first gear and the second wheel group of the first round group First gear rotation direction it is identical or opposite.

6. robot according to claim 5, which is characterized in that the quantity pair of the first motor and the first round group It should be arranged, the quantity of the first round group is at least two, and second motor and the quantity of the second wheel group are correspondingly arranged, The quantity of the second wheel group is at least two.

7. robot according to claim 5, which is characterized in that first car body is equipped with double photodetectors, described It is covered with protective cover outside double photodetectors, double photodetectors include infrared light detection unit and visible detection unit.

8. according to the described in any item robots of claim 5-7, which is characterized in that it further include the second car body and power wheel group, The power wheel group is rotatably set on second car body, and second car body and first car body are hinged, and described second Car body is in horizontally disposed relative to the shaft that first car body rotates.

9. robot according to claim 8, which is characterized in that the quantity of the power wheel group is two, described in two Power wheel group is respectively arranged on the two sides of second car body, and the power wheel is mounted on second car body far from first vehicle One end of body.

10. robot according to claim 8, which is characterized in that second car body is equipped with loading chute, the loading Groove upper cap is equipped with protection cap, and the protection cap is detachably connected with second car body.