CN211000909U - Robot hub motor driving device with band-type brake and shock-absorbing structure - Google Patents
Robot hub motor driving device with band-type brake and shock-absorbing structure Download PDFInfo
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- CN211000909U CN211000909U CN201922166249.0U CN201922166249U CN211000909U CN 211000909 U CN211000909 U CN 211000909U CN 201922166249 U CN201922166249 U CN 201922166249U CN 211000909 U CN211000909 U CN 211000909U
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Abstract
The utility model discloses a robot wheel hub motor driving device with a band-type brake and a shock absorbing structure, which comprises a shock absorbing mechanism, a shock absorbing guide mechanism, a band-type brake lower pump mechanism, a wheel hub motor fixing mechanism, a wheel and a wheel hub motor driving and connecting the wheel; the shock absorbing mechanism moves under the guidance of the shock absorbing guide mechanism to realize the buffer shock absorption of the whole driving device; the band-type brake lower pump mechanism comprises a brake disc assembly and a brake lower pump, the brake disc assembly is fixed on the body of the hub motor and synchronously rotates with the hub motor, and the brake lower pump is used for clamping the brake disc assembly to realize brake deceleration; the hub motor fixing mechanism is fixed on an output shaft of the hub motor and used for connecting and fixing the brake lower pump and the shock-absorbing guide mechanism. The utility model discloses can make the outdoor complicated topography of robot adaptation, guarantee the stationarity of robot motion, can realize mechanical type brake after climbing or downhill path abnormal power failure and stay the slope simultaneously, guarantee the safety of self and all ring edge borders.
Description
Technical Field
The utility model relates to the technical field of robot, especially, relate to a take band-type brake and shock absorber structure's robot in-wheel motor drive arrangement.
Background
With the increasing application proportion of the mobile robot in the field of outdoor security, people have more requirements on mobile robot equipment.
Currently, there are three types of drive device structures for autonomously navigating a mobile robot: the first one is that the driving device is rigidly connected with the robot, and has no mechanical structure of shock absorption and braking, and the motor shaft locking control is carried out by the motor driver when the equipment is electrified, and the structure can realize braking only under the condition that the equipment is electrified and can only run on a relatively flat road surface; secondly, on the basis of the first structure, a motor with a band-type brake element is utilized to carry out motor band-type brake braking action when the equipment is powered off, but the band-type brake element of the motor needs to be electrified again when the driving locking state is to be released, namely, the structure still needs to be realized under the condition of power supply, and the defects are the same as the first structure; the third is that the driving device has a shock-absorbing mechanical structure and no braking mechanical structure, and although the structure can adapt to complex terrains, the realization of braking still needs to be finished when the equipment is powered on.
For the outdoor security inspection mobile robot, the robot can adapt to complex terrains to enable the robot to run stably, the stability of the inspection shooting process is the most basic requirement, meanwhile, the robot often needs to climb or descend during inspection, if the robot is suddenly and abnormally powered off in the process, the robot needs to be immediately braked and parked on a slope in order to ensure the safety of the robot and the surrounding environment, and the first driving device structure is completely unavailable; although the second structure can brake and stop the robot immediately, if maintenance personnel need to move the robot to a safe flat ground or a maintenance point, an additional power supply needs to be provided, which is very inconvenient for the maintenance personnel, and meanwhile, the second structure cannot adapt to outdoor complex terrains and cannot ensure the running stability of the robot; the third structure can adapt to outdoor complex terrains, but cannot guarantee braking and slope stopping when the whole robot equipment is powered off, and safety protection performance is poor.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a take band-type brake and shock absorber structure's in-wheel motor drive arrangement of robot can make the robot adapt to outdoor complicated topography, guarantees the stationarity of robot motion, can realize mechanical type brake after climbing or downhill path abnormal power failure and stay the slope simultaneously, has guaranteed the safety of self and all ring edge borders.
In order to realize the purpose, the following technical scheme is adopted:
a robot hub motor driving device with a band-type brake and a shock absorption structure comprises a shock absorption mechanism, a shock absorption guide mechanism, a band-type brake lower pump mechanism, a hub motor fixing mechanism, a wheel and a hub motor which is in driving connection with the wheel; the shock absorbing mechanism moves under the guidance of the shock absorbing guide mechanism to realize the buffer shock absorption of the whole driving device; the band-type brake lower pump mechanism comprises a brake disc assembly and a brake lower pump, the brake disc assembly is fixed on the body of the hub motor and synchronously rotates with the hub motor, and the brake lower pump is used for clamping the brake disc assembly to realize brake deceleration; the hub motor fixing mechanism is fixed on an output shaft of the hub motor and used for connecting and fixing the brake lower pump and the shock-absorbing guide mechanism.
Preferably, the shock-absorbing guide mechanism comprises a plurality of guide shafts, a guide fixed plate and a guide movable plate; the guide fixed plate and the guide movable plate are arranged in parallel, and the guide movable plate is positioned above the guide fixed plate; one end of the guide shaft is fixed on the guide fixing plate, and the other end of the guide shaft penetrates through the guide movable plate; the shock absorbing mechanism slides on the guide shaft in a guiding way through the guide movable plate.
Preferably, the middle part of each guide shaft is movably connected with the guide movable plate through a linear bearing, and the upper end part of each guide shaft is provided with a check ring; and a cushion pad is arranged at the bottom of the check ring and used for limiting and buffering the top movement of the linear bearing.
Preferably, the shock absorbing mechanism comprises a shock absorber and a shock absorber bracket fixed on the top of the guide movable plate; the shock absorber penetrates through the guide movable plate, one end of the shock absorber is fixed on the shock absorber support, and the other end of the shock absorber is fixed on the guide fixed plate.
Preferably, the shock absorbing mechanism further comprises an upper support and a lower support; the shock absorber is fixed on the shock absorber support through the upper support and is fixed on the guide fixing plate through the lower support.
Preferably, the brake disc assembly comprises a brake disc connecting piece, a brake disc and a brake disc fixing plate; the brake disc is fixed on the brake disc fixing plate through the brake disc connecting piece, and the brake disc fixing plate is used for being fixed on the body of the hub motor.
Preferably, the brake lower pump comprises a pump body and two brake discs; the brake disc is movably arranged between the two brake discs, and the pump body is used for driving the two brake discs to clamp or loosen the brake disc.
Preferably, the hub motor fixing mechanism comprises a motor key and a hub motor fixing piece; the motor key penetrates through the hub motor fixing piece and is matched and connected with an output shaft key groove of the hub motor; the shock-absorbing guide mechanism is fixed at the top of the hub motor fixing part, and the band-type brake lower pump mechanism is fixed on the side surface of the hub motor fixing part.
Adopt above-mentioned scheme, the beneficial effects of the utility model are that:
1) the device has simple design, compact structure and convenient maintenance, the robot can adapt to complex outdoor terrain through the shock-absorbing mechanism, and meanwhile, the shock-absorbing mechanism is stably guided by the shock-absorbing guide mechanism, so that the running stability of the robot is ensured;
2) mechanical braking can be realized through the pump mechanism under the band-type brake when the robot loses power, and the safety and the reliability of the robot and the surrounding environment are ensured.
Drawings
FIG. 1 is a perspective view of the present invention (before the shock absorber is compressed);
FIG. 2 is a perspective view of the present invention (after the shock absorber is compressed);
FIG. 3 is a perspective view of the present invention with the damping mechanism and the damping guide mechanism omitted;
FIG. 4 is an exploded view of FIG. 3;
FIG. 5 is a perspective view of the damping mechanism of the present invention;
fig. 6 is a perspective view of the damping guide mechanism of the present invention;
fig. 7 is a schematic structural diagram (before brake braking);
FIG. 8 is an enlarged view of a portion of FIG. 7 at A;
fig. 9 is a schematic structural view of the present invention (after the band-type brake is applied);
FIG. 10 is an enlarged view of a portion of FIG. 9 at B;
wherein the figures identify the description:
1-a shock absorbing mechanism, 2-a shock absorbing guide mechanism,
3-a brake lower pump mechanism, 4-a hub motor fixing mechanism,
5-wheel, 6-hub motor,
11-shock absorber, 12-shock absorber support,
13-an upper support, 14-a lower support,
21-a guide shaft, 22-a guide fixing plate,
23-a guide movable plate, 24-a linear bearing,
25-a retainer ring, 26-a cushion pad,
31-a brake disc component, 32-a brake lower pump,
41-motor key, 42-hub motor fixing piece,
311-brake disc attachment, 312-brake disc,
313-brake disc fixing plate, 321-brake disc.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1 to 10, the utility model provides a robot wheel hub motor driving device with a band-type brake and a shock absorbing structure, which comprises a shock absorbing mechanism 1, a shock absorbing guide mechanism 2, a band-type brake lower pump mechanism 3, a wheel hub motor fixing mechanism 4, a wheel 5 and a wheel hub motor 6 which is connected with the wheel 5 in a driving way; the shock absorbing mechanism 1 moves under the guidance of the shock absorbing guide mechanism 2 to realize the buffer shock absorption of the whole driving device; the band-type brake lower pump mechanism 3 comprises a brake disc assembly 31 and a brake lower pump 32, the brake disc assembly 31 is fixed on the body of the hub motor 6 and synchronously rotates with the hub motor 6, and the brake lower pump 32 is used for clamping the brake disc assembly 31 to realize brake deceleration; the hub motor fixing mechanism 4 is fixed on an output shaft of the hub motor 6 and is used for connecting and fixing the brake lower pump 32 and the shock-absorbing guide mechanism 2.
The shock-absorbing guide mechanism 2 comprises a plurality of guide shafts 21, a guide fixed plate 22 and a guide movable plate 23; the guide fixed plate 22 and the guide movable plate 23 are arranged in parallel, and the guide movable plate 23 is positioned above the guide fixed plate 22; one end of the guide shaft 21 is fixed on the guide fixing plate 22, and the other end of the guide shaft passes through the guide movable plate 23; the suspension mechanism 1 is guided to slide on the guide shaft 21 via the guide movable plate 23. The middle part of each guide shaft 21 is movably connected with a guide movable plate 23 through a linear bearing 24, and the guide shaft 21 passes through the linear bearing 24 to realize up-and-down sliding; and the upper end part of each guide shaft 21 is provided with a retainer ring 25, and the retainer ring 25 is used for limiting the upper end movement of the linear bearing 24. A buffer cushion 26 is arranged at the bottom of the retainer ring 25, the buffer cushion 26 is used for limiting and buffering the top movement of the linear bearing 24, and the impact force of the guide shaft 21 abutting on the retainer ring 25 is buffered; the guide fixing plate 22 serves to limit the movement of the lower end of the linear bearing 24.
The shock absorbing mechanism 1 comprises a shock absorber 11, an upper support 13, a lower support 14 and a shock absorber support 12 fixed on the top of a guide movable plate 23; the shock absorber 11 passes through the guide movable plate 23 and is arranged, the shock absorber 11 is fixed on the shock absorber support 12 through the upper support 13 and is fixed on the guide fixed plate 22 through the lower support 14, and two ends of the shock absorber 11 are respectively connected with the upper support 13 and the lower support 14 through bolts. In one embodiment, the shock absorber support 12 is configured as a door-shaped structure, two vertical ends of the door-shaped structure are fixed on the top of the guide movable plate 23, and the upper support 13 is fixed on the inner side of the door-shaped transverse end; the brake lower pump 32 is fixed to the side of the in-wheel motor fixing member 42 via a lower pump fixing member.
The brake disc component 31 comprises a brake disc connecting piece 311, a brake disc 312 and a brake disc fixing plate 313; the brake disc 312 is fixed on a brake disc fixing plate 313 through a brake disc connecting piece 311, and the brake disc fixing plate 313 is used for being fixed on the body of the in-wheel motor 6. The brake lower pump 32 comprises a pump body and two brake discs 321; the brake disc 312 is movable between the two brake discs 321, and the pump body is used for driving the two brake discs 321 to clamp or loosen the brake disc 312. The brake disc connecting part 311 and the brake disc fixing plate 313 are mainly used for connecting the brake disc 312 and the body of the in-wheel motor 6, so as to ensure that the body of the in-wheel motor 6 and the brake disc 312 rotate synchronously, and simultaneously ensure that one part of the brake disc 312 is always positioned between the two brake discs 312 and keeps a certain gap with the two brake discs 321 without interference.
The hub motor fixing mechanism 4 comprises a motor key 41 and a hub motor fixing piece 42; the motor key 41 penetrates through the hub motor fixing piece 42 and is matched and connected with an output shaft key groove of the hub motor 6; the shock-absorbing guide mechanism 2 is fixed on the top of the hub motor fixing piece 42, and the band-type brake lower pump mechanism 3 is fixed on the side surface of the hub motor fixing piece 42.
The utility model relates to a principle:
normally, the external force of the robot to the driving device is applied to the movable guiding plate 23 of the suspension guiding mechanism 2, and the wheels 5 contact with the ground to support the whole driving device. When the robot is still, the shock absorber 11 of the shock absorbing mechanism 1 does not act and is kept in a static state, when the robot runs on uneven road surfaces, the force applied to the hub motor 6 (the wheel 5) fluctuates up and down along with the fluctuation of the ground, and the shock absorber 11 of the shock absorbing mechanism 1 moves up and down under the limiting and guiding action of the guide shaft 21 of the shock absorbing guide mechanism 2, so that the impact of the unevenness of the ground on the robot when the robot runs is buffered.
With reference to fig. 7-8, when the robot is running with normal power supply, the pump mechanism 3 does not operate under the brake of the band-type brake, the brake disc 312 is located between the two brake discs 321 without interference, and the brake disc 312 and the hub motor 6 rotate synchronously and can rotate freely between the two brake discs 321.
With continued reference to fig. 9-10, when the robot is abnormally powered off during the slope movement, the contracting brake lower pump mechanism 3 operates, the two brake discs 321 contract to clamp the brake disc 311, and the hub motor 6 stops rotating due to the friction resistance, so that the robot stops on the slope.
The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (8)
1. A robot hub motor driving device with a band-type brake and a shock absorption structure is characterized by comprising a shock absorption mechanism, a shock absorption guide mechanism, a band-type brake lower pump mechanism, a hub motor fixing mechanism, a wheel and a hub motor which is in driving connection with the wheel; the shock absorbing mechanism moves under the guidance of the shock absorbing guide mechanism to realize the buffer shock absorption of the whole driving device; the band-type brake lower pump mechanism comprises a brake disc assembly and a brake lower pump, the brake disc assembly is fixed on the body of the hub motor and synchronously rotates with the hub motor, and the brake lower pump is used for clamping the brake disc assembly to realize brake deceleration; the hub motor fixing mechanism is fixed on an output shaft of the hub motor and used for connecting and fixing the brake lower pump and the shock-absorbing guide mechanism.
2. The driving device of the robot hub motor with the brake and the shock absorbing structure as claimed in claim 1, wherein the shock absorbing guide mechanism comprises a plurality of guide shafts, a guide fixing plate and a guide movable plate; the guide fixed plate and the guide movable plate are arranged in parallel, and the guide movable plate is positioned above the guide fixed plate; one end of the guide shaft is fixed on the guide fixing plate, and the other end of the guide shaft penetrates through the guide movable plate; the shock absorbing mechanism slides on the guide shaft in a guiding way through the guide movable plate.
3. A robot hub motor driving device with a band-type brake and a shock absorbing structure as claimed in claim 2, wherein the middle part of each guide shaft is movably connected with the guide movable plate through a linear bearing, and the upper end part of each guide shaft is provided with a retaining ring; and a cushion pad is arranged at the bottom of the check ring and used for limiting and buffering the top movement of the linear bearing.
4. The driving device of the robot hub motor with the brake and the shock absorbing structure as claimed in claim 2, wherein the shock absorbing mechanism comprises a shock absorber and a shock absorber bracket fixed on the top of the guide movable plate; the shock absorber penetrates through the guide movable plate, one end of the shock absorber is fixed on the shock absorber support, and the other end of the shock absorber is fixed on the guide fixed plate.
5. A robot hub motor driving device with a band-type brake and a shock absorbing structure as claimed in claim 4, wherein the shock absorbing mechanism further comprises an upper support and a lower support; the shock absorber is fixed on the shock absorber support through the upper support and is fixed on the guide fixing plate through the lower support.
6. The driving device of the hub motor of the robot with the brake and shock absorbing structure as claimed in claim 1, wherein the brake disc assembly comprises a brake disc connecting piece, a brake disc and a brake disc fixing plate; the brake disc is fixed on the brake disc fixing plate through the brake disc connecting piece, and the brake disc fixing plate is used for being fixed on the body of the hub motor.
7. A robot hub motor driving device with a band-type brake and shock absorbing structure as claimed in claim 6, wherein the brake lower pump comprises a pump body and two brake discs; the brake disc is movably arranged between the two brake discs, and the pump body is used for driving the two brake discs to clamp or loosen the brake disc.
8. A robot hub motor driving device with a band-type brake and a shock absorbing structure as claimed in claim 1, wherein the hub motor fixing mechanism comprises a motor key and a hub motor fixing member; the motor key penetrates through the hub motor fixing piece and is matched and connected with an output shaft key groove of the hub motor; the shock-absorbing guide mechanism is fixed at the top of the hub motor fixing part, and the band-type brake lower pump mechanism is fixed on the side surface of the hub motor fixing part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922166249.0U CN211000909U (en) | 2019-12-05 | 2019-12-05 | Robot hub motor driving device with band-type brake and shock-absorbing structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922166249.0U CN211000909U (en) | 2019-12-05 | 2019-12-05 | Robot hub motor driving device with band-type brake and shock-absorbing structure |
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| Publication Number | Publication Date |
|---|---|
| CN211000909U true CN211000909U (en) | 2020-07-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922166249.0U Active CN211000909U (en) | 2019-12-05 | 2019-12-05 | Robot hub motor driving device with band-type brake and shock-absorbing structure |
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| CN (1) | CN211000909U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112498304A (en) * | 2020-12-08 | 2021-03-16 | 深圳市银星智能科技股份有限公司 | Walking structure of self-moving robot and self-moving robot |
| CN115384463A (en) * | 2022-09-29 | 2022-11-25 | 上海擎朗智能科技有限公司 | Robot motion control method, device, equipment and medium |
-
2019
- 2019-12-05 CN CN201922166249.0U patent/CN211000909U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112498304A (en) * | 2020-12-08 | 2021-03-16 | 深圳市银星智能科技股份有限公司 | Walking structure of self-moving robot and self-moving robot |
| CN115384463A (en) * | 2022-09-29 | 2022-11-25 | 上海擎朗智能科技有限公司 | Robot motion control method, device, equipment and medium |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220210 Address after: 518000 room 2202, block a, building 11, Shenzhen Bay science and technology ecological park, No. 16, Keji South Road, Yuehai street, Nanshan District, Shenzhen, Guangdong Patentee after: GUANGDONG HUIHE TECHNOLOGY DEVELOPMENT CO.,LTD. Address before: 518000 a501, 5th floor, Shanshui building, Nanshan cloud Valley Innovation Industrial Park, 4093 Liuxian Avenue, Taoyuan Street, Nanshan District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN WUJING INTELLIGENT ROBOT Co.,Ltd. |
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| TR01 | Transfer of patent right |