CN211076115U

CN211076115U - Walking power mechanism and robot

Info

Publication number: CN211076115U
Application number: CN201922253852.2U
Authority: CN
Inventors: 谭斐; 李正
Original assignee: Shenzhen Cityeasy Technology Co ltd
Current assignee: Shenzhen Cityeasy Technology Co ltd
Priority date: 2019-12-16
Filing date: 2019-12-16
Publication date: 2020-07-24
Anticipated expiration: 2029-12-16

Abstract

The application relates to a walking power mechanism and a robot, wherein the walking power mechanism comprises a driving piece, a shell, a transmission shaft, a movable wheel, an outer decorative cover and a PCB (printed circuit board), the driving piece is connected to the transmission shaft in a transmission manner, the transmission shaft is fixedly connected to the movable wheel, and the driving piece drives the movable wheel to rotate through the transmission shaft so as to realize walking; the transmission shaft is provided with a through hole which penetrates through two ends of the transmission shaft; the outer decorative cover comprises a convex column, the convex column extends into the through hole, penetrates through the through hole and is fixedly connected with the shell, a wiring channel is arranged in the convex column, a wiring groove is arranged on the convex column, and the wiring channel is communicated with the outside through the wiring groove; the PCB is fixed on the outer decorative cover. The robot comprises a walking power mechanism. Through with outside dress trim cover lug fixation in the casing, the PCB board is fixed in outside dress trim cover on, can avoid the cable to produce the winding when the transmission shaft rotates.

Description

Walking power mechanism and robot

Technical Field

The application relates to the field of robots, in particular to a walking power mechanism and a robot.

Background

In order to accurately control the movement of the robot, a small PCB is usually designed on the moving wheel of the robot, and a driving mechanism such as a motor is directly controlled through the small PCB. However, this also causes a problem of selecting a fixing position of the PCB board, which needs to be connected to an internal control circuit of the robot through a cable when the PCB board is fixed on the moving wheel, and the cable needs to pass through the moving wheel, which causes a winding problem when the moving wheel moves, and thus, it is necessary to solve the problem of winding the moving wheel during traveling.

SUMMERY OF THE UTILITY MODEL

Accordingly, it is necessary to provide a travel power mechanism and a robot for solving the problem that the traveling of the movable wheels causes winding.

A walking power mechanism, which comprises a driving piece, a shell, a transmission shaft, a movable wheel, an outer side decorative cover and a PCB, wherein,

the driving part is in transmission connection with the transmission shaft, the transmission shaft is fixedly connected with the movable wheel, and the driving part drives the movable wheel to rotate through the transmission shaft so as to realize walking;

the transmission shaft is provided with a through hole which penetrates through two ends of the transmission shaft;

the outer decorative cover comprises a convex column, the convex column extends into the through hole, penetrates through the through hole and is fixedly connected with the shell, a wiring channel is arranged in the convex column, a wiring groove is arranged on the convex column, and the wiring channel is communicated with the outside through the wiring groove;

the PCB is fixed on the outer side decorative cover.

In one embodiment, the device further comprises a transmission assembly, wherein the transmission assembly is arranged between the driving piece and the moving wheel, one end of the transmission assembly is in transmission connection with the driving piece, and the other end of the transmission assembly is in transmission connection with the moving wheel through the transmission shaft.

In one embodiment, the transmission assembly is a gear set, the gear set includes a plurality of gears, one of the gears is fixed on the rotating shaft of the driving member and rotates along with the rotation of the rotating shaft of the driving member, the other gear is fixed on the moving wheel through the transmission shaft, and the gears are meshed with each other.

In one embodiment, the housing is provided with a fixing boss, the gear fixedly connected to the transmission shaft is rotatably connected to the fixing boss, the fixing boss is provided with a wire passing hole, the protruding column is fixed to the fixing boss, and the wire passing hole is communicated with the wiring channel.

In one embodiment, the diameter of the upper stage gear is smaller than that of the lower stage gear in the transmission direction of the driving force.

In one embodiment, a containing cavity is arranged in the shell, and the transmission assembly is arranged in the containing cavity of the shell.

In one embodiment, the housing and the moving wheel have a predetermined gap therebetween.

In one embodiment, a groove is formed in one side, close to the outer side decorative cover, of the moving wheel, the outer side decorative cover further comprises a cover plate, the cover plate covers the groove, an accommodating cavity is formed between the cover plate and the moving wheel, and the PCB is arranged in the accommodating cavity.

In one embodiment, the PCB further comprises a light guide part, the light guide part is fixedly connected to the cover plate, and the PCB is fixed on the light guide part.

Above-mentioned walking power unit, through with outside dress trim cover lug fastening in the casing, the PCB board is fixed in outside dress trim cover, from this for the PCB board does not rotate along with the rotation that removes the wheel. Set up the through-hole in the transmission shaft again, the projection of outside dress trim cover passes from the through-hole in the axis of rotation, the inside line passageway that sets up of projection, it communicates in the external world to walk the line passageway through the wiring groove, the cable can be followed the interior line passageway of walking of direct in the projection of casing, be connected to the PCB board after passing the wiring groove, the line mode of walking that the cable passed from the transmission shaft, the transmission shaft has been avoided driving the cable and has been rotated when rotating, thereby, the PCB board does not rotate, the cable also does not rotate, the cable has been avoided producing the winding when the transmission shaft rotates.

A robot comprises a machine body and at least two walking power mechanisms, wherein the walking power mechanisms are arranged at the first end, close to the ground, of the machine body, and the walking power mechanisms are any one of the walking power mechanisms.

Since the robot includes the walking power mechanism, the robot has the beneficial effects of the walking power mechanism and the robot correspondingly.

Drawings

Fig. 1 is a schematic structural view of a walking power mechanism according to an embodiment of the present application;

fig. 2 is an exploded view of a walking power mechanism according to an embodiment of the present disclosure;

fig. 3 is another exploded view of the walking power mechanism according to an embodiment of the present disclosure;

fig. 4 is a schematic cross-sectional structure view of a walking power mechanism according to an embodiment of the present disclosure;

fig. 5 is a schematic view illustrating a partial explosion structure of a walking power mechanism according to an embodiment of the present disclosure;

fig. 6 is a schematic structural view of an outer decorative cover of a walking power mechanism according to an embodiment of the present application.

Detailed Description

To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present application are given in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

The walking power unit and the robot of each embodiment of this application, through with the PCB board fixed outside dress trim cover on, outside dress trim cover snap-on is to the casing to cross the line hole through outside dress trim cover and realize walking the line, avoided removing the wheel and rotating the in-process, connect the winding problem of cable of PCB board.

The following describes a walking power mechanism and a robot in detail according to embodiments of the present application with reference to the drawings.

Referring to fig. 1 to 3, the schematic structural diagram of the walking power mechanism 10 according to an embodiment of the present disclosure is exemplarily shown, where the walking power mechanism 10 may include a driving member 110, a housing 120, a transmission shaft 130, a moving wheel 140, an outer decorative cover 150 and a PCB 160, the driving member 110 is connected to the moving wheel 140 through the transmission shaft 130, the moving wheel 140 is driven to rotate to realize walking, the outer decorative cover 150 is fixed on the housing 120, and the PCB 160 is fixed on the outer decorative cover 150.

The driving member 110 provides the walking power for the walking power mechanism 10, and considering that the walking power mechanism 10 is generally installed at the bottom of the moving body, the driving member 110 may select a driver with a smaller volume, for example, a motor or a steering engine. In a particular embodiment, to achieve flexible movement, the drive 110 is a motor.

The driving member 110 is connected to the transmission shaft 130 in a transmission manner, and the transmission shaft 130 is fixedly connected to the movable wheel 140, so that the movable wheel 140 is driven to rotate by the driving member 110. The driving member 110 may be fixed to the housing 120 and provide a driving force through a rotating shaft, and the moving wheel 140 is connected to the rotating shaft of the driving member 110 in a transmission manner to obtain the driving force.

The walking power mechanism 10 is fixed to a moving body through the housing 120, so that when the moving wheel 140 rotates, the moving body is driven to move. For example, when the walking power mechanism 10 is applied to a robot, the moving body is a robot body.

Referring to fig. 5, an accommodating cavity 120a may be formed in the housing 120, the transmission shaft 130 may be disposed in the accommodating cavity 120a, a through hole may be formed in the housing 120, at least a portion of the transmission shaft 130 passes through the through hole and extends out of the housing 120, and the movable wheel 140 is fixedly connected to a portion of the transmission shaft 130 extending out of the housing 120.

In one or more embodiments, the housing 120 may include an upper housing 121 and a lower housing 123, the upper housing 121 is fixedly connected to the lower housing 123, and the upper housing 121 and the lower housing 123 surround to form a containing cavity 120a, and some precise components may be placed in the containing cavity 120a, so as to protect the precise components and prevent the precise components from being damaged.

Referring to FIG. 5, in one or more embodiments, the driving member 110 indirectly drives the rotation of the moving wheel 140. For example, the driving device may further include a transmission assembly 170, the transmission assembly 170 is disposed between the driving member 110 and the moving wheel 140, one end of the transmission assembly 170 is in transmission connection with the driving member 110, and the other end of the transmission assembly is in transmission connection with the moving wheel 140 through the transmission shaft 130, so that the driving force output by the driving member 110 is transmitted through the transmission assembly 170, and then the driving shaft 130 drives the moving wheel 140 to rotate. By providing the transmission assembly 170, control of the driving member 110 can be facilitated, which facilitates precise movement control.

For example, the transmission assembly 170 may be a gear set including a plurality of gears, one of the gears is fixed to the rotating shaft of the driving member 110 and rotates with the rotating shaft of the driving member 110, and the other gear is fixed to the moving wheel 140 through the transmission shaft 130, and a gear may be further provided therebetween, and the plurality of gears are engaged with each other so that the rotation of the moving wheel 140 is driven by the rotation of the gear. In a specific embodiment, the diameter of the gear of the previous stage is smaller than that of the gear of the next stage along the transmission direction of the driving force, so that the driving force can be amplified by meshing a plurality of gears with gradually increasing diameters step by step to form a gear set, and thus the driving member 110 only needs to provide a smaller driving force to drive the movable wheel 140 to rotate, thereby reducing the output power of the driving member 110 during operation. Of course, in other embodiments, the transmission assembly 170 is not limited to a gear set, and may be other transmission mechanisms, for example, a link mechanism, a driving wheel and a driven wheel connected by a transmission belt, etc., as long as the moving wheel 140 can be driven to rotate.

The transmission assembly 170 may be disposed in the receiving cavity 120a of the housing 120 to protect the transmission assembly 170. Walking power unit 10 is pressed close to ground at the during operation, and when walking, the dust of raising is attached on each components and parts easily, and transmission assembly 170 is higher to the precision requirement of damping, when being stained with the dust, can increase the damping effect to increase driving piece 110's drive output error, through setting up transmission assembly 170 in holding chamber 120a, can avoid raising the dust and lead to the phenomenon of damping increase on attaching to transmission assembly 170.

Referring to fig. 5, the transmission shaft 130 is provided with a through hole 131, the through hole 131 penetrates through both ends of the transmission shaft 130, and the outer decoration cover 150 is fixedly connected to the housing 120 through the through hole 131, so that when the transmission shaft 130 drives the moving wheel 140 to transmit, the outer decoration cover 150 does not rotate, and the PCB 160 fixed on the outer decoration cover 150 does not rotate.

Referring to fig. 4 and 6, in one or more embodiments, the outer decorative cover 150 may include a convex pillar 151, the convex pillar 151 extends into the through hole 131 and passes through the through hole 131 to be fixedly connected to the housing 120, a cable channel 1511 is disposed in the convex pillar 151, a cable groove 1513 is further disposed on the convex pillar 151, and the cable channel 1511 is communicated with the outside through the cable groove 1513, so that a cable connected to the PCB 160 is connected to the PCB 160 from the housing 120 through the cable channel 1511 and the cable groove 1513, and since the outer decorative cover 150 and the PCB 160 do not follow the rotation of the movable wheel 140, the cable connected to the PCB 160 does not rotate, and since the cable connected to the PCB 160 passes through the transmission shaft 130, the transmission shaft 130 does not drive the cable to rotate when rotating, thereby avoiding the problem of cable winding.

Referring to fig. 5, in some embodiments, the housing 120 is provided with a wire hole 120b, and the wire hole 120b is connected to the wire channel 1511, so that the cable inside the mobile body can be directly connected to the PCB 160 through the wire channel 1511. For example, the protruding column 151 is fixed on the lower case 123, and the lower case 123 is provided with a wire passing hole 120b corresponding to the protruding column 151.

In a specific embodiment, the housing 120 may be provided with a fixing boss 125, the gear fixedly connected to the transmission shaft 130 is rotatably connected to the fixing boss 125, the wire passing hole 120b may be disposed on the fixing boss 125, the protruding pillar 151 is fixed on the fixing boss 125, and the wire passing hole 120b is communicated with the wire passing channel 1511, so that the cable may be directly introduced into the wire passing channel 1511 from the wire passing hole 120 b.

Referring to fig. 1, in one or more embodiments, a predetermined gap is formed between the housing 120 and the moving wheel 140, so that on one hand, friction between the moving wheel 140 and the housing 120 can be avoided; on the other hand, the housing 120 is conveniently fixed inside the mobile body, and the gap can provide a containing space for placing the mobile body.

Referring to fig. 2, a groove 141 may be formed on a side of the moving wheel 140 close to the outer decorative cover 150, the outer decorative cover 150 further includes a cover plate 153, the cover plate 153 covers the groove 141, so that a receiving cavity is formed between the cover plate 153 and the moving wheel 140, and the PCB 160 is disposed in the receiving cavity.

Referring to fig. 2 and 3, in one or more embodiments, a light guide 180 may be further included, the light guide 180 is fixedly connected to the cover plate 153, and the PCB 160 is fixed on the light guide 180. The light guide member 180 may be made of a metal material to facilitate heat dissipation.

It can be understood that through holes are disposed on both the PCB 160 and the light guide 180 to facilitate the penetration of the protruding pillars 151.

In the walking power mechanism 10, the outer decorative cover 150 is directly fixed to the housing 120, and the PCB 160 is fixed to the outer decorative cover 150, so that the PCB 160 does not rotate along with the rotation of the moving wheel 140. Then set up through-hole 131 in transmission shaft 130, the projection 151 of outside dress trim cover 150 passes from through-hole 131 in the axis of rotation, projection 151 is inside to set up line passageway 1511, line passageway 1511 communicates in the external world through trough 1513, the cable can be followed the interior direct line passageway 1511 of walking in projection 151 of casing 120, pass trough 1513 and be connected to PCB board 160, the line mode that the cable passed from transmission shaft 130, the drive shaft 130 has been avoided driving the cable rotation when rotating, thereby, PCB board 160 does not rotate, the cable also does not rotate, the cable has been avoided producing the winding when transmission shaft 130 rotates.

An embodiment of the present application further provides a robot, including a body and at least two walking power mechanisms, where the walking power mechanisms are disposed at a first end of the body close to the ground, and the walking power mechanisms are the walking power mechanisms described in any of the above embodiments.

Since the robot includes the walking power mechanism of the foregoing embodiment, the robot has the advantageous effects of the walking power mechanism, and accordingly, the robot also has.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A walking power mechanism is characterized by comprising a driving piece, a shell, a transmission shaft, a movable wheel, an outer decorative cover and a PCB, wherein,

the PCB is fixed on the outer side decorative cover.

2. The walking power mechanism of claim 1, further comprising a transmission assembly, wherein the transmission assembly is disposed between the driving member and the moving wheel, one end of the transmission assembly is connected to the driving member in a transmission manner, and the other end of the transmission assembly is connected to the moving wheel through the transmission shaft in a transmission manner.

3. The walking power mechanism of claim 2, wherein the transmission assembly is a gear set, the gear set includes a plurality of gears, one of the gears is fixed on the rotating shaft of the driving member and rotates along with the rotation of the rotating shaft of the driving member, the other gear is fixed on the moving wheel through the transmission shaft, and the gears are meshed with each other.

4. The walking power mechanism of claim 3, wherein the housing is provided with a fixing boss, the gear fixedly connected to the transmission shaft is rotatably connected to the fixing boss, the fixing boss is provided with a wire passing hole, the protruding column is fixed to the fixing boss, and the wire passing hole is communicated with the wire passing channel.

5. The walking power mechanism according to claim 3, wherein the diameter of the upper gear is smaller than that of the lower gear along the transmission direction of the driving force.

6. The walking power mechanism of claim 2, wherein the housing is provided with a containing cavity therein, and the transmission assembly is arranged in the containing cavity of the housing.

7. The walking power mechanism of claim 1, wherein a predetermined gap is formed between the housing and the moving wheel.

8. The walking power mechanism of claim 1, wherein a groove is disposed on a side of the moving wheel close to the outer decorative cover, the outer decorative cover further comprises a cover plate, the cover plate covers the groove, a receiving cavity is formed between the cover plate and the moving wheel, and the PCB is disposed in the receiving cavity.

9. The walking power mechanism of claim 8, further comprising a light guide member, wherein the light guide member is fixedly connected to the cover plate, and the PCB is fixed to the light guide member.

10. A robot, comprising a body and at least two walking power mechanisms, wherein the walking power mechanisms are arranged at a first end of the body close to the ground, and the walking power mechanisms are according to any one of claims 1 to 9.