CN211992974U

CN211992974U - Waist rotating device of service robot

Info

Publication number: CN211992974U
Application number: CN201922400857.3U
Authority: CN
Inventors: 李庆民; 王青; 唐治; 宋洁
Original assignee: Shandong Nuobote Intelligent Technology Co ltd
Current assignee: Shandong Nuobote Intelligent Technology Co ltd
Priority date: 2019-12-27
Filing date: 2019-12-27
Publication date: 2020-11-24
Anticipated expiration: 2029-12-27

Abstract

The utility model relates to a waist rotary device of service robot, including health support, health casing, chassis support, its characterized in that: a transmission and position detection device is arranged above the body support, a body fixing plate and a waist gear set are arranged below the body support, the body shell is arranged at the outer side of the body support, and the bottom end of the body shell is fixed between the body support and the body fixing plate; the waist gear set is arranged at the inner side of the body fixing plate; bearing assemblies are arranged below the body fixing plate and the waist gear set. The utility model discloses simple structure, the practicality is strong, because the inner circle of bearing assembly is spacing fixed, and the outer lane is rotatable, combines transmission and position monitoring device, finally not only can realize the relative rotation on robot fuselage and chassis, robot waist free rotation promptly, simultaneously, through the position pulse signal real time monitoring turned angle that the health master controller returned the encoder, health master controller adjusts machine controller's output data to the rotation angle of accurate control waist.

Description

Waist rotating device of service robot

Technical Field

The utility model relates to a waist rotary device of service robot belongs to the robotechnology field.

Background

At present, service robots are widely applied in various industries, a waist rotating structure of the service robot is a very important component in a robot structure and plays a role in supporting a framework for bearing an upper body and a chassis of the robot, most service robot bodies in the market are welded with lower limbs or chassis structures into a whole, and the rotation of the bodies cannot be realized. Moreover, most of service robots applied to the catering industry travel along an appointed guide rail, and need to turn at any time in the process of sending dishes to guests, and robots with the waist incapable of rotating can only turn by the rotation of the travelling wheels, so that the abrasion of the travelling wheels of the chassis is easily caused, and the problems of food material leakage and the like caused by the fact that the travelling wheels turn unstably can be solved.

SUMMERY OF THE UTILITY MODEL

The utility model discloses not enough to prior art exists, provide a simple structure, can make the nimble rotatory service robot waist rotary device of robot body.

The utility model provides an above-mentioned technical problem's technical scheme as follows: the utility model provides a waist rotary device of service robot, includes health support, health casing, chassis support, its characterized in that: a transmission and position detection device is arranged above the body support, a body fixing plate and a waist gear set are arranged below the body support, the body shell is arranged at the outer side of the body support, and the bottom end of the body shell is fixed between the body support and the body fixing plate; the waist gear set is arranged on the inner side of the body fixing plate and comprises a waist large gear and a waist small gear meshed with the waist large gear; a bearing assembly is arranged below the body fixing plate and the waist gear set, the bearing assembly comprises an outer ring and an inner ring, the outer ring is fixed between the body fixing plate and the rotating fixing ring, a plurality of first hollow supporting columns with the same height as the outer ring are further arranged between the rotating fixing ring and the body fixing plate, the first hollow supporting columns are arranged on the outer side of the outer ring, and pass through the rotating fixing ring, the first hollow supporting columns, the body fixing plate and the bottom end of the body shell from bottom to top in sequence by bolts and are fixed below the body support; the inner circle sets up between waist gear wheel and backing plate, both ends are equipped with first bearing spacing collar, second bearing spacing collar respectively about the inboard of inner circle, be equipped with a plurality of second hollow support columns, every between first bearing spacing collar and the second bearing spacing collar perpendicularly the hollow support column of second sets up in the inboard of inner circle, down passes in proper order from last with the countersunk head bolt waist gear wheel, first bearing spacing collar, the hollow support column of second, second bearing spacing collar, backing plate and fix them in the undercarriage support top.

On the basis of the technical scheme, the utility model discloses can also be following improvement, transmission and position detection device are including fixed motor reducing gear box that sets up on the health support and set gradually gear train and the encoder in the motor reducing gear box top, the gear train include first gear and with first gear external toothing's second gear, the one end top of motor reducing gear box is equipped with DC motor, the other end is equipped with the motor shaft, the motor shaft upper end is equipped with first gear, lower extreme and is equipped with the waist pinion, and the transmission shaft of encoder passes first L type support fixed mounting second gear.

Further, the motor shaft and the first gear adopt interference fit, and the transmission shaft and the second gear adopt interference fit.

Furthermore, the body fixing plate, the backing plate, the rotary fixing ring, the first bearing limiting ring and the second bearing limiting ring are all hollow.

Further, a distance D is reserved between the bottom surface of the body support and the upper surface of the waist gear wheel, and the distance D is less than or equal to 3mm and less than or equal to 5 mm.

The utility model has the advantages that: because the inner ring of the bearing assembly is limited and fixed, the outer ring of the bearing assembly is rotatable, and the transmission and position monitoring device are combined, the relative rotation of the robot body and the chassis can be finally realized, the free rotation of the waist of the robot is realized, the rotation angle is monitored in real time through position pulse signals returned by the body main controller to the encoder, and the body main controller adjusts output data of the motor controller, so that the rotation angle of the waist is accurately controlled.

Drawings

Figure 1 is the waist structure schematic diagram of the utility model

FIG. 2 is a schematic view of the structure of FIG. 1 taken along the direction A-A;

FIG. 3 is an enlarged view at B;

FIG. 4 is a schematic view of a transmission and position detection device;

FIG. 5 is another perspective view of the transmission and position detection device;

FIG. 6 is a schematic view of the structure of the body support of the present invention at an angle below the body support;

in the figure, 1, a body support; 2. a body shell; 3. a chassis support; 4. a body fixation plate; 5. a transmission and position monitoring device; 51. a motor reduction box; 52. c, renting gears; 521. a first gear; 522. a second gear; 53. an encoder; 54. a direct current motor; 55. a motor shaft; 56. a drive shaft; 57. a first L-shaped bracket; 58. a second L-shaped bracket; 6. leasing a waist gear; 61 waist gear wheel; 62. a waist pinion gear; 7. a bearing assembly; 71. an outer ring; 72. an inner ring; 8. rotating the fixed ring; 9. a first hollow support column; 10. a base plate; 11. a first bearing retainer ring; 12. a second bearing retainer ring; 13. a second hollow support column; 14. a countersunk bolt; 15. and (4) bolts.

Detailed Description

The principles and features of the present invention are described below in conjunction with examples, which are set forth only to illustrate the present invention and are not intended to limit the scope of the present invention.

As shown in fig. 1 to 6, the service robot waist rotating device of the present invention is explained as follows.

The device comprises a body support (1), a body shell (2) and a chassis support (3), wherein a transmission and position detection device (5) is arranged above the body support (1), a body fixing plate (4) and a waist gear set (6) are arranged below the body support (1), the body shell (2) is arranged on the outer side of the body support (1), and the bottom end of the body shell (2) is fixed between the body support (1) and the body fixing plate (4); the waist gear set (6) is arranged on the inner side of the body fixing plate (4), and the waist gear set (6) comprises a waist large gear (61) and a waist small gear (62) meshed with the waist large gear (61); a bearing assembly (7) is arranged below the body fixing plate (4) and the waist gear set (6), the bearing assembly (7) comprises an outer ring (71) and an inner ring (72), the outer ring (71) is fixed between the body fixing plate (4) and the rotary fixing ring (8), a plurality of first hollow supporting columns (9) with the same height as the outer ring (71) are further arranged between the rotary fixing ring (8) and the body fixing plate (4), the first hollow supporting columns (9) are arranged on the outer side of the outer ring (71), and bolts (15) sequentially penetrate through the rotary fixing ring (8), the first hollow supporting columns (9), the body fixing plate (4) and the bottom end of the body shell (2) from bottom to top and are fixed below the body support (1); inner circle (72) set up between waist gear wheel (61) and backing plate (10), both ends are equipped with first bearing spacing collar (11), second bearing spacing collar (12) respectively about the inboard of inner circle (72), be equipped with a plurality of second hollow support columns (13) between first bearing spacing collar (11) and second bearing spacing collar (12) perpendicularly, every second hollow support column (13) set up in the inboard of inner circle (72), from last waist gear wheel (61), first bearing spacing collar (11), second bearing spacing collar (12), second hollow support column (13), backing plate (10) are down passed in proper order to countersunk head bolt (14) from last to the top and are fixed chassis support (3) top.

The body shell (2) surrounds a cavity on the outer side of the body support (1), and the body shell (2) is formed by gluing a front shell and a rear shell.

On the basis of the technical scheme, the utility model discloses can also do following improvement.

Transmission and position detection device (5) are including fixed motor reducing gear box (51) that sets up on health support (1) and set gradually gear train (52) and encoder (53) in motor reducing gear box (51) top, gear train (52) include first gear (521) and with second gear (522) of first gear (521) external toothing, the one end top of motor reducing gear box (51) is equipped with direct current motor (54), the other end is equipped with motor shaft (53), motor shaft (53) upper end is equipped with first gear (521), the lower extreme is equipped with waist pinion (62), transmission shaft (56) of encoder (53) pass first L type support (57) fixed mounting second gear (522).

A transmission shaft (56) of the encoder (53) penetrates through the first L-shaped support (57) to be fixed at one end of the first L-shaped support (57), the other end of the first L-shaped support (57) is attached and fixed with one end of the second L-shaped support (58), and the other end of the second L-shaped support (58) is fixed on the motor reduction box (51).

The motor shaft (55) is in interference fit with the first gear (521) of the gear set (52), and the transmission shaft (56) of the encoder (53) is in interference fit with the second gear (522) of the gear set (52).

The structure adopts interference fit, is convenient to install and fix, and is simple in structure.

Direct current motor (54) are controlled by the motor master controller, and the motor controller is controlled by the body controller, when direct current motor (54) during operation, direct current motor (54) can drive motor reducing gear box (51) and rotate, drive motor shaft (55) again, motor shaft (55) upper end acts on first gear (521), make first gear (521) drive second gear (522) and rotate, and then make transmission shaft (56) with second gear (522) interference fit's encoder (53) work, encoder (53) adopt relative counting mode to carry out the rotational position detection again, because encoder (53) circuit is connected with the body master controller, position pulse signal through the body master controller to encoder (53) return, the rotatory angle of real time monitoring.

When the motor shaft (55) rotates, the lower end of the motor shaft (55) acts on the waist small gear (62), and the waist small gear (62) not only rotates along with the motor shaft (55) but also rotates around the inner side of the stationary waist large gear (61).

Furthermore, the body fixing plate (4), the backing plate (10), the rotating fixing ring (8), the first bearing limiting ring (11) and the second bearing limiting ring (12) are all hollow, and the hollow structure is also convenient for electric wires to pass through.

Furthermore, a distance D is reserved between the bottom surface of the body support (1) and the upper surface of the waist large gear (61), and the distance D is less than or equal to 3mm and less than or equal to 5 mm.

A certain distance is arranged between the bottom surface of the body support (1) and the upper surface of the waist large gear (61) of the waist gear set (6) so as to ensure free rotation of the waist, and if no distance exists, the bottom surface of the body support (1) and the bolt on the waist large gear (61) or the bolt on the body support (1) and the upper surface of the waist large gear (61) are in direct contact, so that friction or jamming can be caused, and finally the waist of the robot cannot rotate.

In addition, the thickness of the bottom end of the body shell (2) is generally 2-2.6mm, the range of D is less than or equal to 3mm and less than or equal to 5mm because the bottom end of the body shell (2) is arranged between the body support (1) and the body fixing plate (4), and the bottom end of the body shell (2) can also play a role in heightening the body support (1).

The utility model discloses a bearing assembly (7) is deep groove ball bearing assembly, outer lane (71) of bearing assembly (7) are fixed between health fixed plate (4) and rotatory solid fixed ring (8), outer lane (71) are not by spacing can the pivoted, waist pinion (62) pass through the cone end holding screw to be fixed in the lower extreme of motor shaft (55), so when direct current motor (54) work, waist pinion (62) not only can be along with motor shaft (55) rotation, still can rotate around the inboard of motionless waist gear wheel (61), thereby make health support (1) and fix health casing (2) on health support (1) along with outer lane (71) rotation of bearing assembly (7); the inner ring (72) of the bearing assembly (7) is clamped by the waist large gear (61) and the chassis support (3) and cannot rotate, so that the chassis support (3) cannot rotate along with the waist small gear (62) when rotating around the inner side of the waist large gear (61), the robot body can rotate relative to the robot chassis, and the waist rotation of the robot is finally realized. Because encoder (53) circuit is connected with health master controller, through the position pulse signal that health master controller returned to encoder (53), real time monitoring turned angle, health master controller adjusts motor controller's output data to the rotation angle of accurate control waist.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.

Claims

1. The utility model provides a waist rotary device of service robot, includes health support, health casing, chassis support, its characterized in that: a transmission and position detection device is arranged above the body support, a body fixing plate and a waist gear set are arranged below the body support, the body shell is arranged at the outer side of the body support, and the bottom end of the body shell is fixed between the body support and the body fixing plate; the waist gear set is arranged on the inner side of the body fixing plate and comprises a waist large gear and a waist small gear meshed with the waist large gear; a bearing assembly is arranged below the body fixing plate and the waist gear set, the bearing assembly comprises an outer ring and an inner ring, the outer ring is fixed between the body fixing plate and the rotating fixing ring, a plurality of first hollow supporting columns with the same height as the outer ring are further arranged between the rotating fixing ring and the body fixing plate, the first hollow supporting columns are arranged on the outer side of the outer ring, and pass through the rotating fixing ring, the first hollow supporting columns, the body fixing plate and the bottom end of the body shell from bottom to top in sequence by bolts and are fixed below the body support; the inner circle sets up between waist gear wheel and backing plate, both ends are equipped with first bearing spacing collar, second bearing spacing collar respectively about the inboard of inner circle, be equipped with a plurality of second hollow support columns, every between first bearing spacing collar and the second bearing spacing collar perpendicularly the hollow support column of second sets up in the inboard of inner circle, down passes in proper order from last with the countersunk head bolt waist gear wheel, first bearing spacing collar, the hollow support column of second, second bearing spacing collar, backing plate and fix them in the undercarriage support top.

2. The waist rotating device of a service robot as claimed in claim 1, wherein the transmission and position detecting device comprises a motor reduction box fixedly arranged on the body support, and a gear set and an encoder sequentially arranged above the motor reduction box, the gear set comprises a first gear and a second gear externally engaged with the first gear, a direct current motor is arranged above one end of the motor reduction box, a motor shaft is arranged at the other end of the motor reduction box, the first gear is arranged at the upper end of the motor shaft, a waist pinion is arranged at the lower end of the motor shaft, and a transmission shaft of the encoder penetrates through the first L-shaped support to fixedly mount the second gear.

3. The waist rotating apparatus of a service robot as claimed in claim 2, wherein: the motor shaft and the first gear are in interference fit, and the transmission shaft and the second gear are in interference fit.

4. The waist rotating device of a service robot as claimed in claim 1, wherein the body fixing plate, the backing plate, the rotating fixing ring, the first bearing retainer ring and the second bearing retainer ring are all hollow.

5. The waist rotating apparatus of a service robot as claimed in claim 1, wherein: a distance D is reserved between the bottom surface of the body support and the upper surface of the waist large gear, and the distance D is less than or equal to 3mm and less than or equal to 5 mm.