CN212219869U

CN212219869U - Robot movement mechanism

Info

Publication number: CN212219869U
Application number: CN202022805090.5U
Authority: CN
Inventors: 赵福海; 邓元超
Original assignee: Tianjin Allians Technology Co ltd
Current assignee: Tianjin Allians Technology Co ltd
Priority date: 2020-11-30
Filing date: 2020-11-30
Publication date: 2020-12-25
Anticipated expiration: 2030-11-30

Abstract

The utility model discloses a robot motion, including drive arrangement, driven wheelset, drive arrangement sets up two sets ofly at least, connect through first coupling mechanism between the drive arrangement, driven wheelset includes two at least from the driving wheel, connect through second coupling mechanism between the driving wheel, second coupling mechanism articulates to on the first coupling mechanism, make and keep landing between drive arrangement and the driven wheelset, drive arrangement includes power pack, drive unit, drive wheel, drive unit links to each other with power pack and drive wheel respectively, will power pack's power transmission to drive wheel. The utility model discloses a smooth operation on uneven road surface can be guaranteed to the robot in the mechanism, guarantees to grab land fertility and fixes a position accurately, the utility model discloses a power pack can carry out the overall arrangement in narrow and small space, has extensive spreading value.

Description

Robot movement mechanism

Technical Field

The utility model belongs to the technical field of the automatic transportation, more specifically relates to a robot motion.

Background

When adopting the four-wheel structure among the autonomous mobile robot, drive wheel and follow driving wheel lug connection, in the operation scene, because ground incomplete level, and there is thin and small barrier possibly, when meetting the ditch bank, the wheel of robot can't land simultaneously, lead to idling, thereby lead to the location inaccurate, can't satisfy the steady operation of four-wheel robot in the application scene, and in four-wheel robot, especially involve the condition that needs arrange power transmission mechanism in narrow and small space, prior art generally adopts the mode of drive wheel and motor syntropy installation, or adopts simple switching-over device to carry out power transmission, occupation space is big, can't satisfy the narrow and small application demand of installation space.

In view of this, the present invention is especially provided.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a motion of robot mechanism solves the unable steady operation of prior art and narrow and small space arrangement power transmission mechanism's problem, makes motion of robot mechanism have more extensive application environment, is favorable to popularizing and applying.

In order to achieve the purpose, the robot movement mechanism comprises driving devices and driven wheel sets, wherein the driving devices are at least provided in two groups, the driving devices are connected through a first connecting mechanism, the driven wheel sets at least comprise two driven wheels, the driven wheels are connected through a second connecting mechanism, and the second connecting mechanism is hinged to the first connecting mechanism.

In one embodiment, the driving device comprises a power unit, a transmission unit and a driving wheel, wherein the transmission unit is respectively connected with the power unit and the driving wheel and transmits the power of the power unit to the driving wheel.

The transmission unit comprises a conical gear unit, a chain gear unit, a first rotating shaft and a second rotating shaft,

in one embodiment, the power unit is connected with the bevel gear unit, outputs power to the bevel gear unit for reversing, the bevel gear unit transmits power to the chain gear unit through a first rotating shaft, one end of the chain gear unit is fixed on the first rotating shaft, the other end of the chain gear unit is fixed on the second rotating shaft, transmits power to the second rotating shaft through the chain gear unit, and the driving wheel is fixed on the second rotating shaft and drives the driving wheel to rotate through the second rotating shaft.

In one embodiment, the bevel gear unit, the chain gear unit, the first rotating shaft, and the second rotating shaft are disposed at one side of the power unit.

In one embodiment, the power unit comprises a motor and a speed reducer, and the motor is connected with the speed reducer.

In one embodiment, the motor fixing base is further included, and the speed reducer is connected with the motor fixing base.

In one embodiment, the bevel gear unit includes a driving bevel gear fixed to the reducer output shaft and a driven bevel gear fixed to the first rotating shaft.

In one embodiment, the driving bevel gear and the driven bevel gear are in 90 ° meshed connection.

In one embodiment, the chain gear unit includes a first chain gear fixed to the first rotating shaft, a second chain gear fixed to the second rotating shaft, and a chain, and the first chain gear and the second chain gear are in transmission connection through the chain.

In one embodiment, the first and second rotatable shafts are fixed at both ends to bearings of the housing structure.

The utility model provides a motion of robot mechanism has following beneficial effect:

(1) through the articulated relation, guarantee that drive arrangement and driven wheelset land all the time, guarantee the grabbing ground power of robot on uneven road surface.

(2) The application that the motor and the driving wheel are vertically installed is realized by arranging the power conversion and power transmission unit.

(3) The 90-degree conical gear unit is combined with the chain gear unit to reduce the installation space.

Drawings

Fig. 1 is a schematic diagram of a robot motion mechanism arrangement of the present invention;

fig. 2 is a schematic view of a driving device of a robot motion mechanism according to the present invention;

in the figure: the driving device 1, the driven wheel set 2, the first connecting mechanism 3, the second connecting mechanism 4, the power unit 11, the transmission unit 12, the driving wheel 13, the driven wheel 21, the bevel gear unit 121, the chain gear unit 122, the first rotating shaft 123, the second rotating shaft 124, the motor 111, the speed reducer 112, the motor fixing base 113, the driving bevel gear 1211, the driven bevel gear 1212, the first chain gear 1221, the second chain gear 1222, the chain 1223, and the housing structure 5.

Detailed Description

The present invention will be described in further detail with reference to the following drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It should be noted that the term "connected" and the words used to express "connected" in this application, such as "engaged", "connected", etc., include both the direct connection of one element with another element and the connection of one element with another element through another element, and are not limited to "engaged", "connected", etc.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise, and further it is to be understood that when used in this specification the singular is taken to mean "comprising" and/or "including" which indicates the presence of the features, steps, operations, components or modules, elements and/or combinations thereof.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Examples

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

As shown in fig. 1 and 2, in the present embodiment, a robot motion mechanism includes a driving device 1 and a driven wheel set 2, the driving device is provided with at least two sets, the driving device is connected with the driven wheel set by a first connecting mechanism 3, the driven wheel set includes at least two driven wheels 21, the driven wheels are connected by a second connecting mechanism 4, the second connecting mechanism 4 is hinged to the first connecting mechanism 3, when the robot motion mechanism runs on an uneven road, the driving device 1 and the driven wheel set 2 are kept on the ground by the hinged relationship of the first connecting mechanism 3 and the second connecting mechanism 4, that is, by a relatively movable design, the ground holding force is ensured, and thus the accuracy of the running mileage is ensured.

Further, the driving device 1 includes a power unit 11, a transmission unit 12, and driving wheels 13, wherein the transmission unit 12 is connected to the power unit 11 and the driving wheels 13, respectively, and transmits power of the power unit 11 to the driving wheels 13.

Further, the transmission unit 12 includes a bevel gear unit 121, a chain gear unit 122, a first rotating shaft 123, a second rotating shaft 124,

further, the power unit 11 is connected to the bevel gear unit 121, outputs power to the bevel gear unit 121 for reversing, the bevel gear unit 121 transmits power to the chain gear unit 122 through a first rotating shaft 123, one end of the chain gear unit 122 is fixed to the first rotating shaft 123, the other end of the chain gear unit 122 is fixed to the second rotating shaft 124, transmits power to the second rotating shaft 124 through the chain gear unit 122, and the driving wheel 13 is fixed to the second rotating shaft 124 and drives the driving wheel 13 to rotate through the second rotating shaft 124.

Preferably, in order to reduce a transmission distance and improve transmission efficiency, the bevel gear unit 121, the chain gear unit 122, the first rotating shaft 123, and the second rotating shaft 124 are disposed at one side of the power unit 11.

Further, the power unit 11 includes a motor 111, a speed reducer 112, and a motor fixing base 113, one end of the motor 111 is connected to one end of the speed reducer 112, and a shaft of the motor 111 is connected to a shaft of the speed reducer 112 through a coupling.

Further, an output shaft of the speed reducer 112 passes through the motor fixing base 113, and the speed reducer 112 and the motor fixing base 113 are connected by a bolt. The two ends of the motor fixing base 113 are fixed on the housing structure 5.

Further, the bevel gear unit 121 includes a driving bevel gear 1211 and a driven bevel gear 1212, and as shown in fig. 2, the driving bevel gear 1211 is engaged with the driven bevel gear 1212 at an angle of 90 °.

Further, the driving bevel gear 1211 is fixed to the output shaft of the speed reducer 112, and the driven bevel gear 1212 is fixed to the first rotating shaft 123.

Further, the chain gear unit 122 includes a first chain gear 1221, a second chain gear 1222 and a chain 1223, as shown in fig. 2, the first chain gear 1221 is fixed on the first rotating shaft 123, the second chain gear 1222 is fixed on the second rotating shaft 124, and the first chain gear 1221 and the second chain gear 1222 are in transmission connection through the chain 1223.

Further, the driving wheel 13 is fixed to the second rotating shaft 124.

Further, the first rotating shaft 123 and the second rotating shaft 124 are fixed to the housing structure 5 through bearings.

The motion principle is as follows:

as shown in fig. 1, two sets of driving devices 1 are connected through a

first connecting mechanism

3, 2 driven wheels 21 are connected through a second connecting mechanism 4, the second connecting mechanism 4 is hinged to the first connecting mechanism 3, power is provided through a power unit 11 in the driving device 1, the driving devices are pushed to move, the driven wheel sets 2 are driven to move, and when the wheels meet uneven road surfaces, the driven wheel sets 2 and the driving devices 1 can move through the hinged relation of the first connecting mechanism 3 and the second connecting mechanism 4, so that the wheels are guaranteed to land all the time, the ground grabbing force is guaranteed, and the accuracy of the running mileage is guaranteed.

Through power unit 11 with bevel gear unit 121 links to each other, exports power to bevel gear unit 121 commutates, bevel gear unit 121 transmits power to chain gear unit 122 through first axis of rotation 123, chain gear unit 122 one end is fixed on first axis of rotation 123, the other end is fixed on second axis of rotation 124, through chain gear unit 122 with power transmission to second axis of rotation 124, drive wheel 13 is fixed on the second axis of rotation 124, through second axis of rotation 124 drives drive wheel 13 rotates, realizes arranging power transmission device in the narrow and small space.

The present invention has been described in detail with reference to specific embodiments, and the description of the embodiments is only for the purpose of helping understanding the core idea of the present invention. It should be understood that any obvious modifications, equivalents and other improvements made by those skilled in the art without departing from the spirit of the present invention are intended to be included within the scope of the present invention.

Claims

1. A robot motion mechanism characterized in that: the device comprises driving devices and driven wheel sets, wherein at least two driving devices are arranged, the driving devices are connected through a first connecting mechanism, the driven wheel sets at least comprise two driven wheels, the driven wheels are connected through a second connecting mechanism, and the second connecting mechanism is hinged to the first connecting mechanism;

the driving device comprises a power unit, a transmission unit and a driving wheel, wherein the transmission unit is respectively connected with the power unit and the driving wheel and transmits the power of the power unit to the driving wheel;

the power unit comprises a motor and a speed reducer, and the motor is connected with the speed reducer;

the power unit with the bevel gear unit links to each other, with power output extremely the bevel gear unit commutates, the bevel gear unit passes through first axis of rotation with power transmission extremely chain gear unit, chain gear unit one end is fixed on the first axis of rotation, the other end is fixed in the second axis of rotation, through chain gear unit with power transmission to second axis of rotation, the drive wheel is fixed in the second axis of rotation, through the second axis of rotation drives the drive wheel rotates.

2. A robot movement mechanism according to claim 1, characterized in that: the bevel gear unit, the chain gear unit, the first rotating shaft and the second rotating shaft are arranged on one side of the power unit.

3. A robot movement mechanism according to claim 1, characterized in that: still include motor fixed baseplate, the speed reducer with motor fixed baseplate is connected.

4. A robot movement mechanism according to claim 1, characterized in that: the bevel gear unit comprises a driving bevel gear and a driven bevel gear, the driving bevel gear is fixed on the output shaft of the speed reducer, and the driven bevel gear is fixed on the first rotating shaft.

5. A robot movement mechanism according to claim 4, characterized in that: the driving bevel gear and the driven bevel gear are in meshed connection at an angle of 90 degrees.

6. A robot movement mechanism according to claim 1, characterized in that: the chain gear unit comprises a first chain gear, a second chain gear and a chain, the first chain gear is fixed on the first rotating shaft, the second chain gear is fixed on the second rotating shaft, and the first chain gear and the second chain gear are in transmission connection through the chain.

7. A robot movement mechanism according to claim 1, characterized in that: and two ends of the first rotating shaft and the second rotating shaft are fixed on a bearing of a shell structure.