CN212331017U - Driving structure of crawler wheel - Google Patents
Driving structure of crawler wheel Download PDFInfo
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- CN212331017U CN212331017U CN202020814487.8U CN202020814487U CN212331017U CN 212331017 U CN212331017 U CN 212331017U CN 202020814487 U CN202020814487 U CN 202020814487U CN 212331017 U CN212331017 U CN 212331017U
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Abstract
The utility model discloses a driving structure of crawler wheels, which relates to the technical field of crawler drive, and comprises two crawler wheels and a crawler belt connected with the two crawler wheels, and is characterized by also comprising an outer fixed disc, a driving mechanism and a planetary gear box, wherein, two sides of each crawler wheel are respectively provided with an outer fixed disc, the outer edge of each outer fixed disc is respectively provided with a guide limit groove, the driving mechanism is in transmission connection with the planetary gear box, and the planetary gear box is respectively in transmission connection with one of the outer fixed discs on each crawler wheel; the driving mechanism comprises a driving mechanism shell, a frameless motor, a torque adaptive pipe, a driving shaft and an increment sensor, wherein the frameless motor, the torque adaptive pipe, the driving shaft and the increment sensor are arranged on the driving mechanism shell, the frameless motor is in transmission connection with the torque adaptive pipe, one end of the driving shaft is in transmission connection with the torque adaptive pipe, the increment sensor is arranged on the outer edge of the other end of the driving shaft, and the other end of the driving shaft is in transmission connection with the planetary gear box. The safety is high, and the frameless motor can be protected.
Description
Technical Field
The utility model relates to crawler drive technical field especially involves a driving structure of athey wheel.
Background
Robots are automatic control machines (Robot's colloquial name, automatic control machines include all machines (such as Robot dogs, Robot cats, etc.) simulating human behaviors or ideas and other creatures, there are many categories and disputes in the narrow definition of robots, some computer programs are even called robots, in the modern industry, robots refer to artificial Robot devices that can automatically perform tasks to replace or assist human work.
The legged robot can meet certain special performance requirements, but the legged robot is too much in structural freedom, complex to control and limited in application. Although the wheel-type mobile robot moves at a high speed, the terrain passing capability is relatively poor. The crawler-type mobile robot can adapt to ground changes well and has relatively good obstacle crossing capability.
The existing crawler-type mobile robot is characterized in that a crawler is directly arranged on a crawler wheel, the crawler is driven to rotate by a motor, a motor and other structures, the driving mode has no protective measures, the driving motor is easy to overload, the real-time monitoring and control of the rotating speed of the driving motor cannot be realized, and the crawler is easy to separate from the crawler wheel when the rotating speed of the crawler wheel is too fast or passes through a complex terrain.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a driving structure of athey wheel for solve above-mentioned technical problem.
The utility model adopts the technical scheme as follows:
a driving structure of crawler wheels comprises two crawler wheels, a crawler belt connected with the two crawler wheels, an outer fixing disc, a driving mechanism and a planetary gear box, wherein two sides of each crawler wheel are respectively provided with the outer fixing disc, the outer edge of each outer fixing disc is respectively provided with a guide limiting groove, the driving mechanism is in transmission connection with the planetary gear box, and the planetary gear box is in transmission connection with one outer fixing disc on each crawler wheel;
the driving mechanism comprises a driving mechanism shell, and a frameless motor, a torque adaptive pipe, a driving shaft and an increment sensor which are arranged on the driving mechanism shell, wherein the frameless motor is in transmission connection with the torque adaptive pipe, one end of the driving shaft is in transmission connection with the torque adaptive pipe, the increment sensor is arranged on the outer edge of the other end of the driving shaft, and the other end of the driving shaft is in transmission connection with the planetary gear box.
Preferably, the driving mechanism further comprises a pinion gear, the pinion gear is arranged at the other end of the driving shaft, and the other end of the driving shaft is in transmission connection with the planetary gear box through the pinion gear.
Preferably, the driving mechanism further comprises a collecting ring, one end of the collecting ring is fixed, and the other end of the collecting ring rotates along with the torque adaptive pipe.
Preferably, the driving mechanism further comprises a torque limiting clutch, the torque limiting clutch is arranged at one end of the driving mechanism shell, and the torque limiting clutch is sleeved at the outer edge of one end of the torque adapting pipe.
Preferably, the driving mechanism further includes an electromechanical parking brake, an incremental encoder, and an output-end multi-turn absolute value encoder, the electromechanical parking brake is sleeved on an outer edge of the torque adaptive tube, the output-end multi-turn absolute value encoder is located at one end of the electromechanical parking brake, which is far away from the torque limiting clutch, the electromechanical parking brake is in transmission connection with the frameless motor, and the incremental encoder is disposed on an outer edge of the electromechanical parking brake.
Preferably, the driving mechanism further includes a harmonic speed reducer, the harmonic speed reducer is sleeved on an outer edge of the torque adaptive pipe, and the harmonic speed reducer is located between the electromechanical parking brake and the torque limiting clutch, wherein the frameless motor, the torque limiting clutch, the output end multi-turn absolute value encoder, and the incremental encoder are respectively in transmission connection with the harmonic speed reducer.
Preferably, the frameless motor is a frameless dc motor.
Preferably, the brushless motor further comprises a temperature sensor, and the frameless motor and the harmonic reducer are respectively provided with one temperature sensor.
Preferably, a vibration sensor is further included, the vibration sensor being mounted at the other end of the torque-accommodating tube.
The technical scheme has the following advantages or beneficial effects:
in the utility model, the external fixing disks are arranged on the two sides of the crawler wheel and used for fixing the crawler belt, so that the crawler belt can be prevented from being separated from the crawler wheel, and the safety of the equipment is improved; the driving mechanism drives the crawler wheel to rotate through the planetary gear box, and the torque limiting clutch, the output end multi-turn absolute value encoder, the harmonic speed reducer and the electromechanical parking brake are arranged in the driving mechanism, so that the real-time monitoring and adjustment of the rotating speed of the frameless motor can be realized, the frameless motor can be protected, the overload of the frameless motor can be prevented, and the service life of the frameless motor can be prolonged.
Drawings
Fig. 1 is a schematic structural diagram of a driving structure of a crawler wheel according to the present invention;
fig. 2 is a perspective view of the driving mechanism of the present invention;
fig. 3 is an exploded view of the driving mechanism of the present invention.
In the figure, 1, a crawler wheel; 2. a crawler belt; 3. a drive mechanism; 301. a drive mechanism housing; 302. a frameless motor; 303. a torque-adaptive tube; 304. a bearing; 305. a drive shaft; 306. an incremental sensor; 307. a collector ring; 308. a torque limiting clutch; 309. the output end is provided with a multi-turn absolute value encoder; 310. an electromechanical parking brake; 311. an incremental encoder; 312. a harmonic speed reducer; 313. a first retaining ring; 314. a second retaining ring; 315. a third fixing ring; 316. and a motor end absolute value encoder.
Detailed Description
The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that, as the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. appear, the indicated orientation or positional relationship thereof is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, but does not indicate or imply that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" as appearing herein are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" should be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Fig. 1 is a schematic structural diagram of a driving structure of a crawler wheel according to the present invention; fig. 2 is a perspective view of the driving mechanism of the present invention; fig. 3 is an exploded view of the driving mechanism of the present invention. Referring to fig. 1 to 3, a preferred embodiment is shown, which illustrates a driving structure of a track wheel, including two track wheels 1 and a track 2 connected to the two track wheels 1, and further including an outer fixing plate (not shown), a driving mechanism 3 and a planetary gear box (not shown), wherein two sides of each track wheel 1 are respectively provided with an outer fixing plate, the outer edge of each outer fixing plate is respectively provided with a guiding limiting groove, the driving mechanism 3 is in transmission connection with the planetary gear box, and the planetary gear box is in transmission connection with one of the outer fixing plates on each track wheel 1. In this embodiment, the both sides of the inside wall of track 2 are equipped with and are banding protruding structure, and each protruding structure all sets up along the length direction of track 2, and the protruding structure of setting is used for cooperateing with the direction spacing groove on the external fixation dish. When the crawler belt 2 is used, the protruding structures on the crawler belt 2 are inserted into the guide limiting grooves in the outer fixing disc, the middle of the inner side wall of the crawler belt 2 is abutted to the crawler wheel 1, and the crawler belt 2 can be prevented from being separated from the crawler wheel 1 due to too high speed or complex terrain in the advancing process. In the present embodiment, the outer fixing disc and the track wheel 1 are of an integrated structure, and in other embodiments, the outer fixing disc may be fixedly connected to the track wheel 1 through a connecting shaft. In this embodiment, through the drive outer fixed disk for outer fixed disk drives athey wheel 1 and rotates, thereby makes athey wheel 1 drive track 2 rotate. In this embodiment, the planetary gear box is disposed on one side of the crawler 2, and the planetary gear box has a gear box body, two driven gears disposed in the gear box body, and a driving gear disposed in the gear box body, wherein the driving gear is in transmission connection with the driving mechanism 3, the driving gear is respectively engaged with the two driven gears, and each driven gear is respectively in transmission connection with one of the outer fixing discs on each crawler wheel 1.
Further, as a preferred embodiment, the driving mechanism 3 includes a driving mechanism housing 301, and a frameless motor 302, a torque adaptive tube 303, a driving shaft 305 and an increment sensor 306 which are disposed on the driving mechanism housing 301, wherein the frameless motor 302 is in transmission connection with the torque adaptive tube 303, one end of the driving shaft 305 is in transmission connection with the torque adaptive tube 303, the other end of the driving shaft 305 is provided with the increment sensor 306 at an outer edge thereof, and the other end of the driving shaft 305 is in transmission connection with the planetary gearbox. In this embodiment, the driving mechanism casing 301 has a cylindrical structure, in other embodiments, the driving mechanism casing 301 may have a square structure, a spherical structure, or other irregular structures, and the specific shape of the driving mechanism casing 301 may be selected according to the installation environment. The frameless motor 302 in this embodiment is fixed in the driving mechanism housing 301, and the frameless motor 302 may be welded in the driving mechanism housing 301 or fixed in the driving mechanism housing 301 through a motor mounting seat. The torque adaptive pipe 303 is transversely arranged in the driving mechanism shell 301, the frameless motor 302 is arranged on one side of the torque adaptive pipe 303, one end of the torque adaptive pipe 303 is rotatably connected with one end of the driving mechanism shell 301, the other end of the torque adaptive pipe 303 is rotatably connected with the other end of the driving mechanism shell 301, and the torque adaptive pipe 303 is in transmission connection with the frameless motor 302 through a gear. The incremental sensor 306 and the frameless motor 302 in this embodiment are each electrically connected to an external actuator. When the crawler belt wheel 2 is used, the frameless motor 302 is controlled by the external actuator to drive the torque adaptation pipe 303 to rotate, the torque adaptation pipe 303 drives the driving shaft 305 to rotate, the driving shaft 305 drives the driving gear to rotate, the driving gear drives the two driven gears, the two driven gears respectively drive the outer fixing disc, the outer fixing disc drives the crawler belt wheel 1 to rotate, and accordingly rotation of the crawler belt 2 is achieved. The incremental sensor 306 in this embodiment is used to monitor the operating conditions of the drive shaft 305, and the data detected by the incremental sensor 306 can be read by an external actuator.
Further, as a preferred embodiment, the driving mechanism 3 further includes a pinion gear, the pinion gear is disposed at the other end of the driving shaft 305, and the other end of the driving shaft 305 is in transmission connection with the planetary gear box through the pinion gear. In this embodiment, the pinion gear is located at the other end of the drive shaft 305, and the incremental sensor 306 is located on the side of the pinion gear near the torque-accommodating tube 303. The pinion gear in this embodiment is in driving connection with a driving gear in the planetary gear box.
Further, as a preferred embodiment, the driving mechanism 3 further includes a slip ring 307, one end of the slip ring 307 is fixed, and the other end rotates with the torque adaptive pipe 303. In this embodiment, the slip ring 307 transmits a shared DC bus for power supply and a CAN bus for communication and control, and is used for transmitting signals and power supply of the external actuator.
Further, as a preferred embodiment, the driving mechanism 3 further includes a torque limiting clutch 308, the torque limiting clutch 308 is disposed at one end of the driving mechanism casing 301, and the torque limiting clutch 308 is sleeved on an outer edge of one end of the torque adapting pipe 303. In this embodiment, the torque limiting clutch 308 includes a spring reed, a friction material and a compression plate, wherein the spring reed is in a semicircular structure, the friction material is disposed on an inner side wall of the spring reed, the shape of the friction material is matched with that of the spring reed, the compression plate is disposed between the spring reed and the friction material, and the friction material abuts against an outer edge of one end of the torque adaptive pipe 303. The friction material in this example can maintain a static coefficient of friction of 0.6 at each temperature. In other embodiments, the spring reed may be provided in a ring-shaped configuration. In this embodiment, a torque limiting clutch 308 is provided to prevent overloading of the frameless motor 302.
Further, as a preferred embodiment, the driving mechanism 3 further includes an electromechanical parking brake 310, an incremental encoder 311, and an output-end multi-turn absolute value encoder 309, wherein the electromechanical parking brake 310 is sleeved on an outer edge of the torque adaptive tube 303, the output-end multi-turn absolute value encoder 309 is located at an end of the electromechanical parking brake 310 away from the torque limiting clutch 308, the electromechanical parking brake 310 is in transmission connection with the frameless motor 302, and the incremental encoder 311 is located on an outer edge of the electromechanical parking brake 310. The electromechanical parking brake 310 in this embodiment is an integrated brake pad, the electromechanical parking brake 310 is in a ring structure and is used for braking the frameless motor 302, and the electromechanical parking brake 310 sends out an alarm signal when the frameless motor 302 is in a power-off state. The electromechanical parking brake 310 and the incremental encoder 311 in this embodiment are electrically connected to an external actuator, respectively, and the electromechanical parking brake 310 can be controlled by the external actuator, thereby achieving braking of the frameless motor 302. The output end multi-turn absolute value encoder 309 in this embodiment is electrically connected to an external actuator, the external actuator can process an electrical signal of the output end multi-turn absolute value encoder 309, and the external actuator can calculate the rotation speed of the frameless motor 302 according to the transmission ratio between the frameless motor 302 and the output end multi-turn absolute value encoder 309, so that the rotation speed of the frameless motor 302 can be monitored in real time, and meanwhile, the external actuator can control the power supply parameters of the frameless motor 302 and the real-time monitoring of the frameless motor 302, and can effectively control the rotation speed of the frameless motor 302. The other end of the torque-adaptive pipe 303 in this embodiment is further provided with a ring-shaped bearing 304, and the bearing 304 is rotatably connected with the other end of the torque-adaptive pipe 303, and the bearing 304 is used for fixing the torque-adaptive pipe 303.
Further, as a preferred embodiment, the driving mechanism 3 further includes a harmonic speed reducer 312, the harmonic speed reducer 312 is sleeved on an outer edge of the torque adaptive tube 303, and the harmonic speed reducer 312 is located between the electromechanical parking brake 310 and the torque limiting clutch 308, wherein the frameless motor 302, the torque limiting clutch 308, the output end multi-turn absolute value encoder 309, and the incremental encoder 311 are respectively in transmission connection with the harmonic speed reducer 312. In this embodiment, the harmonic reducer 312 is used not only for reducing the speed of the torque adaptive pipe 303 but also for increasing the transmission speed and the transmission efficiency of the torque adaptive pipe 303. In this embodiment, the harmonic reducer 312 is electrically connected to an external actuator, and the external actuator can read an electrical signal of the harmonic reducer 312, and calculate a rotation speed of the harmonic reducer 312 according to a transmission ratio between the output-end multi-turn absolute value encoder 309 and the harmonic reducer 312, thereby implementing real-time monitoring of the rotation speed of the harmonic reducer 312.
Further, as a preferred embodiment, the frameless motor 302 is a frameless dc motor.
Further, as a preferred embodiment, a temperature sensor (not shown) is further included, and a temperature sensor is disposed on each of the frameless motor 302 and the harmonic reducer 312. The temperature sensor in this embodiment is electrically connected to the external actuator, and the external actuator reads an electrical signal of the temperature sensor, so that the temperatures of the frameless motor 302 and the harmonic reducer 312 can be monitored in real time. Each temperature sensor in this embodiment is mounted to the frameless motor 302 and the harmonic reducer 312 via a sensor mount.
Further, as a preferred embodiment, a vibration sensor (not shown) is further included, and the vibration sensor is mounted at the other end of the torque-accommodating tube 303. The vibration sensor in this embodiment is electrically connected to the external actuator, and the external actuator reads parameters of the vibration sensor to monitor the vibration frequency of the torque adaptive tube 303 in real time, and when the vibration frequency of the torque adaptive tube 303 exceeds a set value, the vibration sensor automatically sends out an alarm signal.
The above is merely an example of the preferred embodiments of the present invention, and the embodiments and the protection scope of the present invention are not limited thereby.
The utility model discloses still have the implementation mode of following preferred on above-mentioned basis:
further, as a preferred embodiment, the driving mechanism further includes a first fixing ring 313 and a second fixing ring 314, the first fixing ring 313 is disposed at one end of the driving mechanism casing 301, the second fixing ring 314 is fixed at the other end of the driving mechanism casing 301, and the first fixing ring 313 and the second fixing ring 314 are respectively connected to the driving mechanism casing 301 through a plurality of first pins.
Further, as a preferred embodiment, the torque limiting clutch further includes a third fixing ring 315 and a motor end absolute value encoder 316, the third fixing ring 315 is disposed inside the first fixing ring 313, an outer circumferential wall of the third fixing ring 315 abuts against an inner circumferential wall of the first fixing ring 313, the motor end absolute value encoder 316 is disposed inside the second fixing ring 314, and an outer circumferential wall of the motor end absolute value encoder 316 abuts against an inner circumferential wall of the second fixing ring 314, wherein the third fixing ring 315 is disposed outside the torque limiting clutch 308 for fixing the torque limiting clutch 308; the motor-end absolute value encoder 316 is sleeved outside the bearing 304 at the other end of the torque adaptive pipe 303 and used for fixing the bearing 304, so that the torque adaptive pipe 303 is fixed.
The above description is only an example of the preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and those skilled in the art should be able to realize the equivalent alternatives and obvious variations of the present invention.
Claims (9)
1. A driving structure of crawler wheels comprises two crawler wheels and a crawler belt connected with the two crawler wheels, and is characterized by further comprising an outer fixing disc, a driving mechanism and a planetary gear box, wherein two sides of each crawler wheel are respectively provided with the outer fixing disc, the outer edge of each outer fixing disc is respectively provided with a guide limiting groove, the driving mechanism is in transmission connection with the planetary gear box, and the planetary gear box is in transmission connection with one of the outer fixing discs on each crawler wheel;
the driving mechanism comprises a driving mechanism shell, and a frameless motor, a torque adaptive pipe, a driving shaft and an increment sensor which are arranged on the driving mechanism shell, wherein the frameless motor is in transmission connection with the torque adaptive pipe, one end of the driving shaft is in transmission connection with the torque adaptive pipe, the increment sensor is arranged on the outer edge of the other end of the driving shaft, and the other end of the driving shaft is in transmission connection with the planetary gear box.
2. The track wheel drive structure according to claim 1, wherein the drive mechanism further includes a pinion gear provided at the other end of the drive shaft, and the other end of the drive shaft is drivingly connected to the planetary gear box through the pinion gear.
3. The track wheel drive structure according to claim 1, wherein the drive mechanism further comprises a slip ring, one end of which is fixed and the other end of which rotates with the torque-accommodating tube.
4. The track wheel drive structure according to claim 1, wherein the drive mechanism further includes a torque limiting clutch disposed at one end of the drive mechanism housing, and the torque limiting clutch is sleeved on an outer edge of one end of the torque accommodating tube.
5. The track wheel drive structure according to claim 4, wherein the drive mechanism further comprises an electromechanical parking brake, an incremental encoder, and an output end multi-turn absolute encoder, the electromechanical parking brake is disposed on an outer edge of the torque-adaptive tube, the output end multi-turn absolute encoder is located at an end of the electromechanical parking brake away from the torque-limiting clutch, the electromechanical parking brake is in transmission connection with the frameless motor, and the incremental encoder is disposed on an outer edge of the electromechanical parking brake.
6. The track wheel drive structure of claim 5, wherein the drive mechanism further comprises a harmonic reducer disposed around an outer edge of the torque-adaptive tube and located between the electromechanical parking brake and the torque-limiting clutch, wherein the frameless motor, the torque-limiting clutch, the output multi-turn absolute encoder, and the incremental encoder are in transmission connection with the harmonic reducer, respectively.
7. The track wheel drive structure according to claim 1, wherein the frameless motor is a frameless dc motor.
8. The track wheel drive structure according to claim 6, further comprising a temperature sensor, wherein one temperature sensor is provided on each of the frameless motor and the harmonic reducer.
9. The track wheel drive structure according to claim 1, further comprising a vibration sensor mounted at the other end of the torque-accommodating tube.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020814487.8U CN212331017U (en) | 2020-05-15 | 2020-05-15 | Driving structure of crawler wheel |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020814487.8U CN212331017U (en) | 2020-05-15 | 2020-05-15 | Driving structure of crawler wheel |
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| CN212331017U true CN212331017U (en) | 2021-01-12 |
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| CN202020814487.8U Active CN212331017U (en) | 2020-05-15 | 2020-05-15 | Driving structure of crawler wheel |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111496761A (en) * | 2020-05-15 | 2020-08-07 | 深圳国信泰富科技有限公司 | Driving structure of crawler wheel |
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2020
- 2020-05-15 CN CN202020814487.8U patent/CN212331017U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111496761A (en) * | 2020-05-15 | 2020-08-07 | 深圳国信泰富科技有限公司 | Driving structure of crawler wheel |
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