CN214003090U

CN214003090U - Door body drive assembly and robot

Info

Publication number: CN214003090U
Application number: CN202022717223.3U
Authority: CN
Inventors: 王毅可; 黄宝; 唐旋来
Original assignee: Shanghai Keenlon Intelligent Technology Co Ltd
Current assignee: Shanghai Keenlon Intelligent Technology Co Ltd
Priority date: 2020-11-20
Filing date: 2020-11-20
Publication date: 2021-08-20
Anticipated expiration: 2030-11-20

Abstract

The application provides a door body drive assembly and robot. The application provides a door body drive assembly includes: a driver; the transmission assembly is used for connecting and driving the opening and closing door of the robot; a flexible linkage assembly connected between the drive machine and the drive assembly such that the drive assembly is forcibly rotatable relative to the drive machine. The application provides a door body drive assembly, when treating that the driving door body meets and hinders and external resistance is too big, flexible coupling assembling can force the relative driving machine of drive assembly to rotate, finally makes drive assembly produce the differential for the driving machine to reach the effect of protecting the driving machine and treating the driving door body, and door body drive assembly can set up in door body central point department, has evaded and has set up the motor and lead to the uneven problem of door body both sides atress in door body one side.

Description

Door body drive assembly and robot

Technical Field

The application belongs to the technical field of carrying robots, and particularly relates to a door body driving assembly and a robot.

Background

With the rapid development of robot technology, robots are applied to various fields such as hospitals, hotels, restaurants, industrial plants, and the like, and the structures of robots applied to different fields are different. Among them, a robot for distribution is generally provided with a cabin for placing articles, and a door body for closing the cabin is provided at a hatch of the cabin.

In the prior art, a motor is arranged at one side end of a robot door body to drive an opening and closing door to rotate relative to a cabin, so that the accurate control of opening and closing cannot be realized, the locked-rotor protection cannot be realized, the motor is easy to burn, and the risk of injury to an operator exists; on the other hand, the motor is arranged at one side end of the door body, the stress of the side end is larger, the stress of the side end without the motor is smaller, and unbalance stress is easily caused, so that the door body is blocked, and the service life of the door body is shortened.

Disclosure of Invention

An object of the embodiment of this application is to provide a door body drive assembly to the switching door that solves the robot that exists among the prior art can't realize the stifled protection of changeing and easily block dead technical problem.

In order to achieve the purpose, the technical scheme adopted by the application is as follows: provided is a door body driving assembly, which includes:

a driver;

the transmission assembly is used for connecting and driving the opening and closing door of the robot;

a flexible linkage assembly connected between the drive machine and the drive assembly such that the drive assembly is forcibly rotatable relative to the drive machine.

In one embodiment, the flexible connecting assembly comprises a connecting member connected between the driving machine and the transmission assembly, and a housing and a resilient biasing member;

the connecting piece rotates to be sleeved on the shell frame, one end of the elastic biasing piece is connected to the shell frame, and the other end of the elastic biasing piece abuts against the peripheral surface of the connecting piece.

In one embodiment, a plurality of concave portions and a plurality of convex portions are arranged on the circumferential surface of the connecting piece, the plurality of concave portions and the plurality of convex portions are sequentially alternated along the circumferential direction of the connecting piece, and the adjacent concave portions and the adjacent convex portions are smoothly connected.

In one embodiment, the elastic biasing member includes an elastic member connected to the housing, and a rotation blocking head connected to the elastic member, and the rotation blocking head abuts against the circumferential surface of the connecting member and is arc-shaped toward one side of the connecting member.

In one embodiment, the shell frame is provided with a slide way extending along the radial direction of the shell frame, the elastic piece is arranged in the slide way, and the blocking and rotating head is arranged in the slide way in a sliding mode.

In one embodiment, the transmission assembly comprises an output assembly and an output shaft in transmission connection with the output assembly, the flexible connection assembly is connected between the driving machine and the output shaft so that the output shaft can be forced to rotate relative to the driving machine, and the output assembly is used for connecting and driving an opening and closing door of the robot.

In one embodiment, the output assembly comprises a gear in transmission connection with the output shaft, and a rack in transmission connection with the gear, wherein the rack is used for connecting and driving an opening and closing door of the robot.

In one embodiment, the output shaft and the flexible connection assembly are in a toothed engagement drive connection.

The application provides a door body drive assembly's beneficial effect lies in: compared with the prior art, the door body drive assembly of this application, when treating that the drive door body meets hindering and external resistance when too big, drive assembly is forced to stop or is slowed down by a wide margin, and the reverse transmission of resistance reaches between drive assembly and the flexible coupling assembling when the resistance, and flexible coupling assembling can force the relative driving machine rotation of drive assembly, finally makes drive assembly produce the differential for the driving machine to reach the effect of protection driving machine and the drive door body of treating. In addition, because the door body driving assembly drives the door body to be driven, the door body driving assembly can be arranged at the central position of the door body, the problem that the stress on two sides of the door body is uneven due to the fact that the motor is arranged on one side of the door body is solved, and the door body can be prevented from being locked.

Another objective of the present application is to provide a robot, which includes a cabin, an opening and closing door movably connected to the cabin, and the door driving assembly as described above; wherein the content of the first and second substances,

the door body driving assembly is connected to the opening and closing door through the transmission assembly.

In one embodiment, the cabin and the opening and closing door are both hemispherical, and the transmission assembly is arranged on the inner wall of the opening and closing door.

The robot that this application provided compares in prior art's beneficial effect with the door body drive assembly who provides in this application compares in prior art's beneficial effect, and this is no longer repeated here.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic view of a robot provided in an embodiment of the present application;

fig. 2 is an assembly view of a door body driving assembly provided in the embodiment of the present application;

fig. 3 is an exploded view of a door body driving assembly provided in an embodiment of the present application;

fig. 4 is a partial schematic view of a flexible connection assembly provided in an embodiment of the present application.

Wherein, in the figures, the respective reference numerals:

10-a driver; 20-a flexible connection assembly; 30-a transmission assembly; 40-a first L-shaped plate; 50-a second L-shaped plate; 60-end cap; 100-a cabin body; 200-opening and closing a door; 300-a drive assembly; 201-a connector; 203-a shell frame; 204-a resilient biasing member; 301-gear; 302-a rack; 303-an output shaft; 2011-concave; 2012-convex part; 2031-annular wall; 2032-slide way; 2041-a resilient member; 2042-rotating block.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

The door driving assembly 300 and the robot according to the embodiment of the present application will now be described.

Referring to fig. 2 to 4, the door driving assembly 300 provided in the present application includes: a rotary drive 10, the rotary drive 10 having a drive end; a transmission assembly 30 for connecting and driving the robot door 200; a flexible linkage assembly 20, the flexible linkage assembly 20 being connected between the drive machine 10 and the drive assembly 30 such that the drive assembly 30 is forcibly rotatable relative to the drive machine 10.

Compared with the prior art, the door body drive assembly 300 of this application, when treating that the drive door body meets hindering and external resistance when too big, drive assembly 30 is forced to stop or slow down by a wide margin, and the reverse transmission of resistance reaches between drive assembly 30 and the flexible coupling assembling 20 as the resistance, and flexible coupling assembling 20 can force drive assembly 30 to rotate for driving machine 10, finally makes drive assembly 30 produce the differential for driving machine 10 to reach the effect of protecting driving machine 10 and treating drive door body 300. In addition, because the door body driving assembly 300 drives the door body to be driven, the door body driving assembly 300 can be arranged at the central position of the door body, the problem that the stress on two sides of the door body is uneven due to the fact that the motor is arranged on one side of the door body is avoided, and the door body can be prevented from being locked.

Wherein, the flexible connecting assembly 20 comprises a connecting member 201 which is connected to the driving end of the driver 10 and can be driven by the driving end to rotate, a shell 203 and an elastic biasing member 204; the connecting piece 201 is rotatably sleeved on the shell frame 203, a plurality of concave parts 2011 and a plurality of convex parts 2012 are arranged on the outer peripheral surface of the connecting piece 201, the concave parts 2011 and the convex parts 2012 are sequentially alternated along the circumferential direction of the connecting piece 201, and the adjacent concave parts 2011 and the adjacent convex parts 2012 are smoothly connected in a curve; one end of the elastic biasing member 204 is connected to the housing 203, the other end of the elastic biasing member 204 abuts against the outer circumferential surface of the connecting member 201, and the other end of the elastic biasing member 204 has a tendency to abut toward the recess 2011.

According to the door body driving assembly 300, the concave part 2011 and the convex part 2012 which are smoothly transited in a curve are arranged on the outer peripheral surface of the connecting piece 201, so that the elastic biasing piece 204 can be smoothly transited on the outer peripheral surface of the connecting piece 201. When the driving machine 10 drives the door body to be driven to rotate or linearly move sequentially through the driving end, the connecting piece 201 and the transmission assembly 30 keep synchronous rotation, at the moment, the connecting piece 201 rotates relative to the elastic biasing piece 204, and the elastic biasing piece 204 smoothly transits on the outer peripheral surface of the connecting piece 201 along the circumferential direction of the connecting piece 201.

When the door body to be driven encounters a barrier and the external resistance is too large, the transmission assembly 30 is forced to stop or greatly reduce the speed, the resistance is transmitted in the reverse direction, when the resistance reaches between the transmission assembly 30 and the connecting piece 201, due to the existence of the elastic biasing piece 204 around the connecting piece 201, the elastic biasing piece 204 can abut against the concave part 2011 and gradually prevent the connecting piece 201 from being driven in the reverse direction by the resistance, the resistance finally enables the transmission assembly 30 to generate differential speed relative to the connecting piece 201, and then the transmission assembly 30 rotates relative to the connecting piece 201, so that the effect of protecting the driving machine 10 and the door body to be driven is achieved.

It should be understood that the door body to be driven of the present application may be a rotary door body or a linear moving door body.

More specifically, in the present embodiment, the transmission assembly 30 includes an output assembly and an output shaft 303 in transmission connection with the output assembly, and the connecting member 201 is connected between the driving machine 10 and the output shaft 303 so that the output shaft 303 can be forcibly rotated relative to the driving machine 10.

In the embodiment of the present application, the output assembly includes a gear 301 drivingly connected to the output shaft 303, and a rack 302 drivingly connected to the gear 301, wherein the rack 302 is used for connecting and driving the opening and closing door 200 of the robot.

In this embodiment, the concave portion 2011 on the circumferential surface of the connecting member 201 is an arc concave portion that is concave toward the center of the connecting member 201, the convex portion on the circumferential surface of the connecting member 201 is an arc convex portion that is convex toward the center far away from the connecting member 201, and the outer circumferential surface of the whole connecting member 201 presents a form that the wave crests and the wave troughs are continuously alternated.

In one embodiment, the elastic biasing member 204 includes an elastic member 2041 connected to the housing 203 and extending along a radial direction of the housing 203, and a rotation blocking head 2042 connected to the elastic member 2041, the rotation blocking head 2042 abuts against a peripheral surface of the connecting member 201, and a side facing the connecting member 201 is curved, and the rotation blocking head 2042 abuts against an outer peripheral surface of the connecting member 201 through the curved head and can smoothly transition along the outer peripheral surface of the connecting member 201.

In this embodiment, the housing 203 is an integrally formed structure, the housing 203 has an annular wall 2031 surrounding the housing along the circumference thereof, a first end of the elastic element 2041 is fixedly connected to the inner wall of the annular wall 2031, a second end of the elastic element 2042 is fixedly connected to the plugging head 2042, and the elastic element 2041 is in a compressed state.

In the embodiment, the rotation blocking head 2042 is provided with a sleeve hole extending along the connecting member 20, and the second end of the elastic member 2041 is fixedly sleeved in the sleeve hole.

In the embodiment of the present application, the housing 203 is provided with a sliding way 2032 extending along a radial direction thereof, and the rotation blocking head 2042 is slidably disposed in the sliding way 2032, so that the rotation blocking head 2042 can flexibly reciprocate along the radial direction of the connecting member 201 in the sliding way 2032.

In one embodiment, the outer circumferential surface of the connecting member 201 is provided with 4 recesses 2011 and 4 protrusions 2012, the 4 recesses 2011 and the 4 protrusions 2012 are sequentially, alternately and smoothly connected, the housing 203 is provided with 4 sliding ways 2032 which extend along the radial direction of the housing and are sequentially and uniformly distributed along the axial direction of the housing, and the flexible connecting assembly 20 further includes 4 elastic biasing members 204 which are respectively disposed on the 4 sliding ways 2032.

Of course, in other embodiments, the number of recesses 2011, bosses 2012, ramps 2032, and spring-biased members 204 may be modified to be greater than 4 or less than 4.

In one embodiment, the connecting element 201 includes a connecting sleeve and an outer ring body sleeved on the connecting sleeve, one end of the connecting sleeve is sleeved on the driving end, the other end of the connecting sleeve is sleeved on the output shaft 303, and the outer ring body is provided with the convex part 2011 and the concave part 2012.

Preferably, the connecting member 201 is an integrally formed structure, so as to prevent the two components of the connecting member 201 from rotating relatively to weaken the protection effect of the driving assembly when the driving assembly is subjected to resistance due to the two components.

In one embodiment, output shaft 303 and coupling 201 are geared by teeth engagement.

Specifically, be provided with on the outer wall of output shaft 303 along its axial extension and along a plurality of bar teeth of its circumference equipartition, be provided with on the inner wall of connecting piece 201 along its axial extension and along a plurality of bar teeth of its axial equipartition, the tooth interlock of output shaft 303 and connecting piece 201 and then realize the transmission.

In one embodiment, the connecting member 201 and the driving end are connected by a flat key, and the output shaft 303 and the gear 302 are connected by a flat key, so that the structure is simplified, and the stability and reliability of the transmission are improved.

Another objective of the present application is to provide a robot, which includes a cabin 100, an opening/closing door 200 movably connected to the cabin 100, and the door driving assembly; wherein, the rack 302 of the door body driving assembly is connected to the opening and closing door 200.

The opening/closing door 200 may be slidably disposed in the cabin 100 or rotatably disposed in the cabin 100.

When the opening/closing door 200 is slidably connected to the cabin 100, the driving assembly can drive the opening/closing door 200 to slide relative to the cabin 100, so as to open or close the cabin 100.

When the opening/closing door 200 is rotatably connected to the cabin 100, the driving assembly can drive the opening/closing door 200 to rotate, so as to open or close the cabin 100.

In the embodiment of the present application, as shown in fig. 1, the cabin 200 and the opening/closing door 100 are both hemispherical, the opening/closing door 200 is rotatably connected to the cabin 100, the rack 302 is disposed on the inner wall of the opening/closing door 200, and the driving assembly can drive the opening/closing door 200 to rotate relative to the cabin 100, so as to close or open the cabin.

Also, in the present embodiment, the driving assembly is provided to further include a first L-shaped fixing plate 40, a second L-shaped fixing plate 50, and an end cap 60, in the arrangement of the inner space of the spherical robot. The first L-shaped plate 40 is located at the lower side, the second L-shaped plate 50 is located at the upper side, one side of the second L-shaped plate 50 is connected to one side of the first L-shaped plate 40, the housing of the driving machine 10 and the coupling shell 203 are both fixed on the second L-shaped plate 50, and the end cap 60 is coaxially connected to the coupling shell 203 so as to cover the elastic biasing element 204 inside the coupling shell 203.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A door body drive assembly, comprising:

a driver;

2. The door body drive assembly of claim 1, wherein: the flexible connecting assembly comprises a connecting piece connected between the driving machine and the transmission assembly, a shell frame and an elastic biasing piece;

3. The door body drive assembly of claim 2, wherein: the circumferential surface of the connecting piece is provided with a plurality of concave parts and a plurality of convex parts, the concave parts and the convex parts are sequentially alternated along the circumferential direction of the connecting piece, and the adjacent concave parts and the convex parts are smoothly connected.

4. The door body drive assembly of claim 2, wherein: the elastic biasing piece including connect in the elastic component of shell frame, and connect in the stifled head of elastic component, stifled head support lean on in the global just orientation of connecting piece one side of connecting piece is the arc.

5. The door body drive assembly of claim 4, wherein: the shell frame is provided with a slideway extending along the radial direction of the shell frame, the elastic piece is arranged in the slideway, and the blocking rotating head is arranged in the slideway in a sliding manner.

6. The door body drive assembly of claim 1, wherein: the transmission assembly comprises an output assembly and an output shaft in transmission connection with the output assembly, the flexible connecting assembly is connected between the driving machine and the output shaft so that the output shaft can be forcedly rotated relative to the driving machine, and the output assembly is used for connecting and driving an opening and closing door of the robot.

7. The door body drive assembly of claim 6, wherein: the output assembly comprises a gear in transmission connection with the output shaft and a rack in transmission connection with the gear, and the rack is used for connecting and driving an opening and closing door of the robot.

8. The door body drive assembly of claim 6, wherein: the output shaft and the flexible connecting assembly are in meshed transmission connection through teeth.

9. The utility model provides a robot, includes cabin body and swing joint in the switching door of cabin body, its characterized in that: the robot further comprises a door body driving assembly according to any one of claims 1 to 8, and the door body driving assembly is connected to the opening and closing door through the transmission assembly.

10. A robot as recited in claim 9, wherein: the cabin body with the opening and closing door all is the hemisphere, drive assembly set up in on the inner wall of opening and closing door.