CN215093561U

CN215093561U - Driving wheel set and robot

Info

Publication number: CN215093561U
Application number: CN202120728624.0U
Authority: CN
Inventors: 杨勇; 宫海涛; 胡永华; 熊杏林
Original assignee: Shenzhen 3irobotix Co Ltd
Current assignee: Shenzhen 3irobotix Co Ltd
Priority date: 2021-04-09
Filing date: 2021-04-09
Publication date: 2021-12-10
Anticipated expiration: 2031-04-09

Abstract

The utility model discloses a drive wheelset and robot, the utility model provides a drive wheelset includes gearbox, drive wheel and transmission shaft. The gearbox is provided with a first shaft hole penetrating through the gearbox, the driving wheel is provided with a second shaft hole penetrating through the driving wheel, and the transmission shaft sequentially penetrates through the first shaft hole and the second shaft hole. The transmission shaft both ends of wheelset are fixed in step for the bearing capacity of transmission shaft is stronger, and the junction of gearbox and transmission shaft need not the load, and gearbox non-deformable drives the whole safe and reliable more of wheelset.

Description

Driving wheel set and robot

Technical Field

The utility model relates to a robot field, in particular to driving wheel group and robot.

Background

In the prior art, the transmission shaft of the gearbox of the robot is directly connected with the driving wheel, the gearbox bears the weight, when the transmission shaft bears the overweight, the bearing part of the gearbox is easy to deform, the safety coefficient of the whole driving wheel set is low, and the bearing capacity of the transmission shaft is small.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a driving wheel group and robot aims at solving the yielding problem of gearbox bearing department because of the robot among the prior art.

To achieve the above object, the present invention provides a driving wheel set, comprising a transmission case, wherein the transmission case has a first shaft hole penetrating through the transmission case;

a drive wheel having a second shaft bore therethrough;

and the transmission shaft sequentially penetrates through the first shaft hole and the second shaft hole.

Optionally, still include and support the shell, the gearbox install in support the shell, the drive wheel sets up support in the shell, the transmission shaft passes in proper order support the shell, the gearbox and the drive wheel.

Optionally, the gearbox is disposed within the support housing.

Optionally, the support housing includes a first housing and a second housing, the first housing and the second housing are fixedly connected, the driving wheel is mounted on the first housing, and the gearbox is mounted on the second housing.

Optionally, the support housing is integrally formed.

Optionally, the drive shaft is a flat shaft.

Optionally, the first housing is provided with a first mounting hole, the second housing is provided with a second mounting hole, the transmission shaft passes through the first mounting hole and the second mounting hole, and the first mounting hole, the first shaft hole, the second shaft hole and the second mounting hole are arranged on the same central line.

Optionally, the first mounting hole is provided with a first bearing, the second mounting hole is provided with a second bearing, and the transmission shaft passes through the first bearing and the second bearing.

Optionally, both ends of transmission shaft are equipped with the spacing groove, the spacing groove and joint spare cooperation, first bearing is spacing in first mounting hole, the second bearing is spacing in the second mounting hole.

The utility model discloses still provide a robot, including above arbitrary item the driving wheel group.

The utility model discloses the drive wheelset that technical scheme provided, including gearbox, drive wheel and transmission shaft. Wherein, the gearbox has the first shaft hole that runs through the gearbox, and the drive wheel has the second shaft hole that runs through the drive wheel, and the transmission shaft passes first shaft hole and second shaft hole in proper order, establishes ties gearbox and drive wheel, connects through passing the transmission shaft gearbox and drive wheel, and the both ends of transmission shaft can carry out synchronous fixation, and the gearbox need not the bearing, makes the bearing capacity of transmission shaft stronger, and transmission shaft and derailleur junction non-deformable, the whole safe and reliable that is more of drive wheelset.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is an exploded view of an embodiment of a driving wheel set according to the present invention;

FIG. 2 is an assembled view of the entirety of FIG. 1;

fig. 3 is a schematic structural view of the support case of fig. 1.

The reference numbers illustrate:

the objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that, if directional indications (such as upper, lower, left, right, front and rear … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are changed accordingly.

In addition, if there is a description relating to "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is 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 at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

The transmission shaft bearing capacity of the reduction gearbox of the robot in the prior art is small, and the problem that the reduction gearbox of the robot is easy to deform is solved.

The utility model provides a driving wheel group.

In one embodiment, as shown in fig. 1, the present invention provides a driving wheel set including a transmission case 10, a driving wheel 20 and a transmission shaft 30. Wherein, the gearbox 10 is provided with a first shaft hole 101 penetrating through the gearbox 10, the driving wheel 20 is provided with a second shaft hole 201 penetrating through the driving wheel 20, the first shaft hole 101 and the second shaft hole 201 have the same size and shape, and are positioned on the same central line, the size and shape of the transmission shaft 30 are matched with the first shaft hole 101 and the second shaft hole 201, and the first shaft hole 101 and the second shaft hole 201 are on the same center line, the transmission shaft 30 passes through the first shaft hole 101 and the second shaft hole 201 in sequence to connect the transmission case 10 and the driving wheel 20, the transmission shaft 30 and the transmission case 10 are supported, the transmission case 10 and the driving wheel 20 rotate coaxially, two ends of the transmission shaft 30 can be fixed synchronously without bearing of the transmission case 10, therefore, the bearing capacity of the transmission shaft 30 is stronger, and the joint of the transmission shaft 30 and the speed changer 10 is not easy to deform, so that the whole driving wheel set is safer and more reliable.

Further, as shown in fig. 1 and 2, the driving wheel set further includes a support housing 40 for supporting the transmission case 10 and the driving wheel 20 and accommodating the transmission case 10, the driving wheel 20 is disposed in the support housing, and the transmission shaft 30 sequentially passes through the support housing 40, the driving wheel 20 and the transmission case 10. The supporting shell 40 can accommodate the driving wheel 20 and support the gearbox 10 and the driving wheel 20 at the same time, and other supporting pieces are not needed to be added to fix and support the transmission shaft 30, so that the overall structure of the driving wheel set is more compact.

Wherein, the gearbox 10 can be installed outside the support shell 40, also can install in the support shell 40, in this embodiment, the gearbox 10 is installed in the support shell 40, with drive wheel 20 looks butt for the structure cooperation between the whole driving wheel group is compacter, and the both ends of transmission shaft 30 support respectively on the support shell 40, makes the transmission shaft 30 atress more even, and bearing capacity is stronger. It will be appreciated that it is also possible to arrange the gearbox 10 outside the supporting shell 40, the driving wheel 20 inside the supporting shell 40 and connect them with the propeller shaft 30, and both ends of the propeller shaft 30 can be simultaneously fixed to the supporting shell 40, so that the driving wheel set is safer and more reliable as a whole.

In one embodiment, as shown in fig. 1, 2 and 3, the supporting shell 40 is a metal shell formed integrally, so that the structure is more stable and the forming process is easier. The supporting shell 40 includes a first shell 401 and a second shell 402, the first shell 401 and the second shell 402 are fixedly connected, and a bolt seat 403 protrudes outwards from the joint of the first shell 401 and the second shell 402, so that the structure between the first shell 401 and the second shell 402 is more stable, and the supporting shell 40 can be connected with other components.

Further, the first housing 401 has a first cavity 4011, the second housing 402 has a second cavity 4021, the transmission case 10 is mounted in the first cavity 4011, and the driving wheel 20 is mounted in the second cavity 4021. In detail, the shape of the first cavity 4011 is consistent with that of the gearbox 10, so that the front end of the gearbox 10 can be just accommodated in the cavity of the first shell 401, the inner wall of the first shell 401 is provided with a plurality of strip-shaped bulges arranged at intervals for abutting against the gearbox 10, the gearbox 10 cannot be mounted in the cavity of the first shell 401 compactly, relative sliding cannot occur, and the gearbox 10 can be mounted more stably while the consumption of the shell is reduced;

wherein, second cavity 4021 is the semicircle with drive wheel 20 assorted, and the first half of drive wheel 20 holds in second cavity 4021, and second cavity 4021 is stretched out to the latter half, and the inner wall diameter of second casing 402 is greater than the diameter of drive wheel 20 for drive wheel 20 can not contact with the inner wall of second casing 402 when rotating, when reducing the casing consumptive material, makes the overall installation structure of drive wheel 20 group compacter.

It is understood that the cavities of the first housing 401 and the second housing 402 are communicated, and a baffle may or may not be provided at the connection between the first housing 401 and the second housing 402, and in this embodiment, the baffle is not provided between the first housing 401 and the second housing 402 in view of saving housing consumables. Of course, in other embodiments, it is also possible to provide a baffle at the cavity junction of the first housing 401 and the second housing 402.

In one embodiment, the drive shaft 30 is a flat metal shaft. Correspondingly, the shape and size of the first shaft hole 101 of the gearbox 10 and the second shaft hole 201 of the driving wheel 20 are consistent with those of the transmission shaft 30, the transmission shaft 30 penetrates through the first shaft hole 101 and the second shaft hole 201, the transmission shaft 30 is made of a flat metal shaft, the transmission torque is increased, the gearbox 10 can drive the driving wheel 20 to rotate coaxially, the driving wheel 20 bears large torque, the driving wheel 20 is connected with the transmission shaft 30 without the problems of tooth slipping and the like, and the rotation of the driving wheel 20 can be more stable. It should be noted that the transmission shaft 30 may be a hexagonal shaft, a square shaft or other shaft, and correspondingly, the first shaft hole 101 and the second shaft hole 201 are matched with the transmission shaft 30, so long as the transmission shaft 30 can drive and support the gearbox 10 and the driving wheel 20, and enable the driving wheel 20 and the gearbox 10 to rotate coaxially, and the transmission shaft 30 is not limited herein.

In an embodiment, as shown in fig. 1 and 3, a first mounting hole 4012 is formed in a portion of the first housing 401 where the transmission shaft 30 passes through, a second mounting hole 4022 is formed in a portion of the second housing 402 where the transmission shaft 30 passes through, the first mounting hole 4012, the second mounting hole 4022, the first shaft hole 101, and the second shaft hole 201 are on the same axial line, the transmission shaft 30 sequentially passes through the first mounting hole 4012, the first shaft hole 101, the second shaft hole 201, and the second mounting hole 4022, the transmission case 10 and the driving wheel 20 are connected and fixed in the supporting shell 40, and two ends of the transmission shaft 30 are respectively supported on the first mounting hole 4012 and the second mounting hole 4022 for synchronous fixation, so that the bearing force of the transmission shaft 30 is larger, and the connection portion between the transmission shaft 30 and the transmission case 10 is not easily deformed.

Further, a first bearing 4013 is arranged in the first installation hole 4012, the size of the first bearing 4013 is matched with that of the first installation hole 4012, so that the first bearing 4013 can be just clamped into the first installation hole 4012, the second installation hole 4022 is provided with a second bearing 4023, the size of the second bearing 4023 is matched with that of the second installation hole 4022, so that the second bearing 4023 can be just clamped into the second installation hole 4022, the transmission shaft 30 penetrates through the first bearing 4013 and the second bearing 4023, so that two ends of the transmission shaft 30 are respectively connected to the first bearing 4013 and the second bearing 4023, when the transmission shaft 30 rotates along with the gearbox 10, the friction coefficient of the transmission shaft 30 is smaller than that of a support position, the service life of the transmission shaft 30 is prolonged, and the whole operation of the driving wheel 20 set is smoother.

Furthermore, the two ends of the transmission shaft are provided with limiting grooves 301, the limiting grooves 301 are matched with the clamping pieces 302, and the clamping pieces 302 can be clamp springs or other pieces. Spacing in first mounting hole 4012 with first bearing 4013, prevent first bearing 4013 endwise slip, spacing in second mounting hole 4022 with second bearing 4023, prevent second bearing 4023 endwise slip for the overall structure of drive wheel 20 group is more stable.

In one embodiment, as shown in fig. 1 and 3, an escape opening 4014 is formed at one end of the first housing 401, and the escape opening 4014 is connected to an opening of the cavity of the first housing 401, so that the transmission case 10 can be fixed in the first housing 401 through the escape opening 4014 and the opening end. As a preferred embodiment, a sliding groove is formed in the end surface of the avoiding opening 4014, a convex ring 102 matched with the sliding groove is convexly arranged on the transmission case 10 passing through the outside of the avoiding opening 4014, when the transmission case is installed, the convex ring 102 of the outer shell of the transmission case 10 aligns with the sliding groove, the transmission case 10 is forcibly pushed towards the direction close to the open end of the first shell 401, the transmission case 10 is clamped into the cavity of the first shell 401, and the transmission case 10 can be prevented from moving axially in the first shell 401 while being positioned.

Further, one end of the gearbox 10 located outside the cavity of the first housing 401 is connected to the motor 103 as a power source to drive the gearbox 10 to rotate, so as to drive the driving wheel 20 to rotate.

The utility model discloses still provide a robot, including in the above affairs example arbitrary drive wheel 20 group, because the utility model provides a robot has adopted the whole technical scheme of above-mentioned all embodiments, consequently has all beneficial effects that the technical scheme of above-mentioned embodiment brought at least, no longer gives unnecessary detail here.

The utility model provides a driving wheel group includes gearbox 10, drive wheel 20 and transmission shaft 30. Wherein, the gearbox 10 is provided with a first shaft hole 101 penetrating through the gearbox 10, the driving wheel 20 is provided with a second shaft hole 201 penetrating through the driving wheel 20, the first shaft hole 101 and the second shaft hole 201 have the same size and shape, and are positioned on the same central line, the size and shape of the transmission shaft 30 are matched with the first shaft hole 101 and the second shaft hole 201, and the first shaft hole 101 and the second shaft hole 201 are on the same center line, the transmission shaft 30 passes through the first shaft hole 101 and the second shaft hole 201 in sequence to connect the transmission case 10 and the driving wheel 20, the transmission shaft 30 and the transmission case 10 are supported, the transmission case 10 and the driving wheel 20 rotate coaxially, two ends of the transmission shaft 30 can be fixed synchronously without bearing of the transmission case 10, therefore, the bearing capacity of the transmission shaft 30 is stronger, and the joint of the transmission shaft 30 and the speed changer 10 is not easy to deform, so that the whole driving wheel set is safer and more reliable.

The above only is the preferred embodiment of the present invention, not limiting the scope of the present invention, all the equivalent structure changes made by the contents of the specification and the drawings under the inventive concept of the present invention, or the direct/indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A drive wheel assembly for a robot, comprising:

a gearbox having a first shaft bore therethrough;

a drive wheel having a second shaft bore therethrough;

2. The drive wheelset of claim 1, further comprising a support housing, the transmission being mounted to the support housing, the drive wheel being disposed within the support housing, the driveshaft passing through the support housing, the transmission, and the drive wheel in sequence.

3. A drive wheelset as recited in claim 2 wherein said transmission is disposed within said support housing.

4. The drive wheelset of claim 3, wherein the support housing includes a first housing and a second housing, the first housing and the second housing being fixedly coupled, the drive wheel being mounted to the first housing, and the transmission being mounted to the second housing.

5. The drive wheel assembly defined in claim 4, wherein said support housing is integrally formed.

6. The drive wheel assembly of claim 1, wherein the drive shaft is a flat shaft.

7. The drive wheel assembly as defined in claim 4, wherein said first housing is provided with a first mounting hole, said second housing is provided with a second mounting hole, said transmission shaft passes through said first mounting hole and said second mounting hole, and said first mounting hole, said first shaft hole, said second shaft hole and said second mounting hole are provided on a same center line.

8. The drive wheel assembly as defined in claim 7, wherein said first mounting hole is provided with a first bearing, said second mounting hole is provided with a second bearing, and said drive shaft passes through said first bearing and said second bearing.

9. The drive wheel assembly as defined in claim 8, wherein said transmission shaft has a limiting groove at both ends thereof, said limiting groove is engaged with a locking member, said first bearing is limited in said first mounting hole, and said second bearing is limited in said second mounting hole.

10. A robot comprising a drive wheel set according to any of claims 1-9.