CN215398983U

CN215398983U - Self-moving robot and driving device thereof

Info

Publication number: CN215398983U
Application number: CN202121700336.0U
Authority: CN
Inventors: 孙晓晖
Original assignee: Shenzhen Tanbo Intelligent Robot Co Ltd
Current assignee: Shenzhen Tanbo Intelligent Robot Co Ltd
Priority date: 2021-07-23
Filing date: 2021-07-23
Publication date: 2022-01-04
Anticipated expiration: 2031-07-23

Abstract

The utility model relates to the technical field of robot driving, in particular to a self-moving robot and a driving device thereof, which comprises a robot body, wherein the bottom of the robot body is provided with a mounting groove, driving wheels at two sides and wheel shafts rotate relatively to lift the robot body by taking the ground as a base surface, the ground clearance of the body of the robot body is increased, the trafficability of the device during moving is greatly improved, the possibility of blocking movement caused by scraping a chassis or jacking the robot by bumps when the body moves on the uneven ground is effectively reduced, in addition, the driving wheels and a driving motor are set into separated transmission, each wheel shaft for internal transmission of the device is of an independent structure while normal transmission is not influenced, the mutual interference of different wheel shafts can be effectively avoided, in addition, the driving structure does not need to be integrally disassembled after being damaged, the damaged wheel shafts can be independently disassembled and replaced, and the operation is convenient, not only improves the maintenance efficiency, but also further reduces the cost of maintaining and replacing parts.

Description

Self-moving robot and driving device thereof

Technical Field

The utility model relates to the technical field of robot driving, in particular to a self-moving robot and a driving device thereof.

Background

A self-moving robot is an intelligent robot which works in a complex environment and has the functions of self organization, self operation and self planning, integrates computer technology, information technology, communication technology, microelectronic technology, robot technology and the like, and is widely applied to industries such as industry, agriculture, medical treatment, service and the like. In recent years, with the rise of the service industry, service robots including medical robots, security robots, guest-welcoming robots, cleaning robots, and the like have been increasingly favored.

A prior art patent (publication No. CN206544187U) discloses a driving device for a robot, which includes a base shell of the robot, the base shell is provided with an inner cavity, a motor is fixed on the top end of the inner cavity, the motor is connected with a bevel gear a, the bevel gear a is connected with a rotating shaft a, and the top end of the rotating shaft a is connected with an output shaft of the motor. The inventor finds the following problems in the prior art in the process of implementing the utility model: 1. the driving shaft of the existing driving device is fixedly arranged at the bottom of the robot, so that the distance between the chassis of the robot and the ground is fixed, and the chassis is scratched and the robot is jacked to move in a blocking manner easily when the uneven plane moves; 2. its transmission shaft and drive wheel formula structure as an organic whole need wholly dismantle when overhauing the change, and is comparatively troublesome.

SUMMERY OF THE UTILITY MODEL

The present invention is directed to a self-moving robot and a driving device thereof, so as to solve the problems of the background art. In order to achieve the purpose, the utility model provides the following technical scheme: the utility model provides a from mobile robot and drive arrangement thereof, includes the robot, the mounting groove has been seted up to the bottom of robot, the inside fixedly connected with actuating mechanism of mounting groove.

Actuating mechanism is including integrated box, integrated box passes through screw fixed mounting in the mounting groove, and the inside fixed mounting of integrated box has driving motor, driving motor's fixed cover is gone up to have connect the driving gear, and the quantity of driving gear is two, two the driving gear symmetry sets up in driving motor's axis of rotation.

The left and right sides on integrated box surface has all been seted up logical groove, and has been provided with the shaft in the logical groove, two the inner surface of shaft all fixedly cup joints the driven gear with corresponding driving gear intermeshing, and rotates on the end of shaft inner and is connected with the lantern ring, the lantern ring rotates cup joint with driving motor's axis of rotation.

The outer end of the wheel shaft is fixedly connected with a driving wheel, the surface of the wheel shaft is rotatably sleeved with a position control ring, the top surface of the inner wall of the integrated box is hinged with an electric telescopic rod, and the telescopic end of the electric telescopic rod is hinged to the position control ring.

Preferably, the bottom surface of the inner wall of the integrated box is fixedly connected with a supporting seat, and a rotating shaft of the driving motor is inserted in the supporting seat.

Preferably, the bottom surface of the robot body is provided with an embedded groove matched with the driving wheel and the wheel shaft.

Preferably, the integrated box is made of a polyoxymethylene resin material.

Preferably, a bearing is embedded at the joint of the position control ring and the wheel shaft.

Preferably, the number of the electric telescopic rods is two, and the two electric telescopic rods are symmetrically arranged along the inner wall of the integrated box.

Compared with the prior art, the utility model has the beneficial effects that:

according to the robot body lifting device, the electric telescopic rod and the position control ring are matched, when an uneven plane moves, the electric telescopic rod is started to extend outwards, the wheel shaft is pushed by the position control ring to rotate downwards along the driven gear as a base point, the driving wheels and the wheel shaft on two sides rotate relatively, the robot body is lifted by taking the ground as a base surface, the ground clearance of the robot body is increased, the passing performance of the device during moving is greatly improved, and the possibility that the robot body is scratched by a chassis or pushed up by bumps to block moving when the robot body moves on the uneven ground is effectively reduced.

According to the utility model, the driving wheel and the driving motor are in separated transmission, each wheel shaft for internal transmission of the device is of an independent structure while normal transmission is not influenced, the mutual interference of different wheel shafts can be effectively avoided, the driving structure does not need to be integrally disassembled after the wheel shafts are damaged, the damaged wheel shafts can be independently disassembled and replaced, the operation is convenient, the overhauling efficiency is improved, and the cost for maintaining and replacing parts is further reduced.

Drawings

FIG. 1 is a front cross-sectional view of the present invention;

FIG. 2 is an enlarged view taken at A of FIG. 1 in accordance with the present invention;

fig. 3 is a plan view of the driving motor of fig. 1 according to the present invention.

In the figure: 1. a robot body; 2. mounting grooves; 3. a drive mechanism; 301. an integration box; 302. a drive motor; 303. a driving gear; 304. a through groove; 305. a wheel axle; 306. a driven gear; 307. a collar; 308. a drive wheel; 309. a position control ring; 310 electric telescopic rod.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by workers skilled in the art without any inventive work based on the embodiments of the present invention, are within the scope of the present invention.

Referring to fig. 1 to 3, the present invention provides a technical solution: a self-moving robot and a driving device thereof comprise a robot body 1, wherein the bottom of the robot body 1 is provided with a mounting groove 2, and a driving mechanism 3 is fixedly connected inside the mounting groove 2;

the driving mechanism 3 comprises an integrated box 301, the integrated box 301 is fixedly installed in the installation groove 2 through screws, a driving motor 302 is fixedly installed inside the integrated box 301, driving gears 303 are fixedly sleeved on a rotating shaft of the driving motor 302, the number of the driving gears 303 is two, and the two driving gears 303 are symmetrically arranged on the rotating shaft of the driving motor 302;

the left side and the right side of the surface of the integrated box 301 are both provided with through grooves 304, wheel shafts 305 are arranged in the through grooves 304, the surfaces of the inner ends of the two wheel shafts 305 are fixedly sleeved with driven gears 306 meshed with the corresponding driving gears 303, the ends of the inner ends of the wheel shafts 305 are rotatably connected with lantern rings 307, the lantern rings 307 are rotatably sleeved on the rotating shafts of the driving motors 302, the driving motors 302 can drive the corresponding driven gears 306 through the two driving gears 303 after being started, the wheel shafts 305 on the two sides are driven to rotate in the same direction, meanwhile, under the condition that the transmission is not influenced, the wheel shafts 305 can swing along the rotating shafts of the driving motors 302 through the lantern rings 307, and one ends of the wheel shafts 305 are limited through the lantern rings 307;

the outer end fixedly connected with drive wheel 308 of shaft 305, and the surface of shaft 305 rotates to cup joint and has controlled position ring 309, and the top surface of integrated box 301 inner wall articulates there is electric telescopic handle 310, and electric telescopic handle 310's flexible end articulates on controlling position ring 309, and electric telescopic handle 310 and the remaining one end of accuse position cooperation from shaft 305 realize that the bi-polar is spacing to it, simultaneously through electric telescopic handle 310's flexible steerable shaft 305's swing.

In this embodiment, as shown in fig. 1, fig. 2 and fig. 3, a supporting seat is fixedly connected to a bottom surface of an inner wall of the integrated box 301, and a rotating shaft of the driving motor 302 is inserted into the supporting seat to perform a limiting support on the rotating shaft from both sides, so that the integrated box has better rotational stability.

In this embodiment, as shown in fig. 1, the bottom surface of the robot body 1 is provided with an embedded groove matched with the driving wheel 308 and the wheel shaft 305, so as to hide the driving wheel 308 and the wheel shaft 305 at the bottom of the robot body, which is not only more beautiful, but also can avoid being interfered by other objects.

In this embodiment, as shown in fig. 1, fig. 2 and fig. 3, the integrated box 301 is made of a polyoxymethylene resin material, and the material has hardness, strength and rigidity similar to metals, good self-lubricity, fatigue resistance and chemical resistance, and is low in price, so that the overall use cost is greatly reduced.

In this embodiment, as shown in fig. 1, fig. 2, and fig. 3, a bearing is embedded at a connection portion of the position control ring 309 and the wheel axle 305, and the bearing can effectively reduce a friction coefficient of the position control ring 309 and the wheel axle 305 during a movement process, and can ensure rotation accuracy while limiting.

In this embodiment, as shown in fig. 1 and fig. 2, the number of the electric telescopic rods 310 is two, and the two electric telescopic rods 310 are symmetrically arranged along the inner wall of the integrated box 301, correspond to the position control rings 309 on both sides, and synchronously control the wheel shafts 305 on both sides to swing.

The use method and the advantages of the utility model are as follows: when the self-moving robot and the driving device thereof move, the working process is as follows:

as shown in fig. 1, 2 and 3, firstly, the driving motor 302 is started to drive the corresponding driven gears 306 through the two driving gears 303, and drive the wheel shafts 305 on the two sides to rotate in the same direction, at this time, the driving wheel 308 synchronous with the wheel shafts 305 drives the device to move, when an uneven plane which easily causes chassis scratch and retarded movement of the jacking robot moves, the electric telescopic rod 310 is started to extend outwards, and the wheel shafts 305 are pushed by the position control ring 309 to rotate downwards along the lantern ring 307 as a base point, so that the driving wheels 308 and the wheel shafts 305 on the two sides rotate relatively to lift the robot body 1 by taking the ground as a base surface, the distance between the body and the ground is increased, the trafficability of the device during moving is greatly improved, the possibility of retarded movement of the robot caused by chassis scratch or raised point jacking when the body moves on the uneven ground is effectively reduced, the electric telescopic rod 310 retracts to pull the wheel shafts 305 and the driving wheels 308 to return to the original position, meanwhile, the driving wheels 308 and the driving motor 302 on the two sides are in separated transmission, so that each wheel shaft 305 for internal transmission of the device is of an independent structure while normal transmission is not influenced, the mutual interference of different wheel shafts 305 can be effectively avoided, the driving structure does not need to be integrally disassembled after the wheel shafts are damaged, the damaged wheel shafts 305 can be independently disassembled and replaced, the operation is convenient, the overhauling efficiency is improved, and the cost for maintaining and replacing parts is further reduced.

The foregoing shows and describes the general principles, essential features, and advantages of the utility model. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the preferred embodiments of the present invention are described in the above embodiments and the description, and are not intended to limit the present invention. The scope of the utility model is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a from mobile robot and drive arrangement thereof, includes robot body (1), its characterized in that: the bottom of the robot body (1) is provided with a mounting groove (2), and a driving mechanism (3) is fixedly connected inside the mounting groove (2);

the driving mechanism (3) comprises an integrated box (301), the integrated box (301) is fixedly installed in the installation groove (2) through screws, a driving motor (302) is fixedly installed inside the integrated box (301), driving gears (303) are fixedly sleeved on a rotating shaft of the driving motor (302), the number of the driving gears (303) is two, and the two driving gears (303) are symmetrically arranged on the rotating shaft of the driving motor (302);

the left side and the right side of the surface of the integrated box (301) are respectively provided with a through groove (304), wheel shafts (305) are arranged in the through grooves (304), the surfaces of the inner ends of the two wheel shafts (305) are respectively fixedly sleeved with a driven gear (306) which is meshed with the corresponding driving gear (303), the ends of the inner ends of the wheel shafts (305) are rotatably connected with a lantern ring (307), and the lantern ring (307) is rotatably sleeved on a rotating shaft of the driving motor (302);

the outer end of the wheel shaft (305) is fixedly connected with a driving wheel (308), the surface of the wheel shaft (305) is rotatably sleeved with a position control ring (309), the top surface of the inner wall of the integrated box (301) is hinged with an electric telescopic rod (310), and the telescopic end of the electric telescopic rod (310) is hinged to the position control ring (309).

2. The self-moving robot and its driving device according to claim 1, wherein: the bottom surface of the inner wall of the integrated box (301) is fixedly connected with a supporting seat, and a rotating shaft of the driving motor (302) is inserted into the supporting seat.

3. The self-moving robot and its driving device according to claim 1, wherein: the bottom surface of the robot body (1) is provided with an embedded groove matched with the driving wheel (308) and the wheel shaft (305).

4. The self-moving robot and its driving device according to claim 1, wherein: the integrated box (301) is made of a polyformaldehyde resin material.

5. The self-moving robot and its driving device according to claim 1, wherein: and a bearing is embedded at the joint of the position control ring (309) and the wheel shaft (305).

6. The self-moving robot and its driving device according to claim 1, wherein: the number of the electric telescopic rods (310) is two, and the two electric telescopic rods (310) are symmetrically arranged along the inner wall of the integrated box (301).