CN216883995U

CN216883995U - Rotation assembly and self-propelled robot

Info

Publication number: CN216883995U
Application number: CN202220398183.7U
Authority: CN
Inventors: 刘俊; 阮兆武; 方松翔
Original assignee: KUKA Robotics Guangdong Co Ltd
Current assignee: KUKA Robotics Guangdong Co Ltd
Priority date: 2022-02-25
Filing date: 2022-02-25
Publication date: 2022-07-05
Anticipated expiration: 2032-02-25

Abstract

The utility model provides a rotating assembly and a self-walking robot. The swing assembly includes: the driving assembly comprises a first output shaft, and a mounting hole is formed in the end part of the first output shaft; the speed change assembly comprises a first input shaft and a second output shaft, and the first input shaft is inserted into the mounting hole; and the gear is connected with the second output shaft. The first input shaft of the speed change assembly in the rotary assembly is inserted into the mounting hole of the first output shaft of the driving assembly in the rotary assembly, so that the length of the first output shaft extending out of the shell of the driving assembly is shortened, the axial length of the rotary assembly is shortened, the volume of the rotary assembly is reduced, the space utilization rate of the rotary assembly is further improved, the miniature design of the rotary assembly is facilitated, the height of the self-walking robot is reduced, the volume of the self-walking robot is reduced, the miniature design of the self-walking robot is facilitated, the use requirements of diversified scenes are met, and the use experience of users is improved.

Description

Rotation assembly and self-propelled robot

Technical Field

The utility model relates to the field of artificial intelligence, in particular to a rotary component and a self-walking robot.

Background

At present, in the related art, a self-propelled Robot (AMR) with a rotation function is widely used in the industries of logistics, warehousing, processing and manufacturing, etc., a rotation speed reduction motor assembly is a core component of a rotation mechanism, an output shaft of a driving assembly of the rotation speed reduction motor assembly needs to extend out of a shell of the driving assembly to be connected with a speed change assembly, the size is large, and the height of the whole self-propelled Robot is large.

SUMMERY OF THE UTILITY MODEL

The present invention has been made to solve at least one of the problems occurring in the prior art or the related art.

To this end, a first aspect of the utility model proposes a swivel assembly.

A second aspect of the present invention provides a self-propelled robot.

In view of the above, the first aspect of the present invention provides a swivel assembly, comprising: the driving assembly comprises a first output shaft, and the end part of the first output shaft is provided with a mounting hole; the speed change assembly comprises a first input shaft and a second output shaft, and the first input shaft is inserted into the mounting hole; and the gear is connected with the second output shaft.

The first input shaft of the speed change assembly in the rotary assembly is inserted into the mounting hole of the first output shaft of the driving assembly in the rotary assembly, so that the length of the first output shaft extending out of the shell of the driving assembly is shortened, the axial length of the rotary assembly is shortened, the volume of the rotary assembly is reduced, the space utilization rate of the rotary assembly is further improved, reasonable configuration of space resources is facilitated, the weight of the rotary assembly is reduced, the overall cost of the rotary assembly is reduced, miniaturization and light-weight design of the rotary assembly is facilitated, the height of the self-walking robot is reduced, the volume of the self-walking robot is reduced, miniaturization design of the self-walking robot is facilitated, the use requirements of diversified scenes are met, and the use experience of users is improved.

Furthermore, the gear is connected with a second output shaft of the speed change assembly, and the gear, the driving assembly and the speed change assembly improve the system integration level of the rotary assembly, so that on one hand, the structure is compact, the space utilization rate of the rotary assembly is improved, and the reasonable configuration of the rotary assembly is favorably realized; on the other hand, easy to assemble to save installation time, do benefit to the packaging efficiency who promotes the gyration subassembly.

In addition, the revolving assembly in the above technical solution provided by the present invention may further have the following additional technical features:

in the above technical scheme, the rotating assembly further comprises a flange, and the flange is sleeved on the second output shaft and connected with the gear.

In the technical scheme, the rotary component further comprises a flange, the second output shaft is connected with the gear through the flange, the connection strength is improved, the structure is compact, the space utilization rate of the rotary component is improved, the reasonable configuration of space resources is favorably realized, and the system integration level of the rotary component is improved.

In any one of the above technical solutions, a groove is provided on one side of the gear facing the speed changing assembly, and the flange is embedded in the groove.

In this technical scheme, the gear is provided with the recess towards one side of variable speed subassembly, make partly of flange inlay in the recess, on the one hand, axial length when having shortened the gear and being connected with variable speed subassembly, and then shorten the axial length of gyration subassembly, reduce the volume of gyration subassembly, improve the space utilization of gyration subassembly, do benefit to the rational configuration to space resources, on the other hand, the weight of gear has been reduced, and then reduce the whole weight of gyration subassembly, do benefit to the miniaturization and the lightweight design of gyration subassembly, thereby reduce the height of walking the robot by oneself, reduce the volume of walking the robot by oneself, do benefit to the miniaturized design of walking the robot by oneself, satisfy the user demand of diversified scene, promote user's use and experience.

In any of the above technical solutions, the rotating assembly further includes a plurality of first connecting components, and the plurality of first connecting components are disposed on the gear in a penetrating manner and connected to the flange.

In this technical scheme, the gyration subassembly still includes a plurality of first connecting parts, and on a plurality of first connecting parts were worn to locate the gear, fix the gear on the flange, a plurality of first connecting parts have strengthened the stability between gear and the flange joint, and compact structure improves the space utilization of gyration subassembly, does benefit to the reasonable configuration of realization to space resources, promotes the system integration degree of gyration subassembly. Simultaneously, first connecting part can select the length that stretches out the gear according to user's needs to satisfy user's variety user demand, promote user and use experience.

In any of the above technical solutions, the driving assembly includes an end cover, the end cover is provided with a through hole; the speed change assembly comprises a second shell, a threaded hole is formed in the second shell, and the through hole is opposite to the threaded hole; the rotation assembly further comprises a second connecting part, and the second connecting part penetrates through the through hole and is screwed in the threaded hole.

In this technical scheme, be provided with the through-hole on drive assembly's the end cover, be provided with the screw hole on variable speed assembly's the second casing, the second adapting unit of gyration subassembly wears to locate the through-hole, connect in the screw hole soon, the stability that drive assembly and variable speed assembly are connected has been guaranteed, and simultaneously, axial length when drive assembly and variable speed assembly are connected has been reduced, compact structure, promote the space utilization of gyration subassembly, do benefit to the rational configuration of realization to space resource, and then the axial length of gyration subassembly has been reduced, reduce the volume of gyration subassembly, do benefit to the miniaturized design of gyration subassembly, thereby reduce the height of self-propelled robot, reduce the volume of self-propelled robot, do benefit to the miniaturized design of self-propelled robot, satisfy the user demand of diversified scene, promote user's use and experience.

In any of the above technical solutions, a positioning groove is provided on one side of the second housing facing the driving assembly; one side of the end cover facing the speed change assembly is provided with a positioning table which is embedded in the positioning groove.

In the technical proposal, one side of the second shell facing the driving component is provided with a positioning groove, one side of the end cover facing the speed change component is provided with a positioning table, the positioning table is embedded in the positioning groove, so that the positioning of the driving component and the speed change component is realized, the accuracy of the relative position when the driving component and the speed change component are connected is ensured, meanwhile, the axial length of the driving component and the speed change component when connected is reduced, the structure is compact, the space utilization rate of the rotary component is improved, the reasonable allocation of space resources is favorably realized, thereby reducing the axial length of the rotary component, reducing the volume of the rotary component, being beneficial to the miniaturization design of the rotary component, thereby reduce the height of walking the robot by oneself, reduce the volume of walking the robot by oneself, do benefit to the miniaturized design of walking the robot by oneself, satisfy the user demand of diversified scene, promote user's use and experience.

In any of the above aspects, the shift assembly comprises: a planet carrier; the sun gear is connected with the first input shaft; the planet gears are arranged on the planet carrier and are arranged along the circumferential direction of the sun gear; the outer gear ring is sleeved on the plurality of planet wheels.

In the technical scheme, the speed change component comprises a planet carrier, a sun gear, a plurality of planet gears and an outer gear ring. The sun gear is connected with the first output shaft, the planet gears are arranged on the planet carrier and are arranged along the circumferential direction of the sun gear, and the outer gear ring is sleeved on the planet gears.

Furthermore, the speed changing assembly can be a planetary speed reducer, torque is transmitted through gear transmission, and the rotating speed of the driving assembly is matched, so that the power transmission is carried out in the same straight line direction, the coaxiality of the rotating assembly during the power transmission is guaranteed, the power transmission effect of the rotating assembly is guaranteed, and the use requirement of the rotating assembly is met.

In any of the above technical solutions, the planet carrier is connected with the second housing, and the outer ring gear is connected with the second output shaft.

In the technical scheme, the planet carrier is connected with the second shell, and the outer gear ring is connected with the second output shaft.

It can be understood that the planet carrier is fixed, and the sun gear rotates along with first output shaft, and for the driving part, outer ring gear rotates along with the sun gear, for the follower, can the underspin, promotes the torque to guarantee the power transmission effect of gyration subassembly, satisfy the user demand of gyration subassembly, promote user's use and experience.

In any of the above technical solutions, the planet carrier is connected with the second output shaft, and the outer ring gear is connected with the second housing.

In the technical scheme, the planet carrier is connected with the second output shaft, and the outer gear ring is connected with the second shell. It can be understood that, outer ring gear is fixed, and the sun gear rotates along with first output shaft, and the sun gear is the driving part, and the planet carrier rotates along with the sun gear, and the planet carrier is the follower, can reduce rotational speed, and the lifting torque to guarantee the power transmission effect, satisfy gyration subassembly's user demand, promote user's use and experience.

In any of the above technical solutions, the driving assembly further includes a first housing, and the swiveling assembly further includes: the third shell is connected with the first shell; and the driver is arranged in the third shell.

In this technical scheme, the third casing is connected with first casing, be in the same place motor and driver set, the system integration of drive assembly has been improved, thereby the system integration of gyration subassembly has been improved, moreover, the steam generator is compact in structure, promote the space utilization of gyration subassembly, do benefit to the rational configuration of realization to space resource, reduce the volume of gyration subassembly, do benefit to the miniaturized design of gyration subassembly, thereby reduce the volume of walking the robot by oneself, do benefit to the miniaturized design of walking the robot by oneself, satisfy the user demand of diversified scene, promote user's use and experience. Furthermore, a motor is arranged in a first shell of the driving assembly, the driver is used for controlling the starting, stopping, rotating speed and the like of the motor, protecting the motor when overload, short circuit and the like occur, sending an instruction corresponding to a set parameter to the motor according to the set parameter of a user, and controlling the motor to operate according to the set parameter.

In any of the above technical solutions, the first housing and the third housing are an integrated structure.

In the technical scheme, the first shell and the third shell are connected to form an integrated structure. Specifically, the first shell and the third shell may be formed in a single-step molding manner by opening a mold, or the first shell and the third shell may be formed in a snap structure or a slot structure, or the first shell and the third shell may have openings formed therein and connected by bolts or other connectors, or the first shell and the third shell may be formed in an integrated structure by gluing or the like. The present invention is not particularly limited in the form of an integral structure of the first housing and the third housing. According to the utility model, the first shell and the third shell are made into an integrated structure, so that the modular assembly of the rotary component is facilitated, the assembly efficiency of the rotary component is improved, the cost is reduced, and the use experience of a user is improved.

In any of the above technical solutions, a cross section of the mounting hole in the radial direction is polygonal, and is adapted to a shape of a cross section of the first input shaft in the radial direction.

In this technical scheme, the cross-section of mounting hole in footpath is the polygon, with the cross-section shape looks adaptation of first input shaft in footpath, and then guarantees that first input shaft can insert and establish in the mounting hole of first output shaft, simultaneously, the cross-section of mounting hole in footpath is the polygon, can guarantee first output shaft and first input shaft synchronous revolution, guarantees the transmission effect of gyration subassembly.

In any of the above technical solutions, the rotating assembly further includes a third connecting part, the third connecting part penetrates through the first output shaft along the radial direction of the first output shaft, and abuts against the first input shaft.

In this technical scheme, radially wear to locate first output shaft along first output shaft with third adapting unit, and support and lean on first input shaft, compact structure, the space utilization of gyration subassembly has been improved, do benefit to the rational configuration of realization to space resource, the system integration degree of drive assembly and variable speed subassembly has been promoted, and then the system integration degree of gyration subassembly has been promoted, guarantee first output shaft and the being connected of first input shaft, the axial length of gyration subassembly has been reduced, reduce the volume of gyration subassembly, do benefit to the miniaturized design of gyration subassembly, thereby reduce the height of walking the robot by oneself, reduce the volume of walking the robot by oneself, do benefit to the miniaturized design of walking the robot by oneself, satisfy the user demand in diversified scene, promote user's use and experience.

In any one of the above technical solutions, the first input shaft is in interference fit with the mounting hole.

In this technical scheme, first input shaft and mounting hole interference fit have guaranteed the joint strength of first input shaft with the mounting hole, can bear great axial force, torque and dynamic load, simple structure, simultaneously, have guaranteed the axiality of gyration subassembly in the power transmission process to guarantee the power transmission effect of gyration subassembly.

The utility model provides a self-walking robot in a second aspect, which comprises the revolving component in any one of the technical schemes.

The self-walking robot provided by the utility model comprises the rotary component in any technical scheme, so that the self-walking robot has all the beneficial technical effects of the rotary component, and is not repeated herein.

Additional aspects and advantages of the utility model will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the utility model.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 illustrates a schematic structural view of a swing assembly according to one embodiment of the present invention;

FIG. 2 illustrates an exploded view of a swivel assembly according to one embodiment of the present invention;

FIG. 3 illustrates a schematic structural diagram of a drive assembly according to one embodiment of the present invention;

FIG. 4 shows a schematic structural diagram of a shift assembly according to one embodiment of the present invention;

FIG. 5 shows a schematic structural diagram of a gear according to one embodiment of the present invention.

Wherein, the correspondence between the reference numbers and the part names in fig. 1 to 5 is:

1 rotating component, 10 driving components, 20 speed changing components, 30 gears, 40 flanges, 100 first output shafts, 102 mounting holes, 104 end covers, 106 through holes, 108 positioning tables, 110 first shells, 112 third shells, 200 first input shafts, 202 positioning grooves, 204 second shells, 206 threaded holes and 300 grooves.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the utility model will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

Turning to fig. 1-5, a slewing assembly 1 and a self-propelled robot according to some embodiments of the present invention are described below.

In one embodiment of the present invention, as shown in fig. 1, there is provided a swing assembly 1 comprising: a drive assembly 10, a transmission assembly 20 and gears. The driving assembly 10 includes a first output shaft 100, and an end of the first output shaft 100 is provided with a mounting hole 102; the speed changing assembly 20 comprises a first input shaft 200 and a second output shaft, wherein the first input shaft 200 is inserted into the mounting hole 102 of the first output shaft 100; gear 30 is connected to the second output shaft.

In this embodiment, the swing assembly 1 includes a drive assembly 10 and a transmission assembly 20, the drive assembly 10 includes a first output shaft 100, the transmission assembly 20 includes a first input shaft 200, wherein an end portion of the first input shaft 200 is provided with a mounting hole 102. First input shaft 200 is inserted and is located in the mounting hole 102 of first output shaft 100, thereby the length that first output shaft 100 stretches out drive assembly 10 casing has been shortened, shorten the axial length of gyration subassembly 1, reduce the volume of gyration subassembly 1, reduce the weight of gyration subassembly 1, reduce the overall cost of gyration subassembly 1, and simultaneously, put driving assembly 10 and variable speed subassembly 20 together, increase the system integration degree of gyration subassembly 1, improve the space utilization of gyration subassembly 1, do benefit to the rational configuration of realization to space resource, and then do benefit to the miniaturization and the lightweight design of gyration subassembly 1, reduce the height of self-propelled robot, reduce the volume of self-propelled robot, do benefit to the miniaturized design of self-propelled robot, satisfy the user demand in diversified scene, promote user's use and experience. Further, the gear 30 is connected with the second output shaft of the speed change assembly 20, and the system integration level of the rotation assembly 1 is improved together with the speed change assembly 20, so that on one hand, the structure is compact, the space utilization rate of the rotation assembly 1 is improved, and the reasonable configuration of the rotation assembly 1 is favorably realized; on the other hand, easy to assemble to save installation time, do benefit to the packaging efficiency who promotes gyration subassembly 1.

Further, in the related art, the output shaft of the rotary reduction motor assembly 10 needs to extend outside the housing of the drive assembly 10 to be connected with the input shaft of the transmission assembly 20. Specifically, the output shaft of the driving assembly 10 and the input shaft of the speed changing assembly 20 can be selectively coupled, belt-coupled, gear-coupled, etc. However, these connection methods all need to occupy a large space, and the axial length of the rotary speed reduction motor assembly is large, which is not favorable for the miniaturization design of the rotary speed reduction motor assembly, and the height and the volume of the self-propelled robot cannot be reduced.

The present embodiment provides a swing assembly 1, and in addition to the technical features of the above-described embodiments, the present embodiment further includes the following technical features.

As shown in fig. 2, the rotating assembly 1 further includes a flange 40, and the flange 40 is sleeved on the second output shaft and connected to the gear 30.

In this embodiment, the rotating assembly 1 further includes a flange 40, and the second output shaft is connected with the gear 30 through the flange 40, so that the connection strength is improved, the structure is compact, the space utilization rate of the rotating assembly 1 is improved, and the reasonable configuration of space resources is facilitated, thereby improving the system integration level of the rotating assembly 1.

Further, as shown in fig. 5, a side of the gear 30 facing the transmission assembly 20 is provided with a groove 300, and the flange 40 is embedded in the groove 300.

In this embodiment, gear 30 is provided with recess 300 towards one side of variable speed subassembly 20, make a part of flange 40 inlay in recess 300, on the one hand, axial length when having shortened being connected of gear 30 and variable speed subassembly 20, and then shorten gyration subassembly 1's axial length, reduce gyration subassembly 1's volume, improve gyration subassembly 1's space utilization, do benefit to the realization to the rational configuration of space resources, do benefit to gyration subassembly 1's miniaturization and lightweight design, on the other hand, gear 30's weight has been reduced, and then reduce gyration subassembly 1's whole weight, thereby reduce the height of self-propelled robot, reduce the volume of self-propelled robot, do benefit to self-propelled robot's miniaturized design, satisfy the user demand in diversified scene, promote user's use and experience.

The rotating assembly 1 further includes a plurality of first connecting components, which are disposed through the gear 30 and connected to the flange 40.

In this embodiment, gyration subassembly 1 still includes a plurality of first connecting parts, and a plurality of first connecting parts wear to locate gear 30 on, fix gear 30 on flange 40, and a plurality of first connecting parts have strengthened the stability between gear 30 and the flange 40 is connected, guarantee gyration subassembly 1's steady operation, compact structure improves gyration subassembly 1's space utilization, does benefit to the realization to the rational configuration of space resources, promotes gyration subassembly 1's system integration degree. Meanwhile, the first connecting part can be selected to extend out of the gear 30 according to the needs of the user, so that the use requirements of the user are met, and the use experience of the user is improved.

Specifically, the first connecting member may be a bolt, and the gear 30 is provided with a screw hole adapted to the bolt. The number of the bolts and the number of the screw holes can be selected according to the requirements of users, and the number and the specification of the bolts are not limited by the utility model.

The present embodiment provides a swing assembly 1, and in addition to the technical features of the above embodiment, the present embodiment further includes the following technical features.

As shown in fig. 1 and 3, the drive assembly 10 includes the end cap 104, the shift assembly 20 includes the second housing 204, and the swivel assembly 1 includes the second coupling member. Wherein, the end cover 104 is provided with a through hole 106; the second shell 204 is provided with a threaded hole 206, and the through hole 106 is opposite to the threaded hole 206; the second connecting member is inserted into the through hole 106 and screwed into the threaded hole 206.

In this embodiment, the end cap 104 of the driving assembly 10 is provided with the through hole 106, the second housing 204 of the speed changing assembly 20 is provided with the threaded hole 206, the second connecting part of the rotating assembly 1 is inserted into the through hole 106 and screwed into the threaded hole 206, so as to ensure the stability of the connection between the driving assembly 10 and the speed changing assembly 20, ensure the stable operation of the rotating assembly 1, and simultaneously reduce the axial length of the driving assembly 10 and the speed changing assembly 20 when connected, thereby achieving a compact structure, improving the space utilization of the rotating assembly 1, facilitating the reasonable allocation of space resources, further reducing the axial length of the rotating assembly 1, reducing the volume of the rotating assembly 1, facilitating the miniaturization design of the rotating assembly 1, thereby reducing the height of the self-propelled robot, reducing the volume of the self-propelled robot, facilitating the miniaturization design of the self-propelled robot, and meeting the use requirements of diversified scenes, the use experience of the user is improved.

As shown in fig. 3 and 4, a positioning groove 202 is provided on a side of the second housing 204 facing the driving assembly 10; the end cover 104 is provided with a positioning table 108 on a side facing the transmission assembly 20, and the positioning table 108 is embedded in the positioning groove 202.

In this embodiment, the positioning groove 202 is disposed on one side of the second housing 204 facing the driving component 10, the positioning table 108 is disposed on one side of the end cover 104 facing the speed changing component 20, and the positioning table 108 is embedded in the positioning groove 202 to position the driving component 10 and the speed changing component 20, thereby ensuring the accuracy of the relative position when the driving component 10 is connected with the speed changing component 20, and simultaneously reducing the axial length when the driving component 10 is connected with the speed changing component 20, the structure is compact, increasing the space utilization of the rotating component 1, facilitating the realization of the reasonable configuration of space resources, further reducing the axial length of the rotating component 1, reducing the volume of the rotating component 1, facilitating the miniaturization design of the rotating component 1, thereby reducing the height of the self-propelled robot, reducing the volume of the self-propelled robot, facilitating the miniaturization design of the self-propelled robot, and meeting the use requirements of diversified scenes, the use experience of the user is improved.

The transmission assembly 20 includes a planet carrier, a sun gear, planet gears, and an outer ring gear. Wherein the sun gear is connected with the first input shaft 200; the plurality of planet wheels are arranged on the planet carrier along the circumferential direction of the sun wheel; the outer gear ring is sleeved on the plurality of planet wheels.

In this embodiment, the transmission assembly 20 includes a planet carrier, a sun gear, a plurality of planet gears, and an outer ring gear. The sun gear is connected with the first output shaft 100, the plurality of planet gears are arranged on the planet carrier and are arranged along the circumferential direction of the sun gear, and the plurality of planet gears are sleeved with the outer gear ring.

Specifically, the speed changing assembly 20 can be a planetary speed reducer, transmits torque through the transmission of the gear 30, and matches the rotating speed of the driving assembly 10, so that the power transmission is ensured in the same linear direction, the coaxiality of the rotating assembly 1 during the power transmission is ensured, the power transmission effect is ensured, and the use requirement of the rotating assembly 1 is met.

Specifically, still be provided with the bearing in the planetary reducer, it has small, light in weight's characteristics, and simultaneously, planetary reducer still has the rigidity height, the precision is high, high transmission efficiency, long service life, operate steadily, characteristics such as noise low, the suitability is wider, and then can promote gyration subassembly 1's space utilization, do benefit to the realization to the rational configuration of space resources, alleviate gyration subassembly 1's weight, reduce gyration subassembly 1's volume, reduce gyration subassembly 1's overall cost, do benefit to gyration subassembly 1's miniaturization and lightweight design, thereby reduce the height of walking the robot by oneself, reduce the volume of walking the robot by oneself, do benefit to the miniaturized design of walking the robot by oneself, satisfy the user demand in diversified scene, promote user's use and experience.

The planet carrier is connected with the second housing 204, and the outer ring gear is connected with the second output shaft.

In this embodiment, the carrier is connected to the second housing 204, and the outer ring gear is connected to the second output shaft. It can be understood that the planet carrier is fixed, and the sun gear rotates along with first output shaft 100, and the sun gear is the driving part, and outer ring gear rotates along with the sun gear, and the sun gear is the follower, can reduce rotational speed, and lifting torque to guarantee gyration subassembly 1's power transmission effect, satisfy gyration subassembly 1's user demand, promote user's use and experience.

The planet carrier is connected with the second output shaft, and the outer ring gear is connected with the second housing 204.

In this embodiment, the planet carrier is connected to the second output shaft, and the outer ring gear is connected to the second housing 204. It can be understood that, outer ring gear is fixed, and the sun gear rotates along with first output shaft 100, and the sun gear is the driving part, and the planet carrier rotates along with the sun gear, and the planet carrier is the follower, can reduce rotational speed, and lifting torque to guarantee gyration subassembly 1's power transmission effect, satisfy gyration subassembly 1's user demand, promote user's use and experience.

As shown in fig. 3, the driving assembly 10 includes a first housing 110, and the swing assembly 1 includes a third housing 112 and a driver, wherein the third housing 112 is connected to the first housing 110; the driver is disposed within the third housing 112.

In this embodiment, third casing 112 is connected with first casing 110, put motor and driver together, the system integration degree of drive assembly 10 has been improved, thereby the system integration degree of gyration subassembly 1 has been improved, compact structure, promote the space utilization of gyration subassembly 1, do benefit to the reasonable configuration to space resource, reduce the volume of gyration subassembly 1, do benefit to the miniaturized design of gyration subassembly 1, thereby reduce the height of self-propelled robot, reduce the volume of self-propelled robot, do benefit to the miniaturized design of self-propelled robot, satisfy the user demand in diversified scene, promote user's use and experience.

Further, a motor is disposed in the first housing 110 of the driving assembly 10, the driver is used for controlling the starting, stopping, rotating speed, etc. of the motor, protecting the motor from overload, short circuit, etc., and sending an instruction corresponding to a set parameter to the motor according to the parameter set by a user, and controlling the motor to operate according to the set parameter.

Specifically, the motor disposed in the first housing 110 may be a servo motor, and the rotation speed of the rotor of the servo motor is controlled by the input signal of the driver, and can react quickly to convert the electric signal into an angular velocity or an angular displacement on the motor shaft for output. The servo motor can be a direct current servo motor or an alternating current servo motor. The direct current servo motor comprises a brush motor and a brushless motor, the brush motor is low in cost, simple in structure, easy to control, small in size, light in weight, fast in response, smooth in rotation and easy to realize intellectualization; the alternating current servo motor has a large power range and is suitable for low-speed stable operation. The type of the servo motor can be selected according to the actual needs of a user, so that the autonomy of user selection is improved, and the use experience of the user is improved.

Further, the first housing 110 and the third housing 112 are a unitary structure.

In this embodiment, the first housing 110 and the third housing 112 are a unitary structure. Specifically, the first casing 110 and the third casing 112 may be formed by opening a mold to form a one-step molding structure, or the first casing 110 and the third casing 112 may be formed as a fastening structure or a slot structure, or holes may be formed in the first casing 110 and the third casing 112 to connect the first casing 110 and the third casing 112 by bolts or other connectors, or the first casing 110 and the third casing 112 may be formed as an integrated structure by gluing or the like. The present invention is not particularly limited in the form of an integral structure of the first and

third housings

110 and 112. According to the utility model, the first shell 110 and the third shell 112 are made into an integrated structure, so that the modular assembly of the rotary component 1 is facilitated, the assembly efficiency of the rotary component 1 is improved, the cost is reduced, and the use experience of a user is improved.

As shown in fig. 3 and 4, the mounting hole 102 has a polygonal cross section in the radial direction, which is adapted to the shape of the cross section of the first input shaft 200 in the radial direction.

In this embodiment, the radial cross section of the mounting hole 102 is polygonal, and is matched with the radial cross section of the first input shaft 200, so as to ensure that the first input shaft 200 can be inserted into the mounting hole 102 of the first output shaft 100, and meanwhile, the radial cross section of the mounting hole 102 is polygonal, so as to ensure that the first output shaft 100 and the first input shaft 200 rotate synchronously, and ensure the power transmission effect of the rotating assembly 1.

Further, the rotating assembly 1 further includes a third connecting part, the third connecting part penetrates the first output shaft 100 along the radial direction of the first output shaft 100, and abuts against the first input shaft 200.

In this embodiment, wear to locate first output shaft 100 along the radial of first output shaft 100 with third adapting unit, and support and lean on first input shaft 200, compact structure, the system integration degree of drive assembly 10 and variable speed subassembly 20 has been promoted, thereby the system integration degree of gyration subassembly 1 has been promoted, guarantee first output shaft 100 and first input shaft 200 be connected, the axial length of gyration subassembly 1 has been reduced, reduce the volume of gyration subassembly 1, do benefit to the miniaturized design of gyration subassembly 1, thereby reduce the height of walking the robot by oneself, reduce the volume of walking the robot by oneself, do benefit to the miniaturized design of walking the robot by oneself, satisfy the user demand in diversified scene, promote user's use and experience. Specifically, the third connecting part can be selected as a screw, the first output shaft 100 and the first input shaft 200 are fixed by the screw, the structure is simple, the installation is easy, the stability of connection between the first output shaft 100 and the first input shaft 200 is ensured, and the stable operation of the rotating assembly 1 is further ensured.

Further, the rotating assembly 1 may be pre-assembled, wherein the driving assembly 10, the speed changing assembly 20, the gear 30 and the flange 40 may be pre-assembled, so that space resources may be reasonably configured and the space utilization of the rotating assembly 1 may be improved. In order to reduce purchasing time and purchasing cost, the driving assembly 10, the speed changing assembly 20, the gear 30, the flange 40, the first connecting part, the second connecting part and the third connecting part in the rotary assembly 1 can be purchased by the same dealer in a matched mode, if a certain part in the rotary assembly 1 is found to have quality problems, the rotary assembly 1 is convenient to replace and maintain, meanwhile, the modular assembly of the rotary assembly 1 is facilitated, and therefore the assembling efficiency of the rotary assembly 1 is improved.

The first input shaft 200 is interference fitted with the mounting hole 102.

In this embodiment, the first input shaft 200 is in interference fit with the mounting hole 102, so that the connection strength between the first input shaft 200 and the mounting hole 102 is ensured, a large axial force, a large torque and a large dynamic load can be borne, the structure is simple, and meanwhile, the coaxiality of the rotating assembly 1 in the power transmission process is ensured, so that the power transmission effect of the rotating assembly 1 is ensured.

The present embodiment provides a self-walking robot including the swing assembly 1 of any of the above embodiments.

The self-walking robot provided by the present embodiment includes the turning component 1 of any of the above embodiments, so that all the beneficial technical effects of the turning component 1 are achieved, and the detailed description is omitted.

Further, gyration subassembly 1 still includes the gyration supporting seat, is provided with drive assembly 10 on the gyration supporting seat, and at least a part of gyration supporting seat constitutes the hanging wall of jacking device. The slewing assembly 1 further comprises a slewing gear wheel in mesh with the gear wheel 30. The driving assembly 10 drives the gear 30 to rotate through the speed changing assembly 20, and further drives the rotating gear engaged with the gear 30, so as to realize a rotating function.

Further, the rotation assembly 1, the driving assembly 10, the speed changing assembly 20, the gear 30 and the rotation gear are all disposed on the rotation support base, and at least a portion of the rotation support base may constitute an upper plate of the jacking device, whereby the driving assembly 10 and the rotation gear are located on the upper plate of the jacking device. Under the action of the jacking device, the driving assembly 10 and the rotary gear lift along with the upper disc of the jacking device, so that the gear 30 and the rotary gear are always meshed, the abrasion of the tooth surface is greatly reduced, and the service life of the gear is prolonged.

Further, the gyration subassembly still includes and installs the gyration zero position subassembly to on the gyration supporting seat. And the rotation zero position component is used for positioning the rotation angle of the rotation gear. The rotary zero position component comprises a sensor bracket, a rotary sensor and a rotary zero position sheet. On passing back sensor pass through sensor support fixed value gyration supporting seat, the gyration sensor can be photoelectric sensor for the rotation angle of response gyration gear. The rotary zero piece can be selectively installed on the rotary gear or synchronously rotate with the rotary gear in other modes, when the rotary zero piece passes through the rotary sensor, the rotary sensor is triggered, an instruction signal is sent out, and the position of the rotary zero piece passing through the rotary sensor is calibrated. Specifically, when the rotation sensor rotates 360 degrees every time, namely when the rotation angle of the rotation gear sensed by the rotation sensor reaches 360 degrees, the rotation sensor sends an instruction to the system, and the position is calibrated to be a zero position.

Further, the rotary support seat may include an upper rotary support mounting seat and a lower rotary support mounting seat, wherein the lower rotary support seat constitutes an upper plate of the jacking device, and the rotary gear is mounted on the upper rotary support seat. The lower rotary supporting seat can be of a connecting rod structure. The upper slewing bearing mounting base can also be provided with a slewing bearing fixing piece which rotates along with the rotation of the slewing gear. The slewing gear and the slewing bearing fixing piece can realize slewing through the ball. Meanwhile, a cover plate is arranged on the gear 30 to limit the gear 30. The rotary gear is also provided with a tray pad, so that when the rotary gear rotates, a tray on the tray pad can rotate along with the rotary gear.

The features of the terms first and second in the description and in the claims of the present application may explicitly or implicitly include one or more of such features. In the written description of the utility model, "a plurality" means two or more unless otherwise specified. In addition, "and/or" in the specification and claims means at least one of connected objects, a character "/" generally means that a preceding and succeeding related objects are in an "or" relationship.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience in describing and simplifying the technical scheme of the present invention, but do not indicate or imply that the structures, devices, elements, etc. referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore, these descriptions should not be construed as limiting the present invention.

In the present description, it is to be understood that, unless otherwise specified or limited, the terms "mounted," "connected," and "coupled" are to be construed broadly and include, for example, fixedly coupled, detachably coupled, or integrally coupled; the connection can be a mechanical structure connection or an electrical connection; the two components may be directly connected or indirectly connected through an intermediate medium, or the two components may be connected to each other through the intermediate medium. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the claims, specification and drawings of the present application, the term "plurality" means two or more, unless explicitly defined otherwise, the terms "upper", "lower", and the like refer to the same orientation or positional relationship as is shown in the drawings for convenience in describing the present application and to facilitate the description, but do not indicate or imply that the device or element so referred to must have the particular orientation described, be constructed and operated in the particular orientation, and thus the description should not be construed as limiting the present application; the terms "connect," "mount," "secure," and the like are to be construed broadly, and for example, "connect" may refer to a fixed connection between multiple objects, a removable connection between multiple objects, or an integral connection; the connection between a plurality of objects may be direct or indirect via an intermediate. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art from the above data specifically.

In the claims, specification, and drawings that follow the present disclosure, the description of the terms "one embodiment," "some embodiments," "specific embodiments," and so forth, means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In the claims, specification and drawings of the present invention, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A swivel assembly, comprising:

the driving assembly comprises a first output shaft, and the end part of the first output shaft is provided with a mounting hole;

the speed change assembly comprises a first input shaft and a second output shaft, and the first input shaft is inserted into the mounting hole;

a gear coupled to the second output shaft.

2. The swivel assembly of claim 1 wherein the transmission assembly further comprises:

and the flange is sleeved on the second output shaft and is connected with the gear.

3. The swivel assembly of claim 2,

a groove is formed in one side, facing the speed change assembly, of the gear, and the flange is embedded in the groove.

4. The swivel assembly of claim 2 further comprising:

and the first connecting parts are arranged on the gear in a penetrating way and are connected with the flange.

5. The swivel assembly of claim 1,

the driving assembly comprises an end cover, and the end cover is provided with a through hole;

the speed change assembly comprises a second shell, a threaded hole is formed in the second shell, and the through hole is opposite to the threaded hole;

the rotary component further comprises a second connecting part, and the second connecting part penetrates through the through hole and is screwed in the threaded hole.

6. The swivel assembly of claim 5,

one side of the second shell facing the driving component is provided with a positioning groove;

one side of the end cover, which faces the speed change assembly, is provided with a positioning table, and the positioning table is embedded in the positioning groove.

7. The swivel assembly of claim 5 wherein the transmission assembly comprises:

a planet carrier;

a sun gear connected with the first input shaft;

the planet wheels are arranged on the planet carrier and are arranged along the circumferential direction of the sun wheel;

the outer gear ring is sleeved on the plurality of planet wheels.

8. The swivel assembly of claim 7,

the planet carrier is connected with the second shell, and the outer gear ring is connected with the second output shaft.

9. The swivel assembly of claim 7,

the planet carrier is connected with the second output shaft, and the outer gear ring is connected with the second shell.

10. The swivel assembly of claim 1 wherein the drive assembly further comprises a first housing, the swivel assembly further comprising:

a third housing connected with the first housing;

a driver disposed within the third housing.

11. The swivel assembly of claim 10,

the first shell and the third shell are of an integrated structure.

12. The swivel assembly of any of claims 1 to 11,

the cross section of the mounting hole in the radial direction is polygonal, and the shape of the cross section of the mounting hole in the radial direction is matched with that of the cross section of the first input shaft in the radial direction.

13. The swivel assembly of any of claims 1 to 11 further comprising:

and the third connecting part penetrates through the first output shaft along the radial direction of the first output shaft and abuts against the first input shaft.

14. The swivel assembly of any of claims 1 to 11,

the first input shaft is in interference fit with the mounting hole.

15. A self-walking robot comprising the revolving assembly according to any one of claims 1 to 14.