CN218592989U

CN218592989U - Separable transmission mechanism and robot

Info

Publication number: CN218592989U
Application number: CN202222507395.7U
Authority: CN
Inventors: 高关正
Original assignee: Shanghai Yogo Robot Co Ltd
Current assignee: Shanghai Yogo Robot Co Ltd
Priority date: 2022-09-21
Filing date: 2022-09-21
Publication date: 2023-03-10
Anticipated expiration: 2032-09-21

Abstract

The utility model discloses a separable transmission mechanism and a robot; a driving shaft and a driven shaft are respectively erected at two ends of the object carrier, and a driving shaft is arranged at one side of the driving shaft away from the driven shaft at intervals; the driving shaft is used for driving a synchronous shaft of the external synchronous mechanism to rotate; the driving shaft and the driven shaft are sleeved with a conveying belt for bearing the loading box; the driving assembly drives the driving shaft to rotate so that the loading box can move on the object carrier; the drive assembly also drives the drive shaft to operate so as to rotate the synchronizing shaft, so that the object box can move between the object carrier and the synchronizing mechanism. According to the invention, a traditional grabbing mechanism of the carrying box such as a mechanical arm is omitted, the structure of the robot is simplified, the carrying box can be conveniently and quickly rotated between the robots or between the robot and the intelligent warehouse cabinet, and the task execution efficiency of the robot is improved.

Description

Separable transmission mechanism and robot

[ technical field ] A

The utility model relates to the technical field of robot, especially, relate to a detachable drive mechanism and robot.

[ background of the invention ]

At present, the robot is mainly applied to links such as building distribution, environmental disinfection and the like, can independently receive tasks, autonomously selects corresponding function modules according to task contents, and autonomously plans a journey, so that the aim of unmanned operation is completely fulfilled. However, when the existing robot transfers the object carrying box with the intelligent storage cabinet or other robots, other structures such as a mechanical arm are needed for assistance, so that the structure of the robot is complex, the robot is not beneficial to fast rotation of the object carrying box between the robots or between the robot and the intelligent storage cabinet, and the task execution efficiency of the robot is low.

Therefore, a separable transmission mechanism and a robot are needed to overcome the above-mentioned drawbacks.

[ Utility model ] content

The utility model aims at providing a detachable drive mechanism and robot aims at improving the comparatively complicated problem of structure of robot transport year thing box, promotes robot task execution efficiency.

In order to achieve the above object, the present invention provides a separable transmission mechanism, which comprises a housing and a carrier disposed in the housing; a driving shaft and a driven shaft are respectively erected at two ends of the object carrier, and a driving shaft is arranged on one side of the driving shaft away from the driven shaft in parallel at intervals; the driving shaft is used for driving a synchronous shaft of an external synchronous mechanism to rotate; the driving shaft and the driven shaft are sleeved with a conveying belt for bearing an object carrying box; the carrier is also provided with a driving assembly, and the driving assembly drives the driving shaft to rotate so as to enable the carrying box to move on the carrier; the driving assembly also drives the driving shaft to operate so as to rotate the synchronizing shaft, so that the object box can move between the object carrier and the synchronizing mechanism.

In a preferred embodiment, the driving assembly comprises a first motor fixed on the carrier rack and a first synchronizing wheel arranged on the driving shaft, and the first synchronizing wheel is connected with the movable end of the first motor through a first synchronizing belt; the first motor drives the driving shaft to rotate through the first synchronous belt.

In a preferred embodiment, the driving assembly further comprises a first driving shaft mounted on the carrier and arranged parallel to the driving shaft; the driving shaft is provided with a first gear, and the first driving shaft is provided with a second gear meshed with the first gear; the first driving shaft is used for driving the synchronous shaft to rotate.

In a preferred embodiment, the first driving shaft is provided with a second synchronizing wheel, the driving shaft is provided with a third synchronizing wheel, and the second synchronizing wheel is connected with the third synchronizing wheel through a second synchronous belt; the driving shaft is used for driving the synchronous shaft to rotate.

In a preferred embodiment, an opening is formed in one side of the outer shell, and a door arm is arranged on one side, close to the opening, of the object carrier; a door lock assembly is arranged on one side, close to the object carrier, of the door arm; the door lock assembly is used for driving the door arm to rotate so as to open or close the opening.

In a preferred embodiment, the door lock assembly includes a second motor and a second drive shaft disposed on the carrier; the second driving shaft is sleeved with a third gear, and a movable end of the second motor is provided with a fourth gear; the third gear is meshed with the fourth gear; the second driving shaft is used for driving the door arm to rotate.

In a preferred embodiment, the door arm is connected to the object carrier through a fixed shaft; fifth gears are sleeved at two ends of the second driving shaft, and sixth gears correspondingly meshed with the fifth gears are sleeved at two ends of the fixed shaft; when the second driving shaft rotates, the fixed shaft is driven to rotate, so that the door arm is driven to rotate.

In a preferred embodiment, the driving shaft is provided on the door arm and is disposed in parallel with the driving shaft.

In a preferred embodiment, a first wheel set is sleeved in the middle of the driving shaft and is used for being abutted against a second wheel set in the middle of the synchronizing shaft.

The utility model also provides a robot, which comprises a chassis, a frame, a navigation module and a man-machine interconnection module; the frame is provided with a separable transmission mechanism according to any one of the above embodiments.

The utility model provides a detachable transmission mechanism and robot, set up driving shaft and driven shaft respectively at the both ends of carrier, driving shaft and driven shaft cover are equipped with the conveyer belt that is used for bearing the weight of the thing box, make the thing box pass in and out the robot inside through the conveyer belt under the drive of drive assembly; the driving shaft is arranged, the driving shaft can be coupled with the outside synchronizing shafts of other robots or intelligent storage cabinets and other synchronizing mechanisms, the driving shaft drives the synchronizing mechanisms to operate under the driving of the driving assembly, and therefore the loading box can move between the loading frame and the synchronizing mechanisms, the traditional loading box grabbing mechanisms such as a mechanical arm and the like are omitted, the structure of the robot is simplified, the loading box can rotate rapidly between the robots or between the robots and the intelligent storage cabinets, and the task execution efficiency of the robot is improved.

[ description of the drawings ]

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on these drawings without inventive efforts.

Fig. 1 is a perspective view of a robot provided by the present invention;

fig. 2 is a perspective view of the detachable transmission mechanism and the synchronization mechanism according to the present invention;

FIG. 3 is a perspective view of the separable transmission mechanism shown in FIG. 2 separated from the synchronizing mechanism;

FIG. 4 is a side view of the separable drive train of FIG. 2 in combination with the synchronizing mechanism;

FIG. 5 is a top view of the separable drive train of FIG. 2 in combination with the synchronizing mechanism;

FIG. 6 is a perspective view of a drive assembly of the separable transmission of FIG. 2;

fig. 7 is a perspective view of another angle of the drive assembly of the separable transmission shown in fig. 6.

The reference numbers in the figures: 100. a separable transmission mechanism; 200. a synchronization mechanism; 201. a synchronizing shaft; 202. a second wheel set; 203. a limiting rod; 300. a robot; 10. a housing; 11. an opening; 12. a door arm; 121. a limiting groove; 13. a fixed shaft; 14. a slide rail; 131. a sixth gear; 20. a carrier; 21. a drive shaft; 211. a first synchronizing wheel; 212. a first gear; 22. a driven shaft; 23. a conveyor belt; 30. a drive assembly; 31. a first motor; 32. a first synchronization belt; 33. a first drive shaft; 331. a second gear; 332. a second synchronizing wheel; 34. a third synchronizing wheel; 35. a second synchronous belt; 40. a drive shaft; 41. a first wheel set; 50. a door lock assembly; 51. a second motor; 511. a fourth gear; 52. a second drive shaft; 521. a third gear; 522. a fifth gear.

[ detailed description ] embodiments

In order to make the objects, technical solutions and advantageous technical effects of the present invention more clearly understood, the present invention is further described in detail with reference to the accompanying drawings and the following detailed description. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration only and not by way of limitation.

It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It should be further understood that the term "and/or" as used in the specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

Example one

The utility model discloses an in the embodiment one, provide a detachable drive mechanism 100 for the drive carries the thing box and shifts between two robots or robot and intelligent storage cabinet, promotes getting goods delivery efficiency of robot when carrying out the task.

As shown in fig. 1-7, the detachable transmission mechanism 100 includes a housing 10 and a carrier rack 20 disposed in the housing 10. It should be noted that the housing 10 may be a housing of a robot or a housing of an intelligent storage cabinet, and accordingly, the carrier 20 may be disposed in the robot or the intelligent storage cabinet. In the housing 10, various power connection components (not shown) may be disposed therein to supply power to internal functional modules (such as motors, etc.), including a spring plate type, a contact type power supply, etc. A plurality of in-position detection assemblies (not shown) may be further disposed in the housing 10, including a progressive switch, a hall sensor, a magnetic induction switch, and the like, for detecting whether the engagement position of the driving assembly and the functional module is in place or whether the functional module is mounted in place, so as to protect the functions of the detection assembly.

A driving shaft 21 and a driven shaft 22 are respectively arranged at two ends of the article carrier 20. The driving shaft 21 is arranged in parallel with the driven shaft 22, and is sleeved with a conveyor belt 23 for bearing the carrying box. The conveyor belt 23 is driven by the rotation of the driving shaft 21 to reciprocate, thereby driving the loading box placed on the conveyor belt 23 to move.

The carrier rack 20 is further provided with a driving assembly 30. The driving assembly 30 drives the driving shaft 21 to rotate so that the carrier box can move on the carrier rack 20. Specifically, the driving assembly 30 drives the driving shaft 21 to rotate, the driving shaft 21 drives the conveyor belt 23 to run around the driving shaft 21, and the driven shaft 22 is driven by the conveyor belt 23 to rotate along with the driving shaft 21, so as to jointly play a role in supporting the conveyor belt 23 with the driving shaft 21.

The luggage carrier 20 is provided with a driving shaft 40 at an interval on one side of the driving shaft 21 far away from the driven shaft 22. The drive shaft 40 is used to rotate a synchronizing shaft 201 of the external synchronizing mechanism 200. The drive assembly 30 also drives the drive shaft 40 to rotate the synchronizing shaft 201 so that the carrier box can move between the carrier rack 20 and the synchronizing mechanism 200. That is, the synchronizing mechanism 200 is also provided with a belt line structure like the conveyor belt 23, on which the synchronizing shaft 201 is provided in parallel with the driving shaft 21, and when the synchronizing shaft 201 rotates, the belt line structure of the synchronizing mechanism 200 is driven to operate, thereby enabling the carrier box to move on the synchronizing mechanism 200. It should be noted that the synchronizing mechanism 200 and the carrier frame 20 are separable, and when it is required to transfer the carrier box between the carrier frame 20 and the synchronizing mechanism 200, the synchronizing mechanism 200 may be close to the carrier frame 20, so that the driving shaft 40 is coupled to the synchronizing shaft 201 of the synchronizing mechanism 200, and the driving shaft 40 can drive the synchronizing mechanism 200 to operate. Therefore, the synchronization mechanism 200 can realize the transportation function of the object carrying box without additionally arranging a mechanical arm and other taking and placing structures, and the whole structure is simpler.

Example two

As shown in fig. 2-6, the driving assembly 30 includes a first motor 31 fixed on the object carrier 20 and a first synchronizing wheel 211 disposed on the driving shaft 21. The first synchronizing wheel 211 is connected to the movable end of the first motor 31 through a first synchronizing belt 32. The first motor 31 drives the driving shaft 21 to rotate through the first timing belt 32. The first synchronizing wheel 211 is coaxially disposed on the driving shaft 21, and when the first synchronizing wheel 211 is driven by the first synchronizing belt 32 to rotate, the driving shaft 21 is driven to rotate synchronously.

Further, the driving assembly 30 further includes a first driving shaft 33 mounted on the object carrier 20 and parallel to the driving shaft 21. The driving shaft 21 is provided with a first gear 212, and the first driving shaft 33 is provided with a second gear 331 engaged with the first gear 212. The first driving shaft 33 is used for driving the synchronizing shaft 201 to rotate. That is, when the main shaft 21 rotates, the first drive shaft 33 rotates synchronously by the meshing action of the first gear 212 and the second gear 331.

Specifically, the first driving shaft 33 is provided with a second synchronizing wheel 332 coaxially disposed, the driving shaft 40 is provided with a third synchronizing wheel 34 coaxially disposed, and the second synchronizing wheel 332 and the third synchronizing wheel 34 are connected through a second timing belt 35. When the first drive shaft 33 rotates, the drive shaft 40 is rotated in synchronization by the second timing belt 35.

In the present embodiment, the drive shaft 40 is parallel to the drive shaft 21 and is used to drive the synchronizing shaft 201 to rotate. Specifically, the first wheel set 41 is sleeved in the middle of the driving shaft 40, and correspondingly, the second wheel set 202 is sleeved in the middle of the synchronizing shaft 201. Therefore, when the synchronizing mechanism 200 is close to the predetermined position of the luggage carrier 20, the first wheel set 41 is configured to abut against the second wheel set 202 at the middle of the synchronizing shaft 201, so that when the first wheel set 41 rotates along with the driving shaft 40, the synchronizing shaft 201 also rotates accordingly through the friction between the first wheel set 41 and the second wheel set 202. Furthermore, the first wheel set 41 is a magnetic wheel set attracted to the second wheel set 202, so as to enhance the friction between the first wheel set 41 and the second wheel set 202 and avoid the occurrence of a slip phenomenon. The first wheel set 41 and the second wheel set 202 may be disposed in vertical contact.

In other embodiments, the number of the second synchronizing wheels 332 is two, and the second synchronizing wheels are respectively disposed at both ends of the first driving shaft 33. The number of the third synchronizing wheels 34 is two, and the third synchronizing wheels are respectively provided at both ends of the driving shaft 40. Therefore, the driving shaft 40 can be driven to rotate from both ends simultaneously, and the force balance between both ends of the driving shaft 40 during rotation can be maintained better.

In the second embodiment, if the movable end of the first motor 31 rotates counterclockwise, the first synchronizing wheel 211, the first synchronizing belt 32 and the driving shaft 21 all rotate counterclockwise, so that the first gear 212 rotates counterclockwise, at this time, the second gear 331 rotates clockwise, the first driving shaft 33, the second synchronizing wheel 332, the second synchronizing belt 35 and the third synchronizing wheel 34 rotate clockwise, the driving shaft 40 and the first wheel set 41 rotate clockwise, and finally the second wheel set 202 and the synchronizing shaft 201 rotate counterclockwise, so that when the first motor 31 rotates, the synchronizing shaft 201 and the driving shaft 21 rotate in the same direction, and the carrier can be transferred between the conveyor belt 23 and the synchronizing mechanism 200.

In one embodiment, as shown in FIG. 1, one side of the housing 10 is provided with an opening 11. As shown in fig. 2-6, the side of the carrier 20 adjacent to the opening 11 is provided with a door arm 12. The shape of the door arm 12 is adapted to the shape of the opening 11 so as to close the opening 11 of the housing 10 and prevent the carrier from falling out of the housing 10. A door lock assembly 50 is provided on the side of the door arm 12 adjacent the carrier 20. The door lock assembly 50 is used to rotate the door arm 12 to open or close the opening 11.

Specifically, the door lock assembly 50 includes a second motor 51 and a second driving shaft 52 disposed on the carrier 20. The second driving shaft 52 is sleeved with a third gear 521, and the movable end of the second motor 51 is provided with a fourth gear 511. Third gear 521 meshes with fourth gear 511. The second driving shaft 52 is used for driving the door arm 12 to rotate. When the second motor 51 is operated, the fourth gear 511 is driven to rotate synchronously, and the second driving shaft 52 is driven to rotate through the meshing action of the third gear 521 and the fourth gear 511.

The door arm 12 is connected to the luggage carrier 20 by the fixing shaft 13, so that the door arm 12 can rotate along with the rotation of the fixing shaft 13. The second driving shaft 52 is further sleeved with a fifth gear 522 at both ends thereof, and the fixed shaft 13 is also sleeved with a sixth gear 131 correspondingly engaged with the fifth gear 522 at both ends thereof. When the second driving shaft 52 rotates, the fixed shaft 13 is rotated to drive the door arm 12 to rotate. Of course, in one embodiment, the sixth gear 131 may be fixed to the door arm 12, and both ends of the fixed shaft 13 may be relatively rotatably disposed at the center of the sixth gear 131 to fix the sixth gear 131. It should be noted that the fixed shaft 13 and the first driving shaft 33 can be combined to the same shaft, wherein the sixth gear 131 on the fixed shaft 13 and the second synchronizing wheel 332 of the first driving shaft 33 can be disposed to rotate asynchronously; the fixed shaft 13 and the first drive shaft 33 may be vertically provided.

Further, a driving shaft 40 is provided on the door arm 12, and is disposed parallel to the driving shaft 21. Therefore, when the door arm 12 is opened, the drive shaft 40 projects outwardly with the door arm 12 so as to be in mating abutment with the synchronizing shaft 201 of the approaching synchronizing mechanism 200; when the door arm 12 closes the opening 11 of the housing 10, the drive shaft 40 is closed inside the housing 10 with the door arm 12.

Furthermore, a limiting groove 121 is formed at one end of the door arm 12 away from the fixed shaft 13. When the door arm 12 is fully opened, the opening of the stopper groove 121 faces the synchronization mechanism 200. The synchronizing mechanism 200 is correspondingly provided with a limit rod 203. The limiting groove 121 is used for matching with a limiting rod 203 on the synchronizing mechanism 200, so that the abutting part of the first wheel set 41 and the second wheel set 202 is limited, and the distance between the first wheel set 41 and the second wheel set 202 is kept unchanged.

As shown in fig. 1, the present invention further provides a robot 300, which includes a chassis, a frame, a navigation module, and a man-machine interconnection module (not shown in the figure). The frame is provided with a separable transmission mechanism 100 according to any one of the above embodiments. The frame is used for mounting various functional modules and supplying power to the functional modules or providing power to the functional modules. Further, the inner portion of the outer casing 10 is provided with slide rails 14 at opposite sides thereof, and the article carrier 20 is detachably fixed to the pair of slide rails 14.

In summary, the detachable transmission mechanism 100 and the robot 300 provided by the present invention have the driving shaft 21 and the driven shaft 22 respectively installed at two ends of the object carrier 20, and the driving shaft 21 and the driven shaft 22 are sleeved with the conveyor belt 23 for carrying the object carrying box, so that the object carrying box can enter and exit the robot 300 through the conveyor belt 23 under the driving of the driving assembly 30; meanwhile, the driving shaft 40 is further arranged, the driving shaft 40 can be coupled with the outside, such as the synchronizing shaft 201 of the synchronizing mechanism 200 of other robots or intelligent storage cabinets, and the like, so that the driving shaft 40 drives the synchronizing mechanism 200 to operate under the driving of the driving assembly 30, and further the carrying box can move between the carrying rack 20 and the synchronizing mechanism 200, the traditional carrying box grabbing mechanism of a mechanical arm and the like is omitted, the structure of the robot 300 is simplified, the carrying box can rotate rapidly between the robots or between the robot and the intelligent storage cabinet, and the task execution efficiency of the robot is improved.

The invention is not limited solely to that described in the specification and the embodiments, and additional advantages and modifications will readily occur to those skilled in the art, and it is not intended to be limited to the specific details, representative apparatus, and illustrative examples shown and described herein, without departing from the spirit and scope of the general concept as defined by the appended claims and their equivalents.

Claims

1. A separable transmission mechanism is characterized by comprising a shell and a carrier arranged in the shell; a driving shaft and a driven shaft are respectively arranged at two ends of the object carrier, and a driving shaft is arranged on one side of the driving shaft away from the driven shaft in parallel at intervals; the driving shaft is used for driving a synchronous shaft of an external synchronous mechanism to rotate; the driving shaft and the driven shaft are sleeved with a conveying belt for bearing an object carrying box; the carrier is also provided with a driving assembly, and the driving assembly drives the driving shaft to rotate so as to enable the carrying box to move on the carrier; the driving assembly also drives the driving shaft to operate so as to rotate the synchronizing shaft, so that the object box can move between the object carrier and the synchronizing mechanism.

2. The separable transmission mechanism of claim 1, wherein the driving assembly comprises a first motor fixed on the carrier and a first synchronizing wheel disposed on the driving shaft, the first synchronizing wheel being connected to a movable end of the first motor through a first synchronizing belt; the first motor drives the driving shaft to rotate through the first synchronous belt.

3. The separable transmission mechanism of claim 2, wherein the driving assembly further comprises a first driving shaft mounted on the carrier and disposed parallel to the driving shaft; the driving shaft is provided with a first gear, and the first driving shaft is provided with a second gear meshed with the first gear; the first driving shaft is used for driving the synchronous shaft to rotate.

4. The separable transmission mechanism of claim 3, wherein the first driving shaft is provided with a second synchronizing wheel, the driving shaft is provided with a third synchronizing wheel, and the second synchronizing wheel and the third synchronizing wheel are connected through a second synchronous belt; the driving shaft is used for driving the synchronous shaft to rotate.

5. The separable transmission mechanism as recited in claim 4, wherein an opening is provided at one side of said outer shell, and a door arm is provided at a side of said carrier frame adjacent to said opening; a door lock assembly is arranged on one side, close to the object carrier, of the door arm; the door lock assembly is used for driving the door arm to rotate so as to open or close the opening.

6. The separable transmission of claim 5, wherein the door lock assembly comprises a second motor and a second drive shaft disposed on the carrier; the second driving shaft is sleeved with a third gear, and a movable end of the second motor is provided with a fourth gear; the third gear is meshed with the fourth gear; the second driving shaft is used for driving the door arm to rotate.

7. The separable transmission of claim 6, wherein said door arm is coupled to said carrier by a fixed shaft; fifth gears are sleeved at two ends of the second driving shaft, and sixth gears correspondingly meshed with the fifth gears are sleeved at two ends of the fixed shaft; when the second driving shaft rotates, the fixed shaft is driven to rotate, so that the door arm is driven to rotate.

8. The separable transmission mechanism of claim 5, wherein the driving shaft is provided on the door arm and is disposed in parallel with the driving shaft.

9. The separable transmission mechanism of claim 8, wherein a first wheel set is sleeved on the middle portion of the driving shaft, and the first wheel set is used for abutting against a second wheel set on the middle portion of the synchronizing shaft.

10. A robot is characterized by comprising a chassis, a frame, a navigation module and a man-machine interconnection module; the frame is provided with a separable transmission mechanism according to any one of claims 1 to 9.