CN219565223U - Roller steering driving assembly, roller control device and movable mechanical equipment - Google Patents

Abstract

The embodiment of the utility model relates to the technical field of automation, and discloses a roller steering driving assembly, a roller control device and movable mechanical equipment, wherein the roller steering driving assembly comprises: the base body is provided with a rotary connecting part, a first wire passing hole is formed in the rotary connecting part along the axial direction of the rotary connecting part, and the first wire passing hole is used for a wire to pass through and is electrically connected with a travelling driving piece for driving the roller to rotate; a steering drive, comprising: the main body structure is fixed on the seat body; the output shaft is rotationally connected to the main body structure; a transmission mechanism, comprising: the driving wheel is fixedly connected to the output shaft; the driven wheel is in transmission connection with the driving wheel, is of a hollow structure, and is rotationally connected to the outer periphery of the rotary connecting part; the driven wheel is used for being fixedly connected with the roller through the connecting frame so as to drive the roller to turn. Through the mode, the embodiment of the utility model can ensure the stability of the wire harness, ensure the stable and reliable operation of the movable mechanical equipment and improve the aesthetic property of the equipment.

Description

Roller steering driving assembly, roller control device and movable mechanical equipment

Technical Field

The embodiment of the utility model relates to the technical field of automation, in particular to a roller steering driving assembly, a roller control device and movable mechanical equipment.

Background

In the existing movable mechanical equipment, such as a robot or a vehicle, a power supply wire in the equipment is exposed and electrically connected with a driving piece connected with a roller so as to drive the roller to rotate to realize forward and backward, and the steering of the roller is generally driven by a steering engine.

Then at steering engine drive gyro wheel steering's in-process, the driving piece can rotate along with the gyro wheel, and then leads to connecting the wire on the driving piece to be pulled easily, twines even on the gyro wheel, causes the circumstances such as equipment operation trouble to the wire exposes also can influence the holistic pleasing to the eye of equipment.

Disclosure of Invention

In view of the above problems, embodiments of the present utility model provide a roller steering driving assembly, a roller control device, and a movable mechanical device, so as to ensure stability of a wire harness, ensure stable and reliable operation of the movable mechanical device, and improve aesthetic properties of the device.

According to an aspect of an embodiment of the present utility model, there is provided a roller steering drive assembly including: the base body is provided with a rotary connecting part, a first wire passing hole is formed in the rotary connecting part along the axial direction of the rotary connecting part, and the first wire passing hole is used for a wire to pass through and is electrically connected with a travelling driving piece for driving the roller to rotate; a steering drive, comprising: the main body structure is fixed on the seat body; the output shaft is rotationally connected to the main body structure; a transmission mechanism, comprising: the driving wheel is fixedly connected to the output shaft; the driven wheel is in transmission connection with the driving wheel, is of a hollow structure, and is rotationally connected to the outer periphery of the rotary connecting part; the driven wheel is used for being fixedly connected with the roller through the connecting frame so as to drive the roller to turn.

In the roller steering driving assembly provided by the embodiment of the utility model, the driving wheel is connected with the output shaft of the steering driving piece, the driven wheel is connected with the connecting frame, and compared with the mode that the output shaft of the steering driving piece is directly connected with the connecting frame for steering driving, the axis of steering of the roller can avoid the rotation axis of the output shaft of the steering driving piece, and further, the hollow driven wheel is rotationally connected on the rotating connecting part, and the first wire through hole is formed on the rotating connecting part along the circumferential direction, so that a wire can pass through the first wire through hole and be connected with the travelling driving piece, and the wire only slightly rotates in the steering driving piece driving roller steering process, so that the wire cannot break or be wound on the roller due to excessive traction, the stability of the wire structure is ensured, and the running reliability of movable mechanical equipment is further ensured. Meanwhile, the periphery of the wire passing through the first wire passing hole is shielded by the rotating connecting part and the driven wheel, so that the movable mechanical equipment is concise and attractive in overall vision.

In an alternative mode, the main body structure is fixed on one side of the base, the output shaft penetrates through and extends to the other side of the base, a connecting end is formed on the part, located on one side, away from the main body structure, of the output shaft, and the driving wheel is fixedly connected with the connecting end; the rotary connecting part is arranged at one side of the seat body, which is away from the main body structure, and the driving wheel and the driven wheel are in transmission connection at one side of the seat body, which is away from the main body structure; the driven wheel is used for fixedly connecting the connecting frame at one side of the connecting frame, which is away from the seat body. The main structure is fixed on one side of the base, the transmission mechanism is arranged on the other side of the base, the output shaft penetrates through the base and is connected with the transmission mechanism, the driven wheel can be fixedly connected with the connecting frame to be away from one side of the base while the output shaft drives the transmission mechanism, and therefore the whole structure is compact and reliable when the roller steering driving assembly is assembled on the connecting frame.

In an alternative mode, a second wire through hole is formed in the base body, and the second wire through hole is used for allowing a wire to penetrate from the outer side of the base body so that part of the wire is electrically connected with the steering driving piece; the first wire passing hole is used for penetrating into the base body, at least part of the wires which are not electrically connected with the steering driving piece penetrate out, and the wires are electrically connected with the travelling driving piece. The second wire passing hole is formed in the seat body for the outer wire to enter and be electrically connected with the steering driving piece, so that power supply to the steering driving piece is realized, and meanwhile, the second wire passing hole can play a certain role in guiding and limiting the wire. And the other wires which are not electrically connected with the steering driving piece at least partially penetrate out of the first wire through hole and are electrically connected with the traveling driving piece, so that the power supply to the traveling driving piece is realized. The mode makes the wire that is connected with steering drive piece electricity and the wire that is connected with advancing drive piece electricity can advance the line jointly in the part that is located the pedestal outside, guarantees the stability and the clean and tidy degree of pencil.

In an alternative mode, the driving wheel and the driven wheel are gears and are in meshed transmission; or the driving wheel and the driven wheel are belt wheels and are in transmission connection with each other through a transmission belt; or the driving wheel and the driven wheel are chain wheels and are connected with each other in a transmission way through a transmission chain. The gear transmission mode is adopted, so that the structure is compact, the transmission is accurate, the transmission efficiency is high, and the transmission is stable and reliable. The belt transmission mode is adopted, so that the transmission structure is simple, the transmission is stable, the vibration absorption can be buffered, and meanwhile, the power transmission with larger axial distance between the driving wheel and the driven wheel can be realized. By adopting a chain transmission mode, the elastic slipping phenomenon can be avoided in the transmission process, the accurate transmission ratio is ensured, and the transmission is stable and reliable.

According to another aspect of the embodiment of the present utility model, there is also provided a roller control device, including: the device comprises a roller, a connecting frame, a travelling driving piece and a roller steering driving assembly of any one of the above; the advancing driving piece is arranged on the connecting frame, a driving shaft of the advancing driving piece is connected with the roller, and the driving shaft is used for driving the roller to rotate; the connecting frame is fixedly connected with the driven wheel, so that the driven wheel drives the idler wheel to turn through the connecting frame when rotating; and a third wire passing hole is formed in the position, matched with the driven wheel, of the connecting frame, and is used for allowing a wire in the first wire passing hole to penetrate into the inner side of the connecting frame and be electrically connected with the travelling driving piece.

In the roller control device provided by the embodiment of the utility model, the roller steering driving assembly and the roller are connected with each other by adopting the connecting frame, so that the driving control of the roller steering driving assembly on the roller steering is realized. Further, through offer the third wire hole in link and follow driving wheel junction, the wire in the middle of the first wire hole of supply penetrating the link inboard and being connected with advancing the driving piece electricity by the third wire hole, realize advancing the power supply and control of driving piece to because the wire is located the axis of rotation department that the gyro wheel turned to, thereby in the steering process, can not make the wire take place excessively to draw even twine the condition on the link, effectively guarantee wire structure's stability, ensure gyro wheel controlling means normal operating.

In an alternative mode, a fourth wire passing hole is further formed in the connecting frame and located between the third wire passing hole and the travelling driving piece, and the fourth wire passing hole is used for enabling a wire penetrating into the inner side of the connecting frame to pass through and be electrically connected with the travelling driving piece. The wire inside the connecting frame is electrically connected with the advancing driving piece through the fourth wire passing hole, so that the wire can rotate along with the connecting frame and the advancing driving piece when the driven wheel drives the roller to turn through the connecting frame, and the wire can be prevented from being wound with the turned roller when inside the connecting frame. And because a part of the wire passes through the first wire passing hole and the third wire passing hole at the rotating axis of the roller steering, the wire cannot be excessively pulled in the rotating process of the connecting frame and the advancing driving piece, and the structural stability of the wire is effectively ensured.

In an alternative mode, the connecting frame is of a hollow shell structure, a third wire through hole is formed in the wall of the connecting frame, which is away from the roller, and the third wire through hole is used for allowing a wire to enter a cavity in the connecting frame; or, the connecting frame is of a U-shaped baffle structure, the notch of the connecting frame faces the roller, and the third wire passing hole is used for allowing the wire to enter the groove area of the connecting frame. Through setting the link to cavity shell structure to penetrate the wire through the inside cavity of third wire hole earlier in the link, ensure that the inboard wire of link can not take place situations such as contact friction with the gyro wheel, further ensure the stability of wire. Through setting up the link into U type baffle structure, penetrate the wire through the third wire hole earlier in the recess region of link, hold and cover the protection to partial wire by recess region, guarantee the stability of wire.

In an alternative, the outer cover of the connecting frame is provided with a protective shell. Through set up the protective housing in the outside of link, realize the cover protection to the link, avoid the link to take place the friction and collide with, ensure the stability of link structure.

In an alternative, the inside of the connection frame is provided with a harness fixing structure for fixing the wires located inside the connection frame. Through adopting pencil fixed knot to construct and fix the inboard at the link with the wire, can guarantee that the inboard wire of link can not take place to remove for the link, and then prevent to take place friction damage between wire and link or the gyro wheel, can also guarantee simultaneously that the wire structure is firm.

According to another aspect of the embodiment of the present utility model, there is further provided a movable mechanical device, including a device body and a roller control device according to any one of the above embodiments, where the roller control device is fixed to the device body, and the roller control device is configured to drive the device body to move.

In the movable mechanical equipment provided by the embodiment of the utility model, the wire only slightly rotates in the process of driving the roller to turn by the turning driving piece, so that the wire cannot be broken or wound on the roller due to excessive pulling, the stability of the wire structure is ensured, and the running reliability of the movable mechanical equipment is further ensured. Meanwhile, the periphery of the lead is shielded by the rotary connecting part and the driven wheel, so that the movable mechanical equipment is concise and attractive in overall vision.

The foregoing description is only an overview of the present utility model, and is intended to be implemented in accordance with the teachings of the present utility model in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present utility model more readily apparent.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the utility model. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:

fig. 1 is a schematic structural diagram of a roller steering driving assembly according to an embodiment of the present utility model;

fig. 2 is a schematic structural diagram of a roller control device according to an embodiment of the present utility model;

fig. 3 is a schematic structural diagram of one side of a roller steering driving assembly according to an embodiment of the present utility model;

fig. 4 is a schematic cross-sectional structure of one side of a roller control device according to an embodiment of the present utility model;

FIG. 5 is a schematic cross-sectional view of a roller control device according to another embodiment of the present utility model;

fig. 6 is a schematic structural diagram of a roller control device according to another embodiment of the present utility model;

fig. 7 is a schematic structural diagram of one side of a roller control device according to another embodiment of the present utility model;

fig. 8 is a schematic structural diagram of one side of a roller control device according to an embodiment of the present utility model;

fig. 9 is a schematic structural diagram of a movable mechanical device according to an embodiment of the present utility model.

Reference numerals in the specific embodiments are as follows:

100. a roller steering drive assembly; 110. a base; 111. a rotary connection part; 1111. a first via hole; 112. a second via hole; 120. a steering drive; 121. a main body structure; 122. an output shaft; 1221. a connection end; 123. a speed reducer; 130. a transmission mechanism; 131. a driving wheel; 132. driven wheel;

200. a roller;

300. a travel drive; 310. a controller; 311. a harness connection member;

400. a connecting frame; 410. a third via hole; 420. fourth via hole; 430. a recessed region; 431. a notch; 440. a protective shell;

500. a wire;

1000. a roller control device;

10. a movable mechanical device; 11. an apparatus body.

Detailed Description

Embodiments of the technical scheme of the present utility model will be described in detail below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present utility model, and thus are merely examples, and are not intended to limit the scope of the present utility model.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model; the terms "comprising" and "having" and any variations thereof in the description of the utility model and the claims and the description of the drawings above are intended to cover a non-exclusive inclusion.

In the description of embodiments of the present utility model, the technical terms "first," "second," and the like are used merely to distinguish between different objects and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated, a particular order or a primary or secondary relationship. In the description of the embodiments of the present utility model, the meaning of "plurality" is two or more unless explicitly defined otherwise.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the utility model. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

In the description of the embodiments of the present utility model, the term "and/or" is merely an association relationship describing an association object, and indicates that three relationships may exist, for example, a and/or B may indicate: there are three cases, a, B, a and B simultaneously. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.

In the description of the embodiments of the present utility model, the term "plurality" means two or more (including two), and similarly, "plural sets" means two or more (including two), and "plural sheets" means two or more (including two).

In the description of the embodiments of the present utility model, the orientation or positional relationship indicated by the technical terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. are based on the orientation or positional relationship shown in the drawings, and are merely for convenience of description and simplification of the description, and do not indicate or imply that the apparatus or element referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the embodiments of the present utility model.

In the description of the embodiments of the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured" and the like should be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally formed; or may be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the embodiments of the present utility model will be understood by those of ordinary skill in the art according to specific circumstances.

The traveling mode of the movable mechanical equipment, such as robots, vehicles and the like, generally comprises a crawler type or a roller driving type, the compaction of soil is serious due to the special structure of the crawler during the traveling process of the crawler type movable mechanical equipment, and the flexibility of the crawler type structure is low. Thus, in a relatively flat operating scenario in a geographic environment, travel of the device is typically accomplished in the form of a roller drive.

The roller driving mode needs to install a driving piece, such as a motor, on the roller, and the roller is driven to rotate through an output shaft of the driving piece so as to realize the running of the equipment. To control the operation of the driving member, wires in the apparatus body need to be connected to the driving member to supply power to the driving member for normal operation.

Among the current movable mechanical equipment, the wire of being connected with driving piece electricity on it exposes outside mostly, not only influences pleasing to the eye, and when turning to through steering wheel drive gyro wheel moreover, because the driving piece on the gyro wheel can turn to along with the gyro wheel to lead to connecting the wire on the driving piece and can be pulled, twine even on the gyro wheel, influence the stability of equipment operation.

Based on the above, the inventor of the present utility model found through research that the characteristic that the axis of rotation of the roller is not greatly rotated when the roller is turned can be utilized, the wire is electrically connected with the driving member after passing through the axis of rotation of the roller, so that the wire is not greatly swung when the roller is turned, the wire is ensured not to be excessively pulled to break, and is not wound on the roller, the stability of the wire is ensured, and at the same time, after passing through the axis of rotation of the roller, the peripheral component can play a role of shielding the wire, and the whole appearance of the device is ensured.

According to the above-mentioned concept, an aspect of the present utility model provides a roller steering driving assembly, and referring to fig. 1 and 2, fig. 1 shows a structure of the roller steering driving assembly according to an embodiment of the present utility model, and fig. 2 shows a structure of the roller steering driving assembly mounted on the roller assembly. As shown in the drawings, the roller steering drive assembly 100 includes: a housing 110, a steering drive 120, and a transmission 130. The base 110 is provided with a rotation connection portion 111, and the rotation connection portion 111 is provided with a first wire through hole 1111 along an axial direction (a direction indicated by a z-axis in the drawing), and the first wire through hole 1111 is used for a wire (not shown) to pass through and be electrically connected with the traveling driving member 300 for driving the roller 200 to rotate. The steering driving member 120 includes a main structure 121 and an output shaft 122, the main structure 121 is fixed to the base 110, and the output shaft 122 is rotatably connected to the main structure 121. The driving mechanism 130 includes a driving wheel 131 and a driven wheel 132, the driving wheel 131 is fixedly connected to the output shaft 122, the driven wheel 132 is in driving connection with the driving wheel 131, the driven wheel 132 is in a hollow structure, and is rotatably connected to the outer periphery of the rotation connection part 111. The driven wheel 132 is fixedly connected with the roller 200 through the connecting frame 400 so as to drive the roller 200 to turn.

The base 110 may be a mounting structure as shown in fig. 1, or may be a plate-like or shell-like structure, which is primarily used to provide a mounting platform for the steering drive 120 and the transmission 130. The rotation connection part 111 may adopt an annular protrusion integrally formed with the base 110, and the driven wheel 132 is rotatably connected to the rotation connection part 111 through a bearing. Specifically, the inner ring of the bearing is fixed to the base 110, and the outer ring is fixedly connected to the driven wheel 132, and the inner ring and the outer ring can rotate relatively, so that the driven wheel 132 can rotate relative to the rotation connection portion 111.

The steering driving member 120 may be a motor, and the main body structure 121 of the steering driving member may be fixedly mounted on the base 110 by a threaded fastener or riveting. Further, in order to increase the torque output by the steering driving member 120, as shown in fig. 1, in some embodiments, a speed reducer 123 may be connected to the driving shaft of the steering driving member 120, and the rotating shaft at the transmission end of the speed reducer 123 forms an output shaft 122 and is fixedly connected to the driving wheel 131, so as to achieve the purpose of speed reduction and reinforcement, thereby ensuring that the steering driving of the wheel 200 is more accurate and reliable, and the slipping phenomenon is not easy to occur.

In the roller steering driving assembly 100 provided by the embodiment of the utility model, the driving wheel 131 is connected with the output shaft 122 of the steering driving member 120, the driven wheel 132 is connected with the connecting frame 400, and compared with the mode that the output shaft 122 of the steering driving member 120 is directly connected with the connecting frame 400 for steering driving, the steering axis of the roller 200 can avoid the rotation axis of the output shaft 122 of the steering driving member 120, and further, the hollow driven wheel 132 is rotationally connected to the rotation connecting portion 111, and the first wire passing hole 1111 is circumferentially formed in the rotation connecting portion 111, so that a wire can pass through the first wire passing hole 1111 and be connected with the travelling driving member 300, and the wire can only slightly rotate in the steering process of the roller 200 driven by the steering driving member 120, so that the wire cannot be broken or wound on the roller due to excessive pulling, the stability of the wire structure is ensured, and the operation reliability of movable mechanical equipment is ensured. Meanwhile, the outer periphery of the wire passing through the first wire passing hole 1111 is shielded by the rotating connection part 111 and the driven wheel 132, so that the movable mechanical device is compact and beautiful in overall vision.

In order to optimize the layout of the overall structure of the roller steering driving assembly 100, an embodiment of the present utility model is provided, and with continued reference to fig. 1, and further reference is made to fig. 3, in which a side view structure of the roller steering driving assembly is shown in fig. 3. As shown in the drawing, the main structure 121 is fixed on one side of the base 110, the output shaft 122 passes through and extends to the other side of the base 110, a connection end 1221 is formed on a portion of the output shaft 122 located on one side of the base 110 facing away from the main structure 121, and the driving wheel 131 is fixedly connected with the connection end 1221. The rotary connecting portion 111 is disposed at a side of the base 110 facing away from the main structure 121, and the driving wheel 131 and the driven wheel 132 are in transmission connection at a side of the base 110 facing away from the main structure 121. The driven wheel 132 is used to fixedly connect the connection frame 400 to a side thereof facing away from the base 110.

Through fixing the main structure 121 on one side of the base 110, the transmission mechanism 130 is disposed on the other side of the base 110, and the output shaft 122 passes through the base 110 and is connected with the transmission mechanism 130, so that the driven wheel 132 can fixedly connect the connecting frame 400 to one side away from the base 110 while the output shaft 122 drives the transmission mechanism 130, and the overall structure is compact and reliable when the roller steering driving assembly 100 is assembled on the connecting frame 400.

In order to further implement the wiring situation of the wires, referring to fig. 1 again, as shown in the drawings, the base 110 is provided with a second wire through hole 112, and the second wire through hole 112 is used for the wires to penetrate from the outer side of the base 110, so that part of the wires are electrically connected with the steering driving member 120. The first wire passing hole 1111 is used for at least part of the wires which pass into the base 110 and are not electrically connected to the steering driving member 120 to pass out, and is electrically connected to the traveling driving member 300.

It will be understood that the inner side of the base 110 refers to the side of the base 110 to which the main structure 121 is mounted, and correspondingly, the outer side of the base 110 refers to the side of the base 110 facing away from the main structure 121. The wire may be a plurality of bundled wires, and in the embodiment shown in fig. 1, the base 110 adopts a slot-shaped housing structure composed of a plurality of plates, the main body structure 121 is mounted inside the slot-shaped housing, the wire is penetrated from the outside to the inside of the slot-shaped housing through the second wire through holes 112 on the wall of the slot-shaped housing, and part of the wires inside are electrically connected with the main body structure 121, and at least part of the remaining wires are penetrated from the inside of the slot-shaped housing through the first wire through holes 1111 and electrically connected with the traveling driver 300.

The second wire through hole 112 is formed on the seat 110 for the outside wire to enter and be electrically connected with the steering driving member 120, so that the power supply to the steering driving member 120 is realized, and meanwhile, the second wire through hole 112 can play a certain role in guiding and limiting the wire. Out of the remaining wires that are not electrically connected to the steering driver 120, at least a portion of the wires passes through the first wire through hole 1111 and is electrically connected to the traveling driver 300, thereby supplying power to the traveling driver 300. This way, the wire electrically connected to the steering driving member 120 and the wire electrically connected to the traveling driving member 300 can travel together at the portion located outside the housing 110, ensuring the stability and the cleanliness of the wire harness.

With respect to a specific transmission manner of the transmission mechanism 130, the present utility model proposes an embodiment, and with continued reference to fig. 1 and 3, as shown in the drawings, the driving wheel 131 and the driven wheel 132 are both gears and are meshed with each other.

It will be appreciated that the driving wheel 131 and the driven wheel 132 may be directly engaged for transmission as shown in fig. 3, however, in other embodiments, one or more transmission gears may be provided between the driving wheel 131 and the driven wheel 132, and the driving wheel 131 may rotate the driven wheel 132 through the transmission gears.

The gear transmission mode is adopted, so that the structure is compact, the transmission is accurate, the transmission efficiency is high, and the transmission is stable and reliable.

For a specific transmission mode of the transmission mechanism 130, the utility model also provides an embodiment, specifically, the driving wheel 131 and the driven wheel 132 are pulleys and are in transmission connection with each other through a transmission belt.

By adopting a belt transmission mode, the transmission structure is simple, the transmission is stable, the vibration absorption can be buffered, and meanwhile, the power transmission with larger axial distance between the driving wheel 131 and the driven wheel 132 can be realized.

For a specific transmission mode of the transmission mechanism 130, the utility model also provides an embodiment, specifically, the driving wheel 131 and the driven wheel 132 are all sprockets and are connected with each other in a transmission manner through a transmission chain.

By adopting a chain transmission mode, the elastic slipping phenomenon can be avoided in the transmission process, the accurate transmission ratio is ensured, and the transmission is stable and reliable.

In accordance with another aspect of the present utility model, referring to fig. 2 again, a roller control device 1000 includes: the roller 200, the link 400, the travel drive 300, and the roller steer drive assembly 100 of any of the embodiments described above. The traveling driving member 300 is disposed on the connection frame 400, and a driving shaft of the traveling driving member 300 is connected to the roller 200, and the driving shaft of the traveling driving member 300 is used for driving the roller 200 to rotate. The connecting frame 400 is fixedly connected with the driven wheel 132, so that the roller 200 is driven to turn by the connecting frame 400 when the driven wheel 132 rotates. Referring to fig. 4, a side cross-sectional structure of a roller control device according to an embodiment of the utility model is shown. As shown in the drawing, a third wire passing hole 410 is formed at a position on the connection frame 400 matching with the driven wheel 132, and the third wire passing hole is used for allowing a wire 500 in the first wire passing hole 1111 to pass through the inside of the connection frame 400 and be electrically connected with the traveling driving member 300.

Specifically, in the embodiment shown in fig. 2, the rotation axis of the driven wheel 132 (the direction shown by the z-axis in the drawing) is perpendicular to the rotation axis of the driving shaft of the traveling driver 300 (the direction shown by the y-axis in the drawing), and in other embodiments, the roller 200 may be disposed obliquely, for example, in an "eight" shape, where the rotation axis of the driven wheel 132 intersects with the rotation axis of the driving shaft of the traveling driver 300, and is not perpendicular to the rotation axis.

As shown in fig. 4, the position on the connection frame 400 that matches the driven wheel 132 refers to the area of the connection frame 400 facing the first wire passing hole 1111, that is, the area of the connection frame 400 that intersects the rotation axis of the driven wheel 132.

Specifically, the traveling driving member 300 may be mounted and fixed on the connecting frame 400 by a threaded connection, a clamping connection, a welding connection, or the like, and the roller 200 is sleeved and fixed on the driving shaft of the traveling driving member 300, so that the driving shaft rotates to drive the roller 200 to rotate for advancing or retreating. The driven wheel 132 may be fixed to the connection frame 400 by riveting, clamping, screwing, or the like, so that the driven wheel 132 drives the roller 200 to steer under the driving of the steering driving member 120.

It should be noted that, the inner side of the connection frame 400 refers to the side of the connection frame 400 facing away from the roller steering driving assembly 100. When the connection frame 400 adopts a hollow structure as shown in fig. 4, the inner side of the connection frame 400 refers to one side of the hollow cavity inside the connection frame 400.

In the roller control device 1000 according to the embodiment of the present utility model, the roller steering driving assembly 100 and the roller 200 in any of the above embodiments are connected to each other by using the connecting frame 400, so as to realize the driving control of the roller steering driving assembly 100 on the steering of the roller 200. Further, by providing the third wire passing hole 410 at the connection position between the connecting frame 400 and the driven wheel 132, the third wire passing hole 410 is used for the wire 500 in the first wire passing hole 1111 to penetrate into the inner side of the connecting frame 400 and be electrically connected with the traveling driving member 300, so as to realize power supply and control of the traveling driving member 300, and the wire 500 is located at the rotation axis of the roller 200 for steering, so that the wire 500 is not excessively pulled or even wound on the connecting frame 400 in the steering process, the stability of the structure of the wire 500 is effectively ensured, and the normal operation of the roller control device 1000 is ensured.

In order to further improve the stability of the wire, the present utility model proposes an embodiment, refer to fig. 2 again, and further refer to fig. 5, in which fig. 5 shows a cross-sectional structure of one side of a roller control device according to another embodiment of the present utility model. As shown in the drawing, a fourth wire through hole 420 is further formed in the connection frame 400 at a portion between the third wire through hole 410 and the traveling driver 300, and the fourth wire through hole 420 is used for passing through the wire 500 penetrating into the inside of the connection frame 400 and electrically connected to the traveling driver 300.

In the embodiment shown in fig. 2 and 5, the controller 310 of the traveling driver 300 is mounted on the connection frame 400, the controller 310 is electrically connected to the traveling driver 300, and the controller 310 is provided with the wire harness connection member 311, and the wire 500 passing through the fourth wire passing hole 420 is indirectly electrically connected to the traveling driver 300 through the wire harness connection member 311. It is understood that in other embodiments, the wire 500 passing through the fourth wire through hole 420 may also be directly connected to the travel driver 300.

The wire 500 inside the connecting frame 400 is electrically connected with the traveling driving member 300 through the fourth wire passing hole 420, so that when the driven wheel 132 drives the roller 200 to turn through the connecting frame 400, the wire 500 rotates along with the connecting frame 400 and the traveling driving member 300, thereby preventing the wire 500 from being wound with the turned roller 200 when inside the connecting frame 400. And since a portion of the wire 500 passes through the first wire passing hole 1111 and the third wire passing hole 410 at the rotation axis where the roller 200 turns, the wire 500 is not excessively pulled in the course of rotating with the link 400 and the traveling driver 300, and structural stability of the wire 500 is effectively ensured.

With respect to the structure of the connection frame 400, the present utility model proposes an embodiment, and as shown in fig. 5, the connection frame 400 has a hollow housing structure, and a third wire through hole 410 is formed in a wall of the connection frame 400 facing away from the roller 200, and the third wire through hole 410 is used for allowing the wire 500 to enter into a cavity inside the connection frame 400.

By arranging the connecting frame 400 into a hollow shell structure and penetrating the wire 500 into the cavity inside the connecting frame 400 through the third wire passing hole 410, the wire 500 inside the connecting frame 400 is ensured not to contact with the roller 200, friction and the like, and the stability of the wire 500 is further ensured.

Referring to fig. 6 and 7, fig. 6 shows a three-dimensional structure of a roller control device according to another embodiment of the present utility model, and fig. 7 shows a structure of a view angle of one side of the roller control device. As shown in the drawing, the connection frame 400 has a U-shaped baffle structure, the notch 431 of the connection frame 400 is disposed toward the roller 200, and the third wire through hole 410 is used for allowing a wire (not shown) to enter the groove area 430 of the connection frame 400.

By arranging the connecting frame 400 into the U-shaped baffle structure, the wires firstly penetrate into the groove area 430 of the connecting frame 400 through the third wire passing holes 410, and the groove area 430 accommodates and covers part of the wires, so that the stability of the wires is ensured.

It is understood that, whether the connecting frame 400 adopts the hollow housing structure or the U-shaped baffle structure, the connecting frame 400 may be further provided with the fourth wire through hole 420 for the wires to pass through and electrically connect with the traveling driving member 300.

It should be noted that, the specific embodiment shown in fig. 2 and fig. 5 is the connection frame 400 with a single-fork arm structure, the specific embodiment shown in fig. 6 and fig. 7 is the connection frame 400 with a double-fork arm structure, although the connection frame 400 with a single-fork arm structure in fig. 2 and fig. 5 adopts a hollow shell structure, the connection frame 400 with a double-fork arm structure in fig. 6 and fig. 7 adopts a U-shaped baffle structure, but this does not limit the specific combination mode of the two structures, and in other embodiments, the connection frame 400 with a single-fork arm structure may also adopt a U-shaped baffle structure, and the connection frame 400 with a double-fork arm structure adopts a hollow shell structure.

In some embodiments, the inside of the connection frame 400 is provided with a harness fixing structure (not shown) for fixing the wires located inside the connection frame 400.

Specifically, the wire harness fixing structure can adopt parts such as a wire groove, a fixing ring and a wire tube, the wire is fixed on the inner side of the connecting frame 400 through adopting the wire harness fixing structure, the wire on the inner side of the connecting frame 400 can be prevented from moving relative to the connecting frame 400, further friction damage between the wire and the connecting frame 400 or between the wire harness fixing structure and the roller 200 is prevented, and meanwhile, the wire structure can be ensured to be stable.

In order to realize the omnibearing protection of the wire 500, the present utility model also proposes an embodiment, referring to fig. 5 again, wherein the outer cover of the connecting frame 400 is provided with a protective shell 440.

Through set up protective housing 440 in the outside of link 400, realize the cover protection to link 400, avoid link 400 to take place the friction and collide with, ensure the stability of link 400 structure.

Further, in some embodiments, the protective case 440 covers at least an area between the fourth wire via 420 and the travel driver 300.

With specific continued reference to fig. 5, and with further reference to fig. 8, a side structure of the connector 400 is shown with a protective shell 440 disposed over the top. As shown in the drawing, the protective case 440 is covered on the outer side of the connection frame 400, and the protective case 440 covers at least the region between the fourth wire via 420 and the traveling driver 300, it is possible to ensure that the wire 500 passing through the fourth wire via 420 and electrically connected to the traveling driver 300 is completely covered and protected by the protective case 440, thereby providing a stable and reliable working environment for the wire 500.

According to another aspect of the embodiment of the present utility model, a movable mechanical device is provided, and in particular, referring to fig. 9, a structure of the movable mechanical device provided by the embodiment of the present utility model is shown. As shown in the figure, the movable mechanical apparatus 10 includes an apparatus body 11 and a roller control device 1000 in any of the above embodiments, where the roller control device 1000 is fixed to the apparatus body 11, and the roller control device 1000 is used to drive the apparatus body 11 to move.

In the movable mechanical device 10 provided by the embodiment of the utility model, the wire only slightly rotates in the process of driving the roller 200 by the steering driving member 120, so that the wire cannot be broken or wound on the roller due to excessive pulling, the stability of the wire structure is ensured, and the operation reliability of the movable mechanical device 10 is further ensured. At the same time, the outer circumference of the wire is shielded by the rotating connection 111 and the driven wheel 132, so that the movable mechanical apparatus 10 is compact and beautiful in overall vision.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present utility model, and not for limiting the same; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the utility model. In particular, the technical features mentioned in the respective embodiments may be combined in any manner as long as there is no structural conflict.

Claims (10)

1. A roller steering drive assembly, comprising:

the base body is provided with a rotary connecting part, a first wire passing hole is formed in the rotary connecting part along the axial direction of the rotary connecting part, and the first wire passing hole is used for a wire to pass through and is electrically connected with a travelling driving piece for driving the roller to rotate;

a steering drive, comprising:

the main body structure is fixed on the seat body;

the output shaft is rotationally connected with the main body structure;

a transmission mechanism, comprising:

the driving wheel is fixedly connected with the output shaft;

the driven wheel is in transmission connection with the driving wheel, is of a hollow structure, and is rotationally connected to the outer periphery of the rotational connecting part; the driven wheel is used for being fixedly connected with the roller through the connecting frame so as to drive the roller to turn.

2. The roller steering drive assembly of claim 1 wherein the main structure is fixed to one side of the housing, the output shaft extends through and to the other side of the housing, a portion of the output shaft on the side of the housing facing away from the main structure forms a connection end, and the drive wheel is fixedly connected to the connection end;

the rotary connecting part is arranged at one side of the seat body, which is away from the main body structure, and the driving wheel and the driven wheel are in transmission connection at one side of the seat body, which is away from the main body structure;

the driven wheel is used for fixedly connecting the connecting frame to one side of the connecting frame, which is away from the seat body.

3. The roller steering drive assembly according to claim 1 or 2, wherein a second wire passing hole is formed in the base, and the second wire passing hole is used for allowing a wire to pass through from the outer side of the base, so that a part of the wire is electrically connected with the steering drive member;

the first wire passing hole is used for penetrating into the seat body, at least part of wires which are not electrically connected with the steering driving piece penetrate out, and are electrically connected with the travelling driving piece.

4. The roller steering drive assembly of claim 1 or 2, wherein the drive wheel and the driven wheel are both gears and intermeshed; or alternatively, the first and second heat exchangers may be,

the driving wheel and the driven wheel are belt wheels and are in transmission connection with each other through a transmission belt; or alternatively, the first and second heat exchangers may be,

the driving wheel and the driven wheel are chain wheels and are in transmission connection with each other through a transmission chain.

5. A roller control device, comprising: a roller, a link, a travel drive, and the roller steering drive assembly of any one of claims 1-4;

the travelling driving piece is arranged on the connecting frame, a driving shaft of the travelling driving piece is connected with the roller, and the driving shaft is used for driving the roller to rotate;

the connecting frame is fixedly connected with the driven wheel, so that the idler wheel is driven to turn through the connecting frame when the driven wheel rotates;

and a third wire passing hole is formed in the position, matched with the driven wheel, of the connecting frame, and is used for allowing a wire in the first wire passing hole to penetrate into the inner side of the connecting frame and be electrically connected with the travelling driving piece.

6. The roller control device of claim 5, wherein a fourth wire passing hole is further formed in the connecting frame at a portion between the third wire passing hole and the traveling driving member, and the fourth wire passing hole is used for passing a wire penetrating into the inner side of the connecting frame and electrically connected with the traveling driving member.

7. The roller control device according to claim 5 or 6, wherein the connecting frame is of a hollow shell structure, the third wire passing hole is formed in a wall of the connecting frame, which is away from the roller side, and the third wire passing hole is used for allowing a wire to enter a cavity in the connecting frame; or alternatively, the first and second heat exchangers may be,

the connecting frame is of a U-shaped baffle structure, the notch of the connecting frame faces the roller, and the third wire passing hole is used for allowing a wire to enter the groove area of the connecting frame.

8. The roller control device of claim 5 or 6, wherein the outer cover of the connecting frame is provided with a protective shell.

9. The roller control device according to claim 5 or 6, wherein a wire harness fixing structure for fixing a wire located inside the link is provided inside the link.

10. A mobile mechanical device, comprising a device body and the roller control device according to any one of claims 5-9, wherein the roller control device is fixed on the device body, and the roller control device is used for driving the device body to move.