CN219749510U - Driving device and fighting robot - Google Patents
Driving device and fighting robot Download PDFInfo
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- CN219749510U CN219749510U CN202321123898.2U CN202321123898U CN219749510U CN 219749510 U CN219749510 U CN 219749510U CN 202321123898 U CN202321123898 U CN 202321123898U CN 219749510 U CN219749510 U CN 219749510U
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- planetary transmission
- brushless motor
- housing
- driving device
- robot
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- 230000005540 biological transmission Effects 0.000 claims abstract description 65
- 230000007246 mechanism Effects 0.000 claims abstract description 29
- 229920001971 elastomer Polymers 0.000 claims description 10
- 229920002803 thermoplastic polyurethane Polymers 0.000 claims description 7
- 239000004433 Thermoplastic polyurethane Substances 0.000 claims description 6
- 238000013016 damping Methods 0.000 claims description 6
- 230000035939 shock Effects 0.000 claims description 6
- 229920002725 thermoplastic elastomer Polymers 0.000 claims description 6
- 239000006260 foam Substances 0.000 claims 1
- 230000008859 change Effects 0.000 abstract description 8
- 239000000806 elastomer Substances 0.000 description 4
- 230000009467 reduction Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000386 athletic effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 229920002635 polyurethane Polymers 0.000 description 1
- 239000004814 polyurethane Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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Abstract
The utility model relates to the technical field of fighting robots, and provides a driving device and a fighting robot, comprising: a wheel; a planetary transmission for connection with the wheels; the brushless motor is used for being connected with the planetary transmission; the electronic speed regulator is used for being connected with the brushless motor; and a supporting mechanism for fixing the planetary transmission, the brushless motor and the electronic speed regulator. The brushless motor and the electronic speed regulator are matched with each other, so that the electronic speed regulator is utilized to independently control the rotating speed of the brushless motor, and the running speed range of the combat robot can be greatly enlarged. Meanwhile, the characteristic of large speed change range of the planetary transmission is utilized, so that the transmission efficiency of the independent driving module is high, the output rotating speed of the fight robot is fully improved, and the fight robot is more flexible on a competition field.
Description
Technical Field
The utility model relates to the technical field of fighting robots, in particular to a driving device and a fighting robot.
Background
The origin of the fighting athletic robot, from 1999, was mainly the game form: the engineers of both sides are reasonably and reliably designed, and the robots meeting the requirements are contacted and countered, so that the reliability of the robots is checked.
Most of running mechanisms in the prior known fighting robots are separated from a motor by a speed reducer, and most of running mechanisms adopt a cylindrical gear transmission, a conical-cylindrical gear transmission, a cycloidal pin gear transmission and even belt transmission. Meanwhile, in order to improve the replacement and maintenance efficiency of parts of the fighting robot, a modularized independent driving device is initially arranged, but the reduction gear box of the modularized independent driving device is low in speed reduction ratio, small in speed change range and low in conveying efficiency, so that the fighting robot is inflexible in competition.
Disclosure of Invention
The utility model aims to solve the technical problems that the speed reduction ratio of a reduction gearbox of a modularized independent driving device of the existing fighting robot is low, the speed change range is small, the transmission efficiency is low, and the fighting robot is inflexible in competition.
In order to solve the above problems, the present utility model provides a driving apparatus for a combat robot, comprising:
a wheel;
a planetary transmission connected with the wheels;
the brushless motor is connected with the planetary transmission;
the electronic speed regulator is connected with the brushless motor; and
and the supporting mechanism is used for fixing the planetary transmission, the brushless motor and the electronic speed regulator.
Optionally, the driving device further comprises a damping mechanism, and the damping mechanism is wrapped outside the planetary transmission.
Optionally, the damper includes upper casing and lower casing, the bottom surface of upper casing is provided with the upper cavity of undercut, the top surface of lower casing is provided with the lower cavity of undercut, upper casing with lower casing looks lock, planetary transmission arranges in upper cavity with in the cavity down.
Optionally, the damping mechanism is a damping mechanism made of thermoplastic polyurethane rubber.
Optionally, the supporting mechanism includes motor cabinet, planetary gear box seat and a plurality of bolt, the motor cabinet is used for fixing brushless motor with electronic governor, the planetary gear box seat is used for fixing planetary gear box, a plurality of the bolt passes planetary gear box seat with the motor cabinet is connected.
Optionally, a plurality of hollow stand of motor cabinet one end parallel arrangement, brushless motor arranges a plurality of hollow stand central authorities department in, a plurality of the bolt one-to-one inserts in the hollow stand.
Optionally, the electronic governor is fixed in a plurality of the tip of hollow stand, hollow stand is used for making the electronic governor with brushless motor is the interval setting.
Optionally, the planetary transmission is a two-stage planetary transmission.
Optionally, the wheel is sheathed with a tire, which is a sponge tire or a tire made of thermoplastic rubber or a tire made of elastomer.
In addition, the utility model also provides a combat robot which comprises the driving device.
Compared with the prior art, the utility model has the following technical effects:
in the utility model, wheels, a planetary transmission, a brushless motor and an electronic speed regulator are sequentially connected and are completely integrated in a supporting mechanism, so that the electronic speed regulator becomes an independent driving device, and then the electronic speed regulator is detachably installed in a fighting robot by utilizing the supporting mechanism. The brushless motor and the electronic speed regulator are matched with each other, so that the electronic speed regulator is used for independently controlling the rotating speed of the brushless motor, the running speed range of the combat robot can be greatly enlarged, and the maximum idle rotating speed of wheels can reach 1730+/-10% rpm. Meanwhile, the characteristic of large speed change range of the planetary transmission is utilized, so that the speed change range of the whole driving device can reach 1:20 at the highest, the transmission efficiency of the independent driving module is high, the output rotating speed of the fight robot is fully improved, and the fight robot is more flexible on a competition field.
Drawings
Fig. 1 is a schematic perspective view of a driving apparatus for a combat robot according to the present utility model.
Fig. 2 is another schematic perspective view of the driving apparatus for the combat robot of the present utility model.
Reference numerals illustrate: 1. a wheel; 2. a tire; 3. a planetary transmission mount; 4. an upper housing; 5. a brushless motor; 6. an electronic governor; 7. a lower housing; 8. a hollow upright; 9. a motor base; 10. a planetary transmission; 11. and (5) a bolt.
Detailed Description
In order that the above objects, features and advantages of the utility model will be readily understood, a more particular description of the utility model will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present utility model and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the utility model described herein may be implemented in sequences other than those illustrated or otherwise described herein.
In the description of the present utility model, it should be noted that, unless explicitly stated and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; may be a mechanical connection; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.
In the description of the present specification, the descriptions of the terms "embodiment," "one embodiment," and the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or embodiment is included in at least one embodiment or illustrated embodiment of the present utility model. In this specification, schematic representations of the above terms do not necessarily refer to the same examples or implementations. Furthermore, the particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or implementations.
In the drawings of the specification, the Z axis represents the vertical direction, that is, the up-down direction, and the positive direction of the Z axis (that is, the arrow of the Z axis points) represents the negative direction of the Z axis (that is, the direction opposite to the positive direction of the Z axis); the X-axis in the drawings represents the axial direction of the wheel; the Y-axis in the drawings represents the radial direction along the wheel; it should also be noted that the foregoing Z-axis, Y-axis, and X-axis are meant to be illustrative only and not indicative or implying that the apparatus or component in question must be oriented, configured or operated in a particular orientation, and therefore should not be construed as limiting the utility model.
Referring to fig. 1 and 2, the present embodiment provides a driving apparatus for a combat robot, including:
a wheel 1;
a planetary transmission 10 for connection with the wheels 1;
a brushless motor 5 for connection with the planetary transmission 10; and
an electronic speed regulator 6 for connecting with the brushless motor 5; and
and the supporting mechanism is used for fixing the planetary transmission 10, the brushless motor 5 and the electronic speed regulator 6, and is detachably arranged in the combat robot.
In the present embodiment, the wheel 1, the planetary transmission 10, the brushless motor 5, and the electronic governor 6 are sequentially connected and completely integrated in the support mechanism, thereby becoming an independent driving device, and then detachably mounted in the combat robot by using the support mechanism. By utilizing the mutual matching of the brushless motor and the electronic speed regulator 6, the independent control of the rotating speed of the brushless motor 5 by utilizing the electronic speed regulator 6 is realized, the running speed range of the fighting robot can be greatly enlarged, and the maximum idle rotating speed of the wheel 1 can reach 1730+/-10% rpm. Meanwhile, the characteristic of large speed change range of the planetary transmission 10 is utilized, so that the speed change range of the whole driving device can reach 1:20 at the highest, the transmission efficiency of the independent driving module is high, the output rotating speed of the fight robot is fully improved, and the fight robot is more flexible on a competition field.
In addition, by utilizing the characteristics of the planetary transmission 10 that the speed change range is large and the size is small and the characteristics of the brushless motor that the size is small relative to the brush motor, the external size of the driving device is sufficiently reduced, so that the size of the driving device in the fighter robot is reduced, and the driving device can be arranged at a narrow position in the fighter robot. The applicability of the driving device is improved.
In the use process, if the planetary transmission 10 or the brushless motor 5 is found to be damaged, the supporting mechanism can be timely taken out from the fighting robot, the damaged planetary transmission 10 or brushless motor 5 is quickly replaced or maintained, and then the damaged planetary transmission 10 or brushless motor 5 is installed in the fighting robot; or the nondestructive brushless motor 5 and the planetary transmission 10 incorporated in the other support mechanism to be prepared are directly incorporated into the combat robot. Thereby facilitating quick replacement of the damaged planetary transmission 10 or brushless motor 5.
Referring to fig. 1 and 2, the planetary transmission 10 is preferably a two-stage planetary transmission 10.
The transmission ratio of the two-stage planetary transmission 10 can reach 1:20, so that the output rotating speed is fully improved, and the fighting robot is more flexible on the competition field.
Referring to fig. 1 and 2, further, the driving apparatus further includes a damper mechanism in which the planetary transmission 10 is enclosed.
Referring to fig. 1 and 2, further, the damping mechanism includes an upper housing 4 and a lower housing 7, an upper cavity recessed upward is provided on a bottom surface of the upper housing 4, a lower cavity recessed downward is provided on a top surface of the lower housing 7, the upper housing 4 and the lower housing 7 are fastened, and the planetary transmission 10 is disposed in the upper cavity and the lower cavity.
Referring to fig. 1 and 2, further, the shock absorbing mechanism is a shock absorbing mechanism made of thermoplastic polyurethane rubber. The thermoplastic polyurethane rubber herein is also referred to as TPU polyurethane, which is abbreviated as Thermoplastic Urethane and is known by the Chinese name thermoplastic polyurethane elastomer.
Is enclosed within the shock absorbing mechanism by the planetary transmission 10. Thereby reducing vibration generated to the combat robot during gear transmission of the planetary transmission 10.
And, damper includes upper casing 4 and lower casing 7, improves damper's dismouting convenience.
Preferably, the upper and lower housings 4, 7 are disassembled by threaded fasteners.
Referring to fig. 1 and 2, further, the support mechanism includes a motor housing 9, a planetary transmission housing 3, and a plurality of bolts 11, the motor housing 9 is used for fixing the brushless motor 5 and the electronic speed governor 6, the planetary transmission housing 3 is used for fixing the planetary transmission 10, and the plurality of bolts 11 are connected to the motor housing 9 through the planetary transmission housing 3.
The motor mount 9 improves the reliability of the installation and fixation of the brushless motor 5, and the planetary transmission mount 3 improves the reliability of the fixation of the planetary transmission 10.
Preferably, the planetary transmission seat 3 has a plate-like structure, and the plate surface of the planetary transmission seat 3 is provided with a mounting cavity in which the planetary transmission 10 is placed.
Referring to fig. 1 and 2, further, the planetary transmission seat 3 is vertically provided on the left or right side of the upper case 4 and the lower case 7; to reduce the overall volume.
Preferably, motor cabinet 9 includes bottom plate and boss, and the boss is fixed in one side face of bottom plate, and the cavity has been seted up to the mesa of boss, and brushless motor 5 is arranged in the cavity.
Referring to fig. 1 and 2, further, one end of the motor base 9 is provided with a plurality of hollow upright posts 8, the brushless motor 5 is disposed at the center of the plurality of hollow upright posts 8, and a plurality of bolts 11 are inserted into the hollow upright posts 8 in a one-to-one correspondence manner; the electronic speed regulator 6 is fixed at the end parts of a plurality of hollow upright posts 8, and the hollow upright posts 8 are used for enabling the electronic speed regulator 6 and the brushless motor 5 to be arranged at intervals.
On the other hand, the electronic speed regulator 6 is disposed at a distance from the brushless motor 5, so that heat generated by the brushless motor 5 is prevented from being transferred to the electronic speed regulator 6 to damage the electronic speed regulator 6.
On the other hand, a plurality of bolts 11 are used for one-to-one corresponding insertion into the hollow upright 8; the convenience of the assembly of the motor base 9 and the planetary transmission base 3 is improved, the space in the end parts of the hollow upright posts 8 is fully utilized, and the whole volume of the supporting mechanism is reduced.
Referring to fig. 1 and 2, further, the wheel 1 is sheathed with a tire 2, and the tire 2 is a sponge tire 2 or a tire 2 made of thermoplastic rubber or a tire 2 made of elastomer rubber.
The driving device is prevented from being subjected to severe impact vibration during the competition, and the stability of the structure is affected.
The tire 2 made of thermoplastic rubber (TPR) or the tire 2 made of elastomer (TPE) can increase the grip and impact resistance of the tire 2.
In addition, the embodiment also provides a combat robot, which comprises the driving device. The technical effect of the fighting robot is the same as that of the driving device, so that the technical scheme and the technical effect of the fighting robot are not repeated.
Although the present disclosure is described above, the scope of protection of the present disclosure is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the scope of the utility model.
Claims (10)
1. A drive device for a combat robot, comprising:
a wheel (1);
a planetary transmission (10) connected to the wheels (1);
a brushless motor (5) connected to the planetary transmission (10);
an electronic speed regulator (6) connected with the brushless motor (5); and
and the supporting mechanism is used for fixing the planetary transmission (10), the brushless motor (5) and the electronic speed regulator (6).
2. Drive for a combat robot according to claim 1, characterized in that it further comprises a damping mechanism, which is wrapped outside the planetary transmission (10).
3. The driving device for the fighting robot according to claim 2, wherein the shock absorbing mechanism includes an upper housing (4) and a lower housing (7), an upper cavity recessed upward is provided at a bottom surface of the upper housing (4), a lower cavity recessed downward is provided at a top surface of the lower housing (7), the upper housing (4) and the lower housing (7) are fastened to each other, and the planetary transmission (10) is disposed in the upper cavity and the lower cavity.
4. The driving device for the combat robot of claim 2, wherein said shock absorbing mechanism is a shock absorbing mechanism made of thermoplastic polyurethane rubber.
5. The driving device for a combat robot according to claim 1, wherein the supporting mechanism comprises a motor housing (9), a planetary transmission housing (3) and a plurality of bolts (11), the motor housing (9) being used for fixing the brushless motor (5) and the electronic governor (6), the planetary transmission housing (3) being used for fixing the planetary transmission (10), a plurality of the bolts (11) being connected with the motor housing (9) through the planetary transmission housing (3).
6. The driving device for a fighting robot according to claim 5, wherein a plurality of hollow upright posts (8) are arranged in parallel at one end of the motor base (9), the brushless motor (5) is disposed at the center of the plurality of hollow upright posts (8), and a plurality of bolts (11) are inserted into the hollow upright posts (8) in a one-to-one correspondence.
7. The drive device for a combat robot according to claim 6, characterized in that the electronic governor (6) is fixed to the ends of a plurality of the hollow uprights (8), the hollow uprights (8) being adapted to set the electronic governor (6) at a distance from the brushless motor (5).
8. Drive for a combat robot according to any one of claims 1 to 7, characterized in that the planetary transmission (10) is a two-stage planetary transmission.
9. Driving device for a combat robot according to any one of claims 1 to 7, characterized in that the wheel (1) is sheathed with a tyre (2), the tyre (2) being a foam tyre (2) or a tyre (2) made of thermoplastic rubber or a tyre (2) made of elastomeric rubber.
10. A combat robot comprising a drive device according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321123898.2U CN219749510U (en) | 2023-05-10 | 2023-05-10 | Driving device and fighting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321123898.2U CN219749510U (en) | 2023-05-10 | 2023-05-10 | Driving device and fighting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219749510U true CN219749510U (en) | 2023-09-26 |
Family
ID=88077818
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321123898.2U Active CN219749510U (en) | 2023-05-10 | 2023-05-10 | Driving device and fighting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219749510U (en) |
-
2023
- 2023-05-10 CN CN202321123898.2U patent/CN219749510U/en active Active
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