CN220220389U - Modularized wheel type driving device and robot comprising same - Google Patents
Modularized wheel type driving device and robot comprising same Download PDFInfo
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- CN220220389U CN220220389U CN202321115084.4U CN202321115084U CN220220389U CN 220220389 U CN220220389 U CN 220220389U CN 202321115084 U CN202321115084 U CN 202321115084U CN 220220389 U CN220220389 U CN 220220389U
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- shell
- speed reducer
- wheel drive
- motor
- modular wheel
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 53
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 claims description 10
- 229910052757 nitrogen Inorganic materials 0.000 claims description 5
- 230000001360 synchronised effect Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000003909 pattern recognition Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model discloses a modularized wheel type driving device and a robot comprising the same. The motor of the driving device is arranged in the shell; the speed reducer is arranged in the shell, and the motor is connected with the input end of the speed reducer; the wheel is arranged outside the shell, is connected with the output end of the speed reducer through the rotating shaft, and penetrates through the shell; one part of the springs are arranged in the shell, and the other part of the springs penetrate through the shell; the control chip is arranged in the shell and is in signal connection with the motor; the fixed plate is arranged outside the shell through a hinge. By using the utility model, the motor, the speed reducer, the spring, the control chip and the hinge are effectively integrated in one module shell, and the quick design and replacement can be realized only by adjusting the driving rotation speed, the vibration reduction parameters and the like of the module, so as to meet the demands of different occasions.
Description
Technical Field
The utility model relates to the technical field of wheeled robots, in particular to a modularized wheeled driving device and a robot comprising the modularized wheeled driving device.
Background
Mobile robots are a combination of multiple disciplines and fields, and are widely involved in a series of disciplines such as artificial intelligence, computer vision, automatic control, precision instruments, sensors, communications, energy, materials, system engineering, and information, and are also a combination of multiple fields including high performance computers, high speed communication networks, high performance electronics, integrated integration of signal processing and pattern recognition, software engineering, control, and system optimization.
Mobile robots are classified by moving carrier, and there are mainly two types of wheeled robots and crawler robots, among which wheeled robots are the most widely used type. The wheel type mobile robot moves facing various complex environments and different types of loads, and thus, driving power, vibration damping system parameters, and the like of the wheel type robot are greatly different for different task parameters. However, the existing wheeled robots are designed and installed by adopting the whole robot main body and wheels, and one set of wheeled robot can only be used for setting certain parameters, and different wheeled robots are required to be researched and developed or purchased again for different types of occasions, so that the complicated use is caused.
Disclosure of Invention
In view of the above, an object of the present utility model is to provide a modularized wheel drive device and a wheel robot to which the modularized wheel drive device is attached.
In order to achieve the above purpose, the technical scheme adopted by the utility model is as follows:
a modular wheel drive, comprising: a housing; the motor is arranged in the shell; the speed reducer is arranged in the shell, and the motor is connected with the input end of the speed reducer; the wheel is arranged outside the shell, is connected with the output end of the speed reducer through a rotating shaft and penetrates through the shell; the springs are arranged in the shell, one part of each spring penetrates through the shell, and the other part of each spring penetrates through the shell; the control chip is arranged in the shell and is in signal connection with the motor; and the fixing plate is arranged outside the shell through a hinge.
The above-mentioned a modularization wheeled drive device, wherein, the reduction gear includes: the device comprises a first-stage speed reducer and a second-stage speed reducer, wherein the input end of the first-stage speed reducer is connected with the motor, the output end of the first-stage speed reducer is connected with the input end of the second-stage speed reducer, and the output end of the second-stage speed reducer is connected with the rotating shaft.
The output end of the primary speed reducer is connected with the input end of the secondary speed reducer through a synchronous belt.
The modularized wheel type driving device, wherein the rotating shaft penetrates through the side plate of the shell.
The modularized wheel type driving device comprises a shell, wherein the shell is provided with a top plate, and the top plate is provided with a spring.
The above-mentioned wheeled drive arrangement of modularization, wherein, control chip includes: the device comprises a control module, a receiving module and a transmitting module, wherein the control module, the receiving module and the transmitting module are in signal connection.
The modularized wheel type driving device is characterized in that the fixing plate is provided with a plurality of mounting holes.
The modularized wheel type driving device is characterized in that the hinge is arranged on the side plate of the shell.
A robot for mounting a modular wheel drive, comprising: a main body; at least two drive devices, each drive device is a modularized wheel type drive device, and the drive devices are arranged at the lower end of the main body.
The robot for installing a modular wheel drive device described above, wherein the main body includes: the fixing plate is fixedly connected with the mounting part, and a plurality of springs can be propped against the supporting part.
The utility model adopts the technology, so that compared with the prior art, the utility model has the positive effects that:
(1) The motor, the speed reducer, the spring, the control chip and the hinge are integrated in one module shell, and quick design and replacement can be realized only by adjusting the driving rotation speed, vibration reduction parameters and the like of the module, so that the requirements of different occasions are met.
(2) The modularized robot has the advantages of simple structure and low design cost, realizes rapid processing and assembly effectively, and is convenient to install with an external robot main body. Once a certain wheel type driving device fails, only the failure module needs to be replaced. Meanwhile, according to the requirements of different occasions, wheels of 2×2, 4×4, 6×6, 8×8 and other types can be realized.
(3) Through the design of spring, provide the shock attenuation effect for the robot effectively, simultaneously, through the adjustment of nitrogen pressure, realize variable elasticity coefficient, need not to change the spring just can satisfy the transportation task of different loads.
(4) Through the design of control chip, parameters such as rotational speed of motor can be controlled, and then wheeled device is installed to the robot main part in a modularized manner.
(5) Through the design of the hinge, when the robot runs to different terrains, the wheels can swing or twist in one-axis or multi-axis directions.
Drawings
FIG. 1 is a schematic illustration of a modular wheel drive of the present utility model;
FIG. 2 is a schematic illustration of a modular wheel drive of the present utility model with a top plate removed;
FIG. 3 is a schematic view of a robot of the present utility model mounting a modular wheel drive;
fig. 4 is a schematic view of another angle of a robot of the present utility model mounting a modular wheel drive.
In the accompanying drawings: 1. a housing; 2. a motor; 3. a speed reducer; 31. a first-stage decelerator; 32. a two-stage speed reducer; 33. a synchronous belt; 4. a wheel; 41. a rotating shaft; 5. a spring; 6. a control chip; 7. a fixing plate; 71. a mounting hole; 8. a hinge; 9. a main body; 91. a mounting part; 92. a supporting part.
Detailed Description
The following description of the embodiments of the present utility model will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the utility model are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
Referring to fig. 1 and 2, there is shown a modular wheel drive apparatus of a preferred embodiment comprising: the device comprises a shell 1, a motor 2, a speed reducer 3, wheels 4, a plurality of springs 5, a control chip 6 and a fixing plate 7. The motor 2 is fixedly arranged in the shell 1, the speed reducer 3 is fixedly arranged in the shell 1, and the output end of the motor 2 is connected with the input end of the speed reducer 3, so that the speed reducer 3 is driven to work through the motor 2. The wheel 4 is mounted outside the housing 1, the wheel 4 is mounted with a rotation shaft 41, the rotation shaft 41 penetrates the housing 1, and the rotation shaft 41 is connected with an output end of the speed reducer 3, thereby driving the wheel 4 to rotate through the speed reducer 3. A plurality of springs 5 are fixedly installed inside the housing 1, and a portion of the plurality of springs 5 extend outwardly through the housing 1. The control chip 6 is fixedly arranged in the shell 1, and the control chip 6 is in signal connection with the motor 2, so that the motor 2 is controlled to be started and closed through the control chip 6. The fixing plate 7 is located outside the housing 1, the fixing plate 7 being connected to the housing 1 by means of a hinge 8, whereby the fixing plate 7 can be swung and/or twisted relative to the housing 1 by means of the hinge 8.
The present utility model has the following embodiments based on the above description:
further, as shown in fig. 1 and 2, the speed reducer 3 includes: a primary speed reducer 31 and a secondary speed reducer 32. The primary speed reducer 31 and the secondary speed reducer 32 are fixedly arranged in the shell 1, the input end of the primary speed reducer 31 is connected with the output end of the motor 2, the output end of the primary speed reducer 31 is connected with the input end of the secondary speed reducer 32, and the output end of the secondary speed reducer 32 is connected with the rotating shaft 41.
Further, in a preferred embodiment, the output end of the primary speed reducer 31 is connected to the input end of the secondary speed reducer 32 through a synchronous belt 33. Pulleys are respectively arranged at the output end of the primary speed reducer 31 and the input end of the secondary speed reducer 32, and a synchronous belt 33 is sleeved on the two pulleys, so that the primary speed reducer 31 can transmit power to the secondary speed reducer 32. Through the use of the speed reducer 3, the rotation speed of the wheels 4 is effectively adjusted, and different requirements are met.
Further, in a preferred embodiment, the housing 1 includes: the middle of the shell 1 forms a hollow structure for installing the motor 2, the speed reducer 3, the springs 5, the control chip 6 and the like.
Further, in a preferred embodiment, the rotating shaft 41 penetrates through one side plate of the casing 1, one end of the rotating shaft 41 is connected with the wheel 4, and the other end of the rotating shaft 41 is connected with the output end of the secondary speed reducer 32.
Further, in a preferred embodiment, the springs 5 are nitrogen springs, each spring 5 is disposed along an up-down direction, a cylinder of each spring 5 is fixedly mounted in the housing 1, and a piston rod of each spring 5 penetrates through a top plate of the housing 1. Through the design of a plurality of springs 5, the nitrogen pressure can be adjusted according to different occasions, so that the elastic coefficient of the springs 5 is adjusted.
Further, in a preferred embodiment, the number of the springs 5 is three, and the three springs 5 are arranged between the primary speed reducer 31 and the secondary speed reducer 32 in a staggered manner.
Further, in a preferred embodiment, the rotation direction of the rotating shaft 41 is approximately the X-axis, and the movement direction of the piston rod of the spring 5 is approximately the Y-axis.
Further, in a preferred embodiment, the control chip 6 includes: the device comprises a control module, a receiving module and a transmitting module. The control module, the receiving module and the transmitting module are in signal connection with each other, and the control module is in signal connection with the motor 2. The user sends command signals through external equipment remotely, the receiving module receives the command signals and transmits the command signals to the control module, and the control module further controls the motor 2 to be started and closed and the rotating speed of the motor 2 so as to match the requirements of different occasions. The control module can feed back real-time information to external equipment of a user through the transmitting module.
Further, in a preferred embodiment, the fixing plate 7 is provided with a plurality of mounting holes 71.
Further, in a preferred embodiment, the hinge 8 is provided on a side plate of the housing 1.
Further, in a preferred embodiment, the side plate on which the hinge 8 is mounted is a side plate penetrating the rotating shaft 41.
Further, in a preferred embodiment, the hinge 8 may be rotated by one axis, or rotated by two axes, or be a universal wheel, etc., so as to implement swinging or twisting in one axis or multiple axes according to the requirement of the external robot.
The present utility model has the following embodiments based on the above description:
referring to fig. 1 to 4, there is shown a robot of a preferred embodiment, comprising: a main body 9, at least two driving means. The two driving devices are fixedly mounted at the lower end of the main body 9 through mounting holes 71 of the fixing plate 7, respectively.
Further, as shown in fig. 1 to 4, in a preferred embodiment, the main body 9 includes: a mounting portion 91 and a supporting portion 92. The fixing plate 7 is fixedly connected with the mounting portion 91 through the mounting hole 71, and the piston rod of the spring 5 faces the supporting portion 92, so that the expansion and contraction of the piston rod can be propped against the supporting portion 92. By the design of the hinge 8, the robot body 9 can swing and/or twist in one or multiple axial directions when driving to different terrains. Through the design of spring 5, provide the shock attenuation effect for waiting on the supporting part 92 the dress article effectively, simultaneously, through the adjustment of nitrogen pressure, realize variable elasticity coefficient, can not need change spring 5 just can satisfy the transportation task of different loads.
Further, in a preferred embodiment, the main body 9 may be provided with 4×4, 6×6, 8×8, etc. driving devices according to the requirements of different occasions.
The foregoing description is only illustrative of the preferred embodiments of the present utility model and is not to be construed as limiting the scope of the utility model, and it will be appreciated by those skilled in the art that equivalent substitutions and obvious variations may be made using the description and illustrations of the present utility model, and are intended to be included within the scope of the present utility model.
Claims (10)
1. A modular wheel drive comprising:
a housing;
the motor is arranged in the shell;
the speed reducer is arranged in the shell, and the motor is connected with the input end of the speed reducer;
the wheel is arranged outside the shell, is connected with the output end of the speed reducer through a rotating shaft and penetrates through the shell;
the springs are arranged in the shell, one part of each spring penetrates through the shell, and the other part of each spring penetrates through the shell;
the control chip is arranged in the shell and is in signal connection with the motor;
and the fixing plate is arranged outside the shell through a hinge.
2. The modular wheel drive of claim 1, wherein the decelerator comprises: the device comprises a first-stage speed reducer and a second-stage speed reducer, wherein the input end of the first-stage speed reducer is connected with the motor, the output end of the first-stage speed reducer is connected with the input end of the second-stage speed reducer, and the output end of the second-stage speed reducer is connected with the rotating shaft.
3. The modular wheel drive of claim 2, wherein the output of the primary reduction is connected to the input of the secondary reduction by a timing belt.
4. The modular wheel drive of claim 1, wherein the shaft extends through a side plate of the housing.
5. The modular wheel drive of claim 1, wherein the spring is a nitrogen spring extending through a top plate of the housing.
6. The modular wheel drive of claim 1, wherein the control chip comprises: the device comprises a control module, a receiving module and a transmitting module, wherein the control module, the receiving module and the transmitting module are in signal connection.
7. The modular wheel drive of claim 1, wherein the mounting plate defines a plurality of mounting holes.
8. The modular wheel drive of claim 1, wherein the hinge is provided on a side panel of the housing.
9. A robot for mounting a modular wheel drive, comprising:
a main body;
at least two driving means, each of said driving means being a modular wheel driving means according to any one of the preceding claims 1 to 8, said driving means being provided at the lower end of said body.
10. The robot for mounting a modular wheel drive of claim 9, wherein the body comprises: the fixing plate is fixedly connected with the mounting part, and a plurality of springs can be propped against the supporting part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321115084.4U CN220220389U (en) | 2023-05-10 | 2023-05-10 | Modularized wheel type driving device and robot comprising same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321115084.4U CN220220389U (en) | 2023-05-10 | 2023-05-10 | Modularized wheel type driving device and robot comprising same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220220389U true CN220220389U (en) | 2023-12-22 |
Family
ID=89173574
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321115084.4U Active CN220220389U (en) | 2023-05-10 | 2023-05-10 | Modularized wheel type driving device and robot comprising same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220220389U (en) |
-
2023
- 2023-05-10 CN CN202321115084.4U patent/CN220220389U/en active Active
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