CN109676643B - Integrated waterproof power cabin of small robot - Google Patents
Integrated waterproof power cabin of small robot Download PDFInfo
- Publication number
- CN109676643B CN109676643B CN201910095521.2A CN201910095521A CN109676643B CN 109676643 B CN109676643 B CN 109676643B CN 201910095521 A CN201910095521 A CN 201910095521A CN 109676643 B CN109676643 B CN 109676643B
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- power
- motor
- motor assembly
- running
- output shaft
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- 230000007306 turnover Effects 0.000 claims description 41
- 239000003638 chemical reducing agent Substances 0.000 claims description 8
- 230000003014 reinforcing effect Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002775 capsule Substances 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000004519 grease Substances 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000013585 weight reducing agent Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an integrated waterproof power cabin body of a small robot. The waterproof performance of the power cabin of the robot is poor, the power is insufficient and the technical problem of large size at present is mainly solved. The technical scheme of the invention is as follows: the utility model provides an integral type small-size robot waterproof power cabin body, including the power cabin shell, install in the power cabin shell side by side and go motor assembly a, tilting arm motor assembly and go motor assembly b, tilting arm motor assembly below is equipped with tilting arm power take off shaft, the tilting arm power take off shaft is installed through the bearing housing in tilting arm power take off shaft both ends, go motor assembly a and go motor assembly b output shaft installation go motor gear respectively with tilting arm power take off shaft both ends go power take off shaft meshing, tilting arm motor assembly fixes on tilting arm motor cabinet, it is equipped with three motor drive to go motor assembly a one side in the power cabin shell, be fixed with the circuit keysets on the motor drive, the power cabin shell lower extreme is equipped with cabin body unable adjustment base.
Description
Technical Field
The invention relates to a waterproof power module suitable for small wheeled and crawler robots, in particular to an integrated waterproof power cabin of a small robot.
Background
Currently, the development of robotics has been developed and applied in various fields, which also form a number of challenges for robots. At present, because a large number of dangerous robots are urgently needed to replace workers for operation in special occasions, the waterproof performance, the power index and the size of the robots are required to be higher. Therefore, the design of the power cabin with better waterproof performance is urgent.
Disclosure of Invention
The invention aims to provide an integrated waterproof power cabin body of a small robot, which mainly solves the technical problems of poor waterproof performance, insufficient power and large volume of the existing power cabin of the robot.
The technical scheme of the invention is as follows: the utility model provides an integral type small-size robot waterproof power cabin body, including the power cabin shell, install in the power cabin shell side by side and go motor assembly a, tilting arm motor assembly and go motor assembly b, tilting arm motor assembly below is equipped with tilting arm power take off shaft, the tilting arm power take off shaft is installed through the bearing housing in tilting arm power take off shaft both ends, go motor assembly a and go motor assembly b output shaft installation go motor gear respectively with tilting arm power take off shaft both ends go power take off shaft meshing, tilting arm motor assembly fixes on tilting arm motor cabinet, it is equipped with three motor drive to go motor assembly a one side in the power cabin shell, be fixed with the circuit keysets on the motor drive, the power cabin shell lower extreme is equipped with cabin body unable adjustment base. The running motor assembly a or the running motor assembly b comprises a running motor encoder, a running motor and a running motor reducer which are sequentially connected, and the running motor is fixed on a running motor seat. The turnover arm motor assembly comprises a turnover arm motor encoder, a turnover arm motor reducer and a turnover arm power output shaft which are sequentially connected, a driving gear at the output shaft end of the turnover arm motor is meshed with a driven gear on the turnover arm power output shaft and is also meshed with an angle feedback gear, an ohmic rotary potentiometer is arranged on the angle feedback gear and is fixed on a turnover arm motor seat through a potentiometer fixing plate, two electrical interfaces are arranged on the rear side of a cabin body of the power cabin shell, one of the electrical interfaces is used for supplying power, the other electrical interfaces are used for transmitting control signals, the control signals and currents are connected to a circuit adapter plate after being connected to the cabin body, and then the power cabin is divided into 6 bundles, and the two driving motors, the turnover arm motor and the three motor drivers are respectively connected.
In order to ensure the strength of the power cabin shell and reduce the weight, a plurality of reinforcing ribs and weight reducing grooves are arranged on the power cabin shell.
The contact surface of the power output shaft of the turning arm and the power cabin shell is provided with a double-sealing-ring waterproof structure, a sleeved large bearing, an oil seal gasket and a large oil seal form a first seal, a sleeved small oil seal, a small oil seal gasket and a small bearing form a second seal.
The beneficial effects of the invention are as follows: the power module has light weight and sufficient power; the size is small, the space is greatly saved, and the advantages are provided for the small robot to be additionally provided with more sensors; the power module has universality, and different output capacities can be obtained by replacing auxiliary accessories such as different driving wheel trains; the waterproof structure inside the module improves the waterproof grade and reaches IP67; the built-in driver of the module optimizes an electric control system and reduces the whole space.
Drawings
Fig. 1 is a perspective view of the overall structure of the present invention.
Fig. 2 is a top view in semi-section of the present invention.
Fig. 3 is a schematic diagram of the gear transmission pair of the driving motor of the present invention.
Fig. 4 is a schematic view of the internal structure of the present invention.
FIG. 5 is a schematic diagram of the arm angle feedback assembly of the present invention.
Fig. 6 is a schematic view of the structure of the housing of the present invention.
Fig. 7 is a diagram of the electrical interface of the capsule module of the present invention.
Fig. 8 is a schematic view of a waterproof structure of a dual output shaft of the present invention.
In the figure: the motor comprises a 1-power cabin shell, a 2-turning arm power output shaft, a 3-running power output gear shaft, a 4-cabin fixing base, a 5-running motor reducer, a 6-driving motor, a 7-running motor encoder, an 8-running motor base, a 9-turning arm motor reducer, a 10-turning arm motor, a 11-turning arm motor encoder, a 12-turning arm motor base, a 13-line adapter plate, a 14-rotating shaft angle feedback assembly, a 15-motor driver, a 16-potentiometer fixing plate, a 17-angle feedback gear, a 18-ohm rotary potentiometer, a 19-driving gear, a 20-driven gear, a 21-electric interface, a 22-large bearing, a 23-oil seal gasket, a 24-large oil seal, a 25-small oil seal, a 26-small oil seal gasket, a 27-small bearing, a 28-running motor assembly a, a 29-running motor assembly b, a 30-turning arm motor assembly, a 31-running motor gear, a 32-reinforcing rib, a 33-weight reduction groove, 34-pin hole and a 35-screw locking hole.
Detailed Description
Referring to fig. 1-8, an integrated small-sized robot waterproof power cabin comprises a power cabin shell 1, wherein a running motor assembly a28, a turnover arm motor assembly 30 and a running motor assembly b29 are installed in the power cabin shell 1 side by side, a turnover arm power output shaft 2 is arranged below the turnover arm motor assembly 30, running power output gear shafts 3 are installed at two ends of the turnover arm power output shaft 2 through bearing sleeves, running motor gears 31 are installed at two ends of the turnover arm power output shaft and are meshed with the running power output gear shafts 3 respectively, so as to generate driving power, the turnover arm motor assembly 30 is fixed on a turnover arm motor seat 12, three motor drivers 15 are arranged on one side of the running motor assembly a28 in the power cabin shell 1, a circuit adapter plate 13 is fixed on the motor drivers 15, a cabin body fixing base 4 is arranged at the lower end of the power cabin shell 1, the fixing base 4 is connected with a cabin body through screw connection, and finally, the driving motor gears 31 are connected with a base plate or a robot chassis corresponding to any hole site through a hole site on the fixing base, and therefore the installation of the power cabin body on different robots is achieved. The running motor assembly a28 or the running motor assembly b29 comprises a running motor encoder 7, a running motor 6 and a running motor reducer 5 which are sequentially connected, the running motor 6 is fixed on a running motor seat 8, and the running motor assembly a2 and the running motor assembly b29 are connected with a motor mounting hole on the inner wall of the cabin body of the power cabin shell in a screw fastening mode. The turnover arm motor assembly 30 comprises a turnover arm motor encoder 11, a turnover arm motor 10, a turnover arm motor reducer 9 and a turnover arm power output shaft 2 which are sequentially connected, a driving gear 19 at the output shaft end of the turnover arm motor 10 is meshed with a driven gear 20 on the turnover arm power output shaft and is also meshed with an angle feedback gear 17, an ohmic rotary potentiometer 18 is arranged on the angle feedback gear 17, the ohmic rotary potentiometer 18 is fixed on the turnover arm motor seat 12 through a potentiometer fixing plate 16, and the turnover arm motor assembly 30 is connected with a rotary arm motor fixing hole position on the inner wall of a cabin body of the power cabin in a screw fastening mode. Wherein the ohmic rotary potentiometer 18, the angle feedback gear 17, the driving gear 19 and the driven gear 20 are all in linkage through gear transmission. Finally, the power output shaft 2 of the turnover arm can output power under the drive of the motor 10 of the turnover arm, and meanwhile, the ohm rotary potentiometer 18 can feed back the rotation angle of the power output shaft 2 of the turnover arm in real time, so that a closed loop is provided for an electric control system. The principle of the action is that the turnover arm motor assembly 30 drives the driving gear 19, thereby driving the driven gear 20 to rotate the turnover arm power output shaft 2; at the same time, the rotation of the driving gear 19 drives the angle feedback gear 17 to rotate, thereby rotating the ohm rotary potentiometer 18. The power cabin shell 1 is provided with two electrical interfaces 21 at the rear side of the cabin body, one of which is used for supplying power and the other is used for transmitting control signals, and the power supply and the signals are separated from each other so as not to influence each other between the electrical signals. After the control signals and the current are connected to the cabin body, the control signals and the current are connected to the circuit adapter plate 13 and then divided into 6 bundles, and the control signals and the current are respectively connected with the two running motors 6, the turnover arm motor 10 and the three motor drivers 15. The cabin body designed in the way can be separated only by taking down the connector on the circuit adapter plate when being assembled and disassembled, and is easy to maintain; meanwhile, the complex driver wiring and branching are realized inside the module, so that the line pressure of other parts of the robot is greatly reduced, the wire harness led out from the main circuit board is less and more reasonable, the electric control system is optimized, the whole space is reduced, and the module is made into a universal power module.
In order to ensure the strength of the power cabin shell and reduce the weight, a plurality of reinforcing ribs 32 and weight reducing grooves 33 are arranged on the power cabin shell. The aluminum shell with the overall thickness of 3-5mm can bear the output of large torque, and simultaneously meets the strength requirement and the weight requirement.
The contact surface of the power output shaft 2 of the turnover arm and the power cabin shell 1 is provided with a double-sealing-ring waterproof structure, a sleeved large bearing 22, an oil seal gasket 23 and a large oil seal 24 form a first seal, and a sleeved small oil seal 25, a small oil seal gasket 26 and a small bearing 27 form a second seal. The small space formed by the large bearing 22, the small bearing 27 and the wall surface of the power cabin shell is coated with solid lubricating grease, so that the waterproof effect is further enhanced. In order to meet the waterproof IP67 requirement, a plurality of pin holes 34 and screw locking holes 35 are formed in the power cabin outer shell body and used for accurate assembly, and sealing ring grooves are formed in the spliced part of the power cabin outer shell body. The electrical interfaces all adopt IP67 level waterproof aviation sockets, so that the power module can meet the working environment of IP 67.
The whole size of the invention is only 254 multiplied by 207 multiplied by 131mm, which greatly saves space and provides advantages for adding more sensors for the small robot; the self weight of the module is only 4.5 kg, the power requirement of the robot with the total weight of 50kg can be met, the running speed of at least 1.0m/s can be achieved under the working condition that the crawler is in contact with the ground on the muddy road (the ground with a large friction coefficient), and the power is enough to climb stairs; if the total design weight of the crawler robot is only 25kg, the actual measurement can reach the running speed of 2.1m/s and can climb stairs and climb over obstacles; different output capacities (total power, 400W of driving and 70W of rotation of the rotating arm) can be obtained by replacing auxiliary accessories such as different driving wheel trains and the like, and the auxiliary accessories can be fixed by fixing gaps at the bottom of the cabin module, so that the rear part and the side wall surfaces of the cabin module can be used for auxiliary fixing, the cabin module can be easily fixed on different small-sized robot chassis, and certain universality is realized. After the robot chassis with the matched size is fixed through the cabin fixing base 4, the external output mechanism connected with the power output shaft 2 of the turnover arm and the driving power output gear shaft 3 is changed, so that distinct power outputs can be obtained. When the driving power output gear shaft 3 is connected with the wheel type structure, the radius of the tire is larger, the friction resistance with the ground is smaller, and a power output mode with higher speed can be obtained; when the driving power output gear shaft 3 is connected with the crawler type structure, the robot chassis with strong ground adaptability and terrain passing capability can be obtained due to the strong terrain adaptability of the crawler type structure.
Claims (3)
1. The utility model provides an integral type small-size robot waterproof power cabin body, includes power cabin shell, characterized by: the power cabin shell is internally provided with a running motor assembly a, a turnover arm motor assembly and a running motor assembly b side by side, wherein the running motor assembly a or the running motor assembly b comprises a running motor encoder, a running motor and a running motor reducer which are sequentially connected, and the running motor is fixed on a running motor seat; the turnover arm motor assembly comprises a turnover arm motor encoder, a turnover arm motor reducer and a turnover arm power output shaft which are sequentially connected, a driving gear at the output shaft end of the turnover arm motor is meshed with a driven gear on the turnover arm power output shaft and is also meshed with an angle feedback gear, an ohmic rotary potentiometer is arranged on the angle feedback gear and is fixed on a turnover arm motor seat through a potentiometer fixing plate, two electrical interfaces are arranged on the rear side of a cabin body of a power cabin shell, one of the electrical interfaces is used for supplying power, the other electrical interfaces is used for transmitting control signals, the control signals and current are connected to a circuit adapter plate after being connected to the cabin body, and then the power cabin body is divided into 6 bundles, and the two driving motors, the turnover arm motor and the three motor drivers are respectively connected; the lower part of the turning arm motor assembly is provided with a turning arm power output shaft, two ends of the turning arm power output shaft are provided with running power output gear shafts through bearing sleeves, the running motor assembly a and the running motor assembly b are provided with running motor gears which are respectively meshed with the running power output gear shafts at two ends of the turning arm power output shaft, the turning arm motor assembly is fixed on a turning arm motor seat, one side of the running motor assembly a in a power cabin shell is provided with three motor drivers, a circuit adapter plate is fixed on each motor driver, and the lower end of the power cabin shell is provided with a cabin body fixing base.
2. The integrated hydrodynamic chamber of a small robot as recited in claim 1, wherein: a plurality of reinforcing ribs and weight reducing grooves are arranged on the power cabin shell.
3. The integrated hydrodynamic chamber of a small robot as recited in claim 1, wherein: the contact surface of the power output shaft of the turning arm and the power cabin shell is provided with a double-sealing-ring waterproof structure, a sleeved large bearing, an oil seal gasket and a large oil seal form a first seal, a sleeved small oil seal, a small oil seal gasket and a small bearing form a second seal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910095521.2A CN109676643B (en) | 2019-01-31 | 2019-01-31 | Integrated waterproof power cabin of small robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910095521.2A CN109676643B (en) | 2019-01-31 | 2019-01-31 | Integrated waterproof power cabin of small robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109676643A CN109676643A (en) | 2019-04-26 |
| CN109676643B true CN109676643B (en) | 2024-01-26 |
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ID=66195287
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910095521.2A Active CN109676643B (en) | 2019-01-31 | 2019-01-31 | Integrated waterproof power cabin of small robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN109676643B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104787133A (en) * | 2015-03-30 | 2015-07-22 | 上海合时智能科技有限公司 | Turnover arm mechanism applicable to wheel-track combined chassis |
| CN105059413A (en) * | 2015-08-18 | 2015-11-18 | 公安部上海消防研究所 | Fire-fighting robot moving carrier having waterproof characteristic |
| CN204935670U (en) * | 2015-09-08 | 2016-01-06 | 中国矿业大学徐海学院 | The special steering wheel of a kind of double output shaft robot |
| CN107651034A (en) * | 2017-08-31 | 2018-02-02 | 北京精密机电控制设备研究所 | A kind of integrated drive module of mobile robot |
| WO2018207955A1 (en) * | 2017-05-08 | 2018-11-15 | (주)로보티즈 | Speed reducer having position feedback device provided therein |
| CN209615563U (en) * | 2019-01-31 | 2019-11-12 | 上海合时智能科技有限公司 | A kind of small scale robot waterproof power cabin of integral type |
-
2019
- 2019-01-31 CN CN201910095521.2A patent/CN109676643B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104787133A (en) * | 2015-03-30 | 2015-07-22 | 上海合时智能科技有限公司 | Turnover arm mechanism applicable to wheel-track combined chassis |
| CN105059413A (en) * | 2015-08-18 | 2015-11-18 | 公安部上海消防研究所 | Fire-fighting robot moving carrier having waterproof characteristic |
| CN204935670U (en) * | 2015-09-08 | 2016-01-06 | 中国矿业大学徐海学院 | The special steering wheel of a kind of double output shaft robot |
| WO2018207955A1 (en) * | 2017-05-08 | 2018-11-15 | (주)로보티즈 | Speed reducer having position feedback device provided therein |
| CN107651034A (en) * | 2017-08-31 | 2018-02-02 | 北京精密机电控制设备研究所 | A kind of integrated drive module of mobile robot |
| CN209615563U (en) * | 2019-01-31 | 2019-11-12 | 上海合时智能科技有限公司 | A kind of small scale robot waterproof power cabin of integral type |
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| Publication number | Publication date |
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| CN109676643A (en) | 2019-04-26 |
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