CN111823849A

CN111823849A - Drive device and robot

Info

Publication number: CN111823849A
Application number: CN202010774217.3A
Authority: CN
Inventors: 王鑫; 白文宝
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2020-08-04
Filing date: 2020-08-04
Publication date: 2020-10-27

Abstract

The application relates to the technical field of robots, in particular to a driving device and a robot. The drive device is installed in the robot, and the drive device includes: a first substrate; a second base rotatably connected to the first base about a vertical axis; the steering motor is arranged on the first base body and used for driving the second base body to rotate; the travelling wheel is rotatably arranged on the second base body around a horizontal axis; the traveling motor is arranged on the second base body and arranged above the traveling wheels; and the transmission mechanism is arranged on the second base body, and the walking motor drives the walking wheel to rotate through the transmission mechanism. Compared with the prior art, the driving device provided by the application has the advantages that the whole horizontal projection area of the walking module is small, the whole outline boundary of the walking module is folded by taking a vertical steering axis as the center, the turning radius is greatly reduced, the whole adjacent walking modules are not easy to interfere, and the robot can smoothly steer.

Description

Drive device and robot

Technical Field

The application relates to the technical field of robots, in particular to a driving device and a robot.

Background

The width specification of the door frame of an indoor door in a house building is mostly 800-1000mm, and for the convenience of smooth access of a robot, the chassis of the robot required to work in the building is reduced to about 600 mm. Due to the fact that the size of the chassis is small, adjacent steering wheels can interfere when steering, and the building robot cannot smoothly enter and exit.

Disclosure of Invention

The application aims at providing a driving device and a robot so as to solve the problem that a building robot cannot smoothly pass in and out in the prior art.

The embodiment of the application is realized as follows:

in a first aspect, an embodiment of the present application provides a driving device, which includes:

a first substrate;

a second base rotatably connected to the first base about a vertical axis;

the steering motor is arranged on the first base body and used for driving the second base body to rotate;

a road wheel rotatably mounted to the second base about a horizontal axis;

the traveling motor is arranged on the second base body and is arranged above the traveling wheel;

and the transmission mechanism is arranged on the second base body, and the walking motor drives the walking wheel to rotate through the transmission mechanism.

The application provides a drive arrangement, its walking motor is located the top of walking wheel, the two utilizes drive mechanism to connect, around vertical axis pivoted second base member, the walking wheel, the walking module that walking motor and drive mechanism formed is whole compare with prior art, the holistic horizontal projection area of walking module is less, the holistic profile margin of walking module uses vertical axis of turning to draw in as the center, radius of gyration reduces greatly, adjacent walking module is whole to be difficult to interfere, make the robot turn to smoothly.

In an embodiment of the present application, optionally, the output shaft of the walking motor is disposed in parallel with the rotation axis of the walking wheel.

In the technical scheme, the output shaft of the walking motor is parallel to the rotating axis of the walking wheel, so that the height occupied by the walking motor and the walking wheel is small, the gravity center of the driving device is low, and the steering is more stable.

In one embodiment of the present application, optionally, the transmission mechanism is a reduction gear set.

In the technical scheme, the walking motor and the walking wheel are driven through the reduction gear set, the rotation speed of the walking motor is reduced by the reduction gear set and then is transmitted to the walking wheel, the output torque can be improved, the obstacle crossing capability of the walking wheel is improved, the road condition adaptability of the walking wheel is improved, and the walking wheel is favorable for walking indoors in unfinished buildings or crossing over a threshold.

In an embodiment of the present application, optionally, the reduction gear set includes a first gear, a second gear and a third gear that mesh in sequence, the first gear is connected to an output shaft of the traveling motor, and the third gear drives the traveling wheel.

In the technical scheme, the first gear is synchronous with the walking motor, the rotating speed of the first gear is transmitted to the walking wheel after being reduced by the second gear and the third gear, the technical effect of reducing the speed and improving the torque is achieved, the three gears are arranged on a vertical plane, the occupied horizontal space is small, and the influence on the turning radius is small.

In an embodiment of the present application, optionally, the second base member is L-shaped and includes a horizontal portion and a vertical portion, the horizontal portion is connected to the first base member, the walking wheel the walking motor and the transmission mechanism are all installed in the second base member, the walking wheel with the walking motor is located on one side of the vertical portion, the transmission mechanism is located on the other side of the vertical portion.

In the technical scheme, the second base body is L-shaped, the horizontal portion of the second base body is connected with the first base body, two sides of the vertical portion are respectively used for mounting parts, the rotation axis penetrates through the horizontal portion, and the gyration radius can be smaller than the width between the outline margins of the two sides of the vertical portion, so that the gyration radius is further reduced.

In an embodiment of the present application, optionally, the second base further includes a first cover plate, an accommodating cavity is formed on the other side of the vertical portion, the transmission mechanism is located in the accommodating cavity, and the first cover plate covers an opening of the accommodating cavity.

Among the above-mentioned technical scheme, the second base member sets up and holds the chamber and install drive mechanism, and drive mechanism indentation vertical portion holds the intracavity, further reduces radius of gyration to can seal drive mechanism in holding the chamber through first apron, improve drive arrangement's dustproof and waterproof performance.

In an embodiment of the application, optionally, the walking wheel includes tire and walking speed reducer, the tire cover is located the walking speed reducer, the input of walking speed reducer is connected drive mechanism.

In the technical scheme, the tire and the walking speed reducer are integrated, the walking speed reducer is further decelerated and output after torque is increased, and road condition adaptability of the walking wheel pair is further improved.

In an embodiment of the present application, optionally, the driving device further includes a brake, and the brake is disposed at an output end of the walking reducer.

In an embodiment of the present application, optionally, the driving device further includes:

the slewing bearing comprises an inner ring and an outer ring, the inner ring is fixedly connected to the first base body, the second base body is fixedly connected to the outer ring, and the steering motor is used for driving the outer ring to rotate;

the first base body is a dust cover, and the slewing bearing is arranged in the dust cover.

In a second aspect, an embodiment of the present application further provides a robot, which includes a chassis, and the aforementioned driving device is installed on the chassis.

The application provides a robot, its drive arrangement's radius of gyration is little, and adjacent drive arrangement is difficult to interfere when the walking, and the robot can pass in and out narrower section of passing through smoothly.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a schematic structural diagram of a driving device according to an embodiment of the present disclosure at a first viewing angle;

fig. 2 is a schematic structural diagram of a driving device provided in an embodiment of the present application at a second viewing angle;

fig. 3 is a separated state diagram of a steering module and a walking module of the driving device provided by the embodiment of the application;

FIG. 4 is an exploded view of a steering module provided in an embodiment of the present application;

fig. 5 is an exploded view of a walking module provided in an embodiment of the present application;

FIG. 6 is a schematic view of an installation of a transmission provided in an embodiment of the present application;

fig. 7 is a sectional view taken along line a-a of fig. 2.

Icon: i-a steering module; II, a walking module; III-a steering axis; IV-horizontal axis; 100-a first substrate; 110-a patch panel; 120-a second cover plate; 130-slewing bearing; 131-an inner ring; 132-an outer ring; 200-a steering motor; 210-a steering reducer; 300-a second substrate; 310-a horizontal portion; 320-vertical section; 321-a containing cavity; 322-a first cover plate; 400-a walking motor; 500-a travelling wheel; 510-a walking speed reducer; 520-a tire; 600-a transmission mechanism; 610-a first gear; 620-second gear; 630-third gear; 700-a brake; 710-perforated mounting plate; 720-cover cap; 800-framework oil seal; 900-sealing rubber ring.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

In the description of the present application, it should be noted that if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are used for indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship which is usually placed when the product of the application is used, the description is only for convenience and simplicity, and the indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation and be operated, and thus, should not be construed as limiting the present application.

Examples

Construction robots are often required to walk on uneven roads, such as uneven ground in an unfinished room, or over doorsills, etc., and in narrow areas through indoor door frames, etc. Because the width of the indoor door frame is generally 800-1000mm, the chassis of the robot needs to be reduced to about 600mm for the robot to smoothly enter and exit. Such chassis size is less, and adjacent walking wheel probably interferes each other when turning to, leads to the robot can not accomplish smoothly and turn to, unable normal business turn over.

The embodiment of the application provides a driving device and a robot, wherein the robot comprises a chassis and the driving device, and the driving device is installed below the chassis of the robot so as to solve the problem that the chassis of the existing robot is small and the robot cannot smoothly turn.

The structure of the driving device is as shown in fig. 1, fig. 2 and fig. 3, and the driving device comprises a steering module I and a walking module II, wherein the steering module I is installed on a chassis of the robot, the walking module II is connected to the steering module I, the steering module I is used for driving the walking module II to rotate around a vertical axis (hereinafter, referred to as a steering axis III), and a walking wheel 500 on the walking module II rotates around a horizontal axis IV.

As shown in fig. 4, the steering module I includes a first base 100, a steering motor 200, and a pivoting support 130, the first base 100 is connected to a chassis of the robot through an adapter 110, and the steering motor 200 and the pivoting support 130 are respectively mounted to the first base 100.

In order to reduce the overall height, the first base 100 is provided with two mounting positions, and the steering motor 200 and the pivoting support 130 are respectively mounted on the two mounting positions.

The slewing bearing 130 includes an inner ring 131 and an outer ring 132, the inner ring 131 is fixedly mounted on the first base 100, and the outer ring 132 is rotatable relative to the inner ring 131.

The steering motor 200 is in transmission connection with the outer ring 132, the transmission mode may be a pulley transmission, a worm gear transmission, etc., and in this embodiment, the steering motor 200 and the outer ring 132 are in gear transmission.

A driving gear is provided in the first substrate 100, and gear teeth engaged with the driving gear are formed on the circumference of the outer race 132. When the steering motor 200 is operated, the outer ring 132 is driven to rotate by the driving gear.

To improve dust and water resistance, first substrate 100 is configured as a dust cover having a cavity formed therein for mounting a drive gear and a slewing bearing 130.

For the convenience of installation and sealing, an opening for exposing the driving gear is arranged above the dust cover, a detachable second cover plate 120 is arranged to shield the driving gear, and a sealing rubber ring 900 is arranged between the second cover plate 120 and the dust cover to prevent dust and water.

To facilitate the transfer of rotation and sealing, the upper end of inner race 131 of slewing bearing 130 is secured to a dust cover, an opening is provided below the dust cover to expose slewing bearing 130, and a skeleton oil seal 800 is provided between outer race 132 and the dust cover to form a rotary seal.

In order to increase the output torque, the steering module I further includes a steering speed reducer 210, the steering speed reducer 210 is mounted on the dust cover, and the steering speed reducer 210 is disposed between the steering motor 200 and the driving gear. The output end of the steering speed reducer 210 passes through the dust cover and is connected with the driving gear, and the input end of the steering speed reducer 210 is connected with the output end of the steering motor 200. In order to improve the sealing performance, a sealing rubber ring 900 is arranged between the steering reducer 210 and the dust cover.

In order to reduce the installation height, the steering motor 200 and the steering reducer 210 are located below the first base 100.

The steering motor 200 drives the driving gear after reducing the speed and increasing the torque through the steering reducer 210, and the driving gear drives the outer ring 132 of the pivoting support 130 to rotate.

The aforementioned traveling module II is connected to the lower end of the outer ring 132 of the slewing bearing 130.

As shown in fig. 5, 6 and 7, the traveling module II includes a second base 300, a traveling motor 400, a traveling wheel 500 and a transmission mechanism 600.

The second base body 300 is connected with the outer ring 132 of the pivoting support 130, the traveling wheel 500 and the traveling motor 400 are both mounted on the second base body 300, and the traveling motor 400 drives the traveling wheel 500 through the transmission mechanism 600. The rotation of the pivoting support 130 drives the second base 300, and the traveling motor 400, the traveling wheel 500 and the transmission mechanism 600 mounted to the second base 300 to rotate, thereby steering the traveling wheel 500.

In the prior art, the walking motors are arranged on two sides of the walking wheels, and output shafts of the walking motors are directly connected with rotating shafts of the walking wheels, so that the walking wheels and the walking motors integrally occupy more horizontal space, the distance from a steering axis III to the farthest marginal position of the profile is far, and the turning radius is large.

The walking motor 400 of this embodiment is installed in the top of walking wheel 500, and the holistic horizontal projection area of walking module II is less, and the horizontal space that occupies is little, and the farthest margin of walking module II's profile is nearer with steering axis III's distance, and radius of gyration reduces greatly, and adjacent walking module II is whole to be difficult to interfere.

The transmission mechanism 600 between the walking motor 400 and the walking wheel 500 can be a belt wheel transmission set, a worm and gear transmission set, etc., and in this embodiment, the transmission mechanism 600 between the walking motor 400 and the walking wheel 500 is a reduction gear set.

The reduction gear set comprises a first gear 610, a second gear 620 and a third gear 630, wherein the first gear 610, the second gear 620 and the third gear 630, the first gear 610 is connected with an output shaft of the walking motor 400, and the third gear 630 is connected with a rotating shaft of the walking wheel 500. The first gear 610, the second gear 620, and the third gear 630 are respectively mounted to the second base 300, and the first gear 610 and the third gear 630 are driven at a reduced speed by the second gear 620. That is, the first gear 610, the second gear 620, and the third gear 630 are engaged in sequence.

The road wheel 500 comprises a walking speed reducer 510 and a tire 520, the walking speed reducer 510 is mounted on the second base 300, and the tire 520 is sleeved on the walking speed reducer 510.

The input end of the walking reducer 510 is the rotating shaft of the walking wheel 500, and the input end of the walking reducer 510 is connected with the third gear 630.

That is, the output power of the traveling motor 400 is output after being reduced twice by the reduction gear set and the traveling speed reducer 510, and the reduction gear set and the traveling speed reducer 510 form a two-stage reduction mechanism.

Compare the walking wheel that is equipped with the speed reducer among the prior art, the walking speed reducer 510 integration of this embodiment is at the middle part of walking wheel 500, and is less to the turning radius influence of walking wheel 500. And the second grade reduction gears that reduction gear set and walking speed reducer 510 formed can increase the maximum output torque, and walking wheel 500 can be gone with great moment of torsion, and obstacle crossing performance is good, and road conditions adaptability improves.

The principle of the two-stage reduction mechanism formed by the reduction gear set and the travel reducer 510 is further explained herein.

The larger the reduction ratio of the speed reducer is, the larger the gear is, the larger the diameter of the intermediate shaft is, and therefore the whole travelling wheel and the connecting structure of the travelling wheel are increased in equal proportion. And limited by the smaller chassis, the increase in the equal size ratio will significantly increase the turning radius. If the size requirement is satisfied, a certain specification is defined, and the reduction ratio is increased, the larger the gear is, the smaller the intermediate shaft is, the smaller the torque that can be transmitted is, and the shaft is easily broken when the large torque is driven.

Therefore, in the existing robot in the construction industry, it is often difficult to achieve both good obstacle crossing performance and a small body width, which results in low passing performance of the robot.

In the driving device provided in the present embodiment, the reduction gear set and the traveling speed reducer 510 share a part of the reduction ratio, and under the condition that the total reduction ratio is not changed, the reduction ratio of the traveling speed reducer 510 is reduced, and the intermediate shaft of the traveling speed reducer 510 is relatively large, so that the maximum torque that can be received and transmitted is increased.

Therefore, the driving device provided by the embodiment can output large torque under the condition of providing a small turning radius, realizes large-torque running with a small volume, and has small body width and good obstacle crossing performance, and the robot provided with the driving device has good trafficability.

Further, the aforementioned first base 100 includes a horizontal portion 310 and a vertical portion 320, and the steering axis III passes through the horizontal portion 310.

The references to "horizontal" and "vertical" herein do not require that the components be absolutely horizontal or overhanging, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

The horizontal part 310 is connected to the outer ring 132 of the pivoting support 130, the traveling motor 400 and the traveling wheel 500 are installed at one side of the vertical part 320, and the transmission mechanism 600 is installed at the other side of the vertical part 320.

To reduce the radius of gyration, the steering axis III is located at an intermediate position of the horizontal portion 310 such that the profile margins of both sides of the drive arrangement are at a similar distance from the steering axis III.

The vertical part 320 may be connected at an intermediate position of the horizontal part 310 such that the horizontal part 310 and the vertical part 320 form a T-like structure.

To improve the steering sensitivity of the road wheel 500, the horizontal part 310 and the vertical part 320 form an L-shape, and the inner corner side of the L-shape is used to mount the road wheel 500 and the travel motor 400 such that the steering axis III passes through the axis of the road wheel 500 and is located at the center of the width of the tire 520.

In order to further reduce the radius of gyration, the vertical part 320 is formed with a containing cavity 321, the transmission mechanism 600 is installed in the containing cavity 321, and a first cover plate 322 is arranged to cover the opening of the containing cavity 321 to shield the transmission mechanism 600.

When the first cover plate 322 covers the opening of the accommodating cavity 321, the vertical portion 320 with the accommodating cavity 321 still has better axial stability compared with a solid structure with the same cross-sectional area. Therefore, by installing the transmission mechanism 600 by providing the receiving cavity 321 with the first cover plate 322, it is possible to both bring the transmission mechanism 600 further closer to the steering axis III to further reduce the turning radius of the traveling module II and to provide the vertical portion 320 with better axial stability.

Moreover, because the environment of the construction site is relatively humid and has relatively heavy dust, and also has some organic or inorganic salt fog, there is a relatively large influence on the durability of the mechanical structure, the transmission mechanism 600 in this embodiment is shielded in the accommodating cavity 321, so that the contact with sewage, dust, salt fog and the like can be reduced, and the durability is remarkably improved.

For further promoting waterproof dustproof performance, set up the bar groove (not shown in the figure) on vertical portion 320, this bar groove encircles the opening that holds chamber 321, and the bar inslot inlays and establishes sealed rubber ring (not shown in the figure). When the first cover plate 322 covers the opening of the accommodating cavity 321, the first cover plate 322 presses the sealing rubber ring tightly to seal the connecting gap between the first cover plate 322 and the vertical portion 320, so as to realize sealing connection.

Referring to fig. 3, 5 and 6, the first gear 610, the second gear 620 and the third gear 630 are sequentially installed in the accommodating cavity 321 from top to bottom.

The walking motor 400 is installed at the other side of the bottom plate of the accommodating cavity 321, and the output end of the walking motor 400 penetrates through the bottom plate and extends into the accommodating cavity 321 and is connected with the rotating shaft of the first gear 610.

A sealing rubber ring 900 is arranged between the walking motor 400 and the bottom plate of the accommodating cavity 321 to prevent dust and water. Alternatively, an annular groove is provided on one of the traveling motor 400 and the bottom plate of the accommodation chamber 321, and a packing rubber 900 is provided in the annular groove, and when the traveling motor 400 is fastened to the vertical portion 320, the traveling motor 400 and the bottom plate of the accommodation chamber 321 are pressed by the packing rubber 900, and a gap therebetween is closed. The sealing rubber ring 900 arranged at the position can also play a certain shock absorption effect when the walking motor 400 works.

The walking reducer 510 of the walking wheel 500 is installed at the other side of the bottom plate of the accommodating cavity 321, and the input end of the walking reducer 510 penetrates through the bottom plate and extends into the accommodating cavity 321 and is connected with the rotating shaft of the third gear 630.

A sealing rubber ring 900 is arranged between the walking speed reducer 510 and the bottom plate of the accommodating cavity 321 to prevent dust and water. Alternatively, an annular groove is provided on one of the travel speed reducer 510 and the bottom plate of the accommodation chamber 321, the seal rubber ring 900 is provided in the annular groove, and when the travel speed reducer 510 is tightly mounted on the vertical portion 320, the travel speed reducer 510 and the bottom plate of the accommodation chamber 321 are pressed by the seal rubber ring 900, and a gap between the travel speed reducer 510 and the bottom plate is sealed. The sealing rubber ring 900 arranged at the position can also play a certain shock absorption effect when the walking speed reducer 510 works.

The tire 520 is sleeved outside the walking reducer 510 and rotates synchronously with the output end of the walking reducer 510.

The output end of the walking speed reducer 510 extends out towards the direction far away from the vertical part 320, a brake 700 is installed on one side of the walking speed reducer 510 far away from the vertical part 320, and the brake 700 is matched with the output end of the walking speed reducer 510 for braking.

A perforated mounting plate 710 is fixed on one side of the walking reducer 510 away from the vertical part 320, and the output end of the walking reducer 510 penetrates through the perforated mounting plate 710. A sealing rubber ring 900 is arranged between the mounting plate with holes 710 and the walking speed reducer 510.

The brake 700 is fixedly mounted to the perforated mounting plate 710 for cooperation with the output of the travel reducer 510. A cover 720 is further provided on the outside of the stopper 700, and the cover 720 is sealingly coupled to the perforated mounting plate 710 to cover the stopper 700.

Through the arrangement, the output end of the walking speed reducer 510 is sealed by the sealing rubber ring 900 and the mounting plate with holes 710 for the first time, and then sealed by the mounting plate with holes 710 and the cover 720 for the second time. Therefore, the walking reducer 510 has better dustproof and waterproof performance.

To sum up, the drive arrangement that this application embodiment provided, its each revolution mechanic and power take off mechanism, drive mechanism are all sealed up betterly, can resist water, dust, the salt fog erosion on the building site, have better durability. And the driving device has small turning radius and large output torque, and can adapt to the construction site environment with complex road conditions.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A drive device, comprising:

a first substrate;

a second base rotatably connected to the first base about a vertical axis;

a road wheel rotatably mounted to the second base about a horizontal axis;

2. The drive of claim 1, wherein the output shaft of the travel motor is disposed parallel to the axis of rotation of the travel wheel.

3. The drive of claim 1, wherein the transmission is a reduction gear set.

4. The drive arrangement of claim 3, wherein the reduction gear set includes a first gear, a second gear and a third gear in sequential engagement, the first gear being connected to an output shaft of the travel motor, the third gear driving the travel wheels.

5. The drive of claim 1, wherein the second base is L-shaped and includes a horizontal portion and a vertical portion, the horizontal portion being connected to the first base, the road wheel, the road motor and the transmission mechanism being mounted to the second base, the road wheel and the road motor being located on one side of the vertical portion, the transmission mechanism being located on the other side of the vertical portion.

6. The driving device as claimed in claim 5, wherein the second base further comprises a first cover plate, the other side of the vertical portion is formed with a receiving cavity, the transmission mechanism is located in the receiving cavity, and the first cover plate covers an opening of the receiving cavity.

7. The driving device as claimed in claim 1, wherein the traveling wheel comprises a tire and a traveling speed reducer, the tire is sleeved on the traveling speed reducer, and an input end of the traveling speed reducer is connected with the transmission mechanism.

8. The drive of claim 7, further comprising a brake disposed at an output of the travel reducer.

9. The drive device of claim 1, further comprising:

10. A robot comprising a chassis on which is mounted a drive arrangement according to any one of claims 1 to 9.