CN210879629U - Dual-drive robot flat trolley - Google Patents
Dual-drive robot flat trolley Download PDFInfo
- Publication number
- CN210879629U CN210879629U CN201921798550.7U CN201921798550U CN210879629U CN 210879629 U CN210879629 U CN 210879629U CN 201921798550 U CN201921798550 U CN 201921798550U CN 210879629 U CN210879629 U CN 210879629U
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- Prior art keywords
- electromagnetic clutch
- clutch
- bracket
- axle shaft
- front axle
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Abstract
The utility model discloses a dual-drive robot flat car, including the dolly bottom plate, be provided with two motors, two front axle shaft supports and two rear axle shaft supports on the dolly bottom plate, all be connected with the main shaft on the output shaft of each motor, all be provided with input electromagnetic clutch on each main shaft, all overlap on each input electromagnetic clutch's the iron core and be equipped with the input straight-teeth gear; every all rotationally be provided with the front axle in the front axle support, every all be provided with output electromagnetic clutch and front wheel on the front axle, every all overlap on output electromagnetic clutch's the iron core and be equipped with the output straight-tooth gear with input straight-tooth gear looks meshing, two rotationally be provided with the rear axle between the rear axle support, the both ends of rear axle are provided with the rear wheel respectively.
Description
Technical Field
The utility model belongs to the technical field of the robot structural design, in particular to dual drive robot flat car.
Background
With the improvement of the technological level and the development of the robot technology, the robot flat car with the carrying function is widely applied to life and work, such as a sweeping robot, a robot car for sorting express delivery and the like. The intellectualization of the robot is closer to the life of people, modern intelligent electronic products are the trend of development in future, more and more scientific research institutions and large-scale enterprises begin to involve in research on the aspect of intelligent robots, but the robot flat car in the current market has the following problems: (1) most of control systems or control platforms of intelligent trolleys are in a bipolar differentiation distribution state, and are too simple or too complex, so that the current market application is not wide enough, and a certain use scale is not formed; the mechanical structure is too complicated, the design of a corresponding control system is also complicated, the circuit is complicated, the stability of the whole robot can be influenced to a certain extent, the research and development cost is high, and the maintenance is difficult. (2) The robot flat car in the current market or in scientific research institutions generally has two-wheel drive or four-wheel drive, the main structure of the robot is more traditional, further innovative research is lacked, and the traditional structure enables the overall performance of the robot to be incapable of being optimized. (3) The structure is too complicated, some even reach dozens of degrees of freedom, though the action that can accomplish is many, but the instability of robot performance has been increaseed, has reduced the quality and the efficiency that the robot accomplished the action, and very simple action may be controlled through very complicated control platform.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a dull and stereotyped dolly of dual drive robot for there is the problem that structure redundancy, drive control are complicated in solving current dull and stereotyped dolly of robot.
In order to achieve the purpose, the utility model adopts the technical scheme that the double-drive robot flat trolley comprises a trolley bottom plate, wherein the trolley bottom plate is provided with two motors, two front axle supports and two rear axle supports, the output shaft of each motor is connected with a main shaft, each main shaft is provided with an input electromagnetic clutch, and an iron core of each input electromagnetic clutch is sleeved with an input straight gear; every all rotationally be provided with the front axle in the front axle support, every all be provided with output electromagnetic clutch and front wheel on the front axle, every all overlap on output electromagnetic clutch's the iron core and be equipped with the output straight-tooth gear with input straight-tooth gear looks meshing, two rotationally be provided with the rear axle between the rear axle support, the both ends of rear axle are provided with the rear wheel respectively.
The technical scheme of the utility model, still have following characteristics:
and a motor support is arranged outside each motor and fixed on the bottom plate of the trolley.
Still be provided with two first clutch support and two second clutch support on the dolly bottom plate, every input electromagnetic clutch all rotationally sets up in the second clutch support that corresponds, every output electromagnetic clutch all rotationally sets up in the first clutch support that corresponds.
The front axle shaft is rotatably arranged in the corresponding front axle shaft bracket through bearing rotation, the input electromagnetic clutch is rotatably arranged in the corresponding second clutch bracket through a bearing, and the output electromagnetic clutch is rotatably arranged in the corresponding first clutch bracket through a bearing.
The motor is a stepping motor.
The utility model has the advantages that: (1) the utility model discloses a dull and stereotyped dolly of dual drive robot utilizes gear train transmission system and electromagnetic clutch's actuation to mutually support, finally realizes going forward of dolly, retreats and the action of turning, and the structural design principle is simple, and gear drive is accurate, and is efficient, and electromagnetic clutch control system designs also fairly simple reliable. (2) The utility model discloses a dull and stereotyped dolly of dual drive robot adopts the dual drive mode, and dolly overall structure is compact, and actuating system power is direct to be exported the dolly front wheel, and the driving system loss is low, can realize advancing and retreating the regulation of speed to the dolly through the rotational speed of control motor, utilizes motor and control electromagnetic clutch's driving voltage can realize that the dolly turns the action. (3) The utility model discloses a control principle of dual drive robot flat car is simple, only controls two driving motor and two electromagnetic clutch and just can realize the linear motion and the action of turning of dolly, and the reliability is high. (4) The utility model discloses a preparation material of dull and stereotyped dolly of dual drive robot is the aluminum alloy, has fully embodied mechanical design lightweight principle, and has sufficient intensity, makes the action of dolly swift, has also reduced research and development design and manufacturing cost.
Drawings
Fig. 1 is a front view of a double-drive robot flat car of the present invention;
fig. 2 is an axial view of fig. 1.
In the figure, 1, a trolley bottom plate, 2, a rear axle shaft, 3, a rear axle shaft bracket, 4, a rear wheel, 5, a second clutch bracket, 6, a front wheel, 7, a first clutch bracket, 8, an output electromagnetic clutch, 9, a front axle shaft, 10, a front axle shaft bracket, 11, an output spur gear, 12, an input spur gear, 13, a main shaft, 14, a motor bracket, 15, a motor and 16, and an input electromagnetic clutch.
Detailed Description
The technical solution of the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the utility model discloses a dual-drive robot flat car, including the dolly bottom plate 1, be provided with two motors 15, two front axle shaft supports 10 and two rear axle shaft supports 3 on the dolly bottom plate 1, all be connected with main shaft 13 on the output shaft of each motor 15, all be provided with input electromagnetic clutch 16 on each main shaft 13, the iron core part of each input electromagnetic clutch 16 all overlaps and is equipped with input spur gear 12; each front axle support 10 is internally rotatably provided with a front axle shaft 9, each front axle shaft 9 is provided with an output electromagnetic clutch 8 and a front wheel 6, an iron core part of each output electromagnetic clutch 8 is sleeved with an output straight gear 11 meshed with an input straight gear 12, a rear axle shaft 2 is rotatably arranged between the two rear axle shaft supports 3, and two ends of the rear axle shaft 2 are respectively provided with a rear wheel 4.
Referring to fig. 2, when the dual-drive robot flat car works, different motions of the car can be realized by adjusting the states of the two motors 15, the two input electromagnetic clutches 16 and the two output electromagnetic clutches 8. Specifically, the method comprises the following steps: when the motor 15 is driven, the motion is firstly transmitted to the input straight gear 12 through the main shaft 13, then transmitted to the two front axle shafts 9 of the trolley through gear transmission, and then transmitted to the front wheel 6 of the trolley through motion and power, so as to drive the rear wheel 4 of the trolley to correspondingly move. In the process, if the flat car does not exceed the load capacity, an external control system controls the two input electromagnetic clutches 16 and the two output electromagnetic clutches 8 to be always in attraction, under the state, the adjustment of the speed can be realized by adjusting the input voltage of the two output electromagnetic clutches 8, the principle is that the voltage of the electromagnetic clutches is different, the acting force generated between the armature and the friction disc is also different, when the voltage is smaller than the rated voltage, the attraction force is reduced, but no slipping occurs, and the running speed of the car is reduced. When the input voltages of the two output electromagnetic clutches 8 are equal, the speed difference does not exist between the two front wheels of the trolley, the trolley moves linearly, and the forward and backward movement of the trolley can be realized by changing the rotation direction of the motor. When the input voltage of the left output electromagnetic clutch 8 is higher than the input voltage of the right output electromagnetic clutch 8 in fig. 1, the speed of the left front wheel 6 of the trolley is higher than the speed of the right front wheel 6, the robot flat trolley will make left turning movement, otherwise, the robot flat trolley will make right turning movement. If the load of the robot flat plate trolley exceeds the rated load capacity, the control system controls the two input electromagnetic clutches 16 to be disconnected firstly, then the two output electromagnetic clutches 8 are also disconnected, and the trolley stops moving at the moment.
As shown in fig. 1, in the dual-drive robot flat car of the present invention, a motor bracket 14 is disposed outside each motor 15, and the motor bracket 14 is fixed on the car bottom plate 1.
The motor 15 is fixed on the trolley bottom plate 1 through the motor bracket 14, so that the mounting stability of the trolley bottom plate can be further enhanced.
As shown in fig. 1, the utility model discloses an in dual drive robot flat car, still be provided with two first clutch support 7 and two second clutch support 5, every on the dolly bottom plate 1 input electromagnetic clutch 16 all rotationally sets up in the second clutch support 5 that corresponds, and every output electromagnetic clutch 8 all rotationally sets up in the first clutch support 7 that corresponds. The two ends of the main shaft 13 and the front axle shaft 9 can be respectively supported, so that the mounting stability of the main shaft and the front axle shaft can be ensured, and the main shaft and the front axle shaft can be prevented from jumping in the transmission process.
As shown in fig. 1, in the dual-drive robot flat car of the present invention, as a preferred mode of the rotation assembly, the front axle shaft 9 is rotatably disposed in the corresponding front axle shaft bracket 10 through the bearing rotation, the input electromagnetic clutch 16 is rotatably disposed in the corresponding second clutch bracket 5 through the bearing, the output electromagnetic clutch 8 is rotatably disposed in the corresponding first clutch bracket 7 through the bearing, and the two ends of the rear front axle 2 are also disposed in the corresponding rear front axle brackets through the bearings, respectively.
As shown in fig. 1, in the dual-drive robot flat car of the present invention, the motor 15 is a stepping motor.
Claims (5)
1. The double-drive robot flat plate trolley is characterized by comprising a trolley bottom plate (1), wherein two motors (15), two front axle shaft supports (10) and two rear axle shaft supports (3) are arranged on the trolley bottom plate (1), an output shaft of each motor (15) is connected with a main shaft (13), each main shaft (13) is provided with an input electromagnetic clutch (16), and an iron core part of each input electromagnetic clutch (16) is sleeved with an input straight gear (12); every all rotationally be provided with front axle (9) in front axle shaft bracket (10), every all be provided with output electromagnetic clutch (8) and front wheel (6) on front axle shaft (9), every all overlap on the iron core portion of output electromagnetic clutch (8) and be equipped with output straight-teeth gear (11) with input straight-teeth gear (12) looks meshing, two rotationally be provided with rear axle shaft (2) between rear axle shaft bracket (3), the both ends of rear axle shaft (2) are provided with rear wheel (4) respectively.
2. The dual-drive robot flat carriage according to claim 1, characterized in that a motor bracket (14) is arranged outside each motor (15), and the motor bracket (14) is fixed on the carriage bottom plate (1).
3. The dual-drive robot flat carriage according to claim 1, characterized in that two first clutch brackets (7) and two second clutch brackets (5) are further disposed on the carriage base plate (1), each input electromagnetic clutch (16) is rotatably disposed in the corresponding second clutch bracket (5), and each output electromagnetic clutch (8) is rotatably disposed in the corresponding first clutch bracket (7).
4. A dual drive robot dolly according to claim 3, wherein said front axle shaft (9) is rotatably provided in the corresponding front axle shaft bracket (10) by bearing rotation, said input electromagnetic clutch (16) is rotatably provided in the corresponding second clutch bracket (5) by bearing rotation, and said output electromagnetic clutch (8) is rotatably provided in the corresponding first clutch bracket (7) by bearing rotation.
5. The dual drive robot flat car according to claim 1, characterized in that said motor (15) is a stepper motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921798550.7U CN210879629U (en) | 2019-10-24 | 2019-10-24 | Dual-drive robot flat trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921798550.7U CN210879629U (en) | 2019-10-24 | 2019-10-24 | Dual-drive robot flat trolley |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210879629U true CN210879629U (en) | 2020-06-30 |
Family
ID=71312847
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921798550.7U Expired - Fee Related CN210879629U (en) | 2019-10-24 | 2019-10-24 | Dual-drive robot flat trolley |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210879629U (en) |
-
2019
- 2019-10-24 CN CN201921798550.7U patent/CN210879629U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200630 Termination date: 20201024 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |