CN215749134U - Crawler power driving mechanism - Google Patents
Crawler power driving mechanism Download PDFInfo
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- CN215749134U CN215749134U CN202121487653.9U CN202121487653U CN215749134U CN 215749134 U CN215749134 U CN 215749134U CN 202121487653 U CN202121487653 U CN 202121487653U CN 215749134 U CN215749134 U CN 215749134U
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Abstract
The utility model discloses a caterpillar power driving mechanism, which comprises a driving motor, a right-angle speed reducer, an output rotating shaft, a metal flexible gear, a wave generator for enabling the metal flexible gear to generate radial deformation, a steel wheel, a moving support, an output assembly and a control system, wherein the right-angle speed reducer is arranged on the driving motor; the input end of the right-angle speed reducer is connected with the output shaft of the driving motor, the output end of the right-angle speed reducer is connected with the output rotating shaft, and the axial direction of the output shaft of the driving motor is perpendicular to the axial direction of the output rotating shaft. This application is as an organic whole with reduction gears, actuating mechanism integration, can reduce track power drive mechanism's volume by a wide margin, reduces its weight, to promoting wheeled robot's miniaturization, big torque output, has important progressive meaning. The inventor finds that at present, a crawler power driving mechanism with a simple structure is not available. The novel multifunctional electric heating water heater is ingenious in design, reasonable in design, convenient to use, easy to maintain, good in stability and high in reliability, and has high practical value and good application prospect.
Description
Technical Field
The utility model relates to the field of machinery, in particular to the field of motion structures, and particularly relates to a crawler power driving mechanism. More specifically, the application provides a small-size track power drive mechanism, and it effectively combines drive structure, motion structure, can reduce the whole volume of device, has higher using value and better application prospect.
Background
As a common driving device, the wheel type motion structure is widely applied to the fields of automobiles, robots and the like, and achieves better technical effects. In recent years, with the rapid development of wheeled robots and the increase of application scenes, new requirements for wheeled robots have been made. For this reason, researchers have conducted a great deal of research and development work.
For example, in order to solve the problem of poor obstacle crossing capability of a wheeled robot, chinese patent application CN112512831A discloses a wheel and a wheeled robot thereof. This wheel includes wheel hub, retractable rim, a plurality of spokes of retractable and a plurality of power unit, and is a plurality of the one end of spoke all slidable ground sets up on the wheel hub, the other end all with the rim is articulated each other, and is a plurality of power unit and a plurality of the spoke one-to-one is connected, and is a plurality of power unit is used for the drive to correspond ground the spoke is flexible, so that it is a plurality of the spoke drives the rim is flexible in step. In this structure, the one end of a plurality of spokes all can set up on wheel hub slidable for a plurality of power unit can drive the spoke that corresponds and stretch out and draw back, so that a plurality of spokes drive the rim and stretch out and draw back in step, thereby make the diameter of wheel changeable, the changeable wheel of diameter can adapt to the road conditions of various differences, thereby improve the current capacity of wheel.
In some scenarios, in order to meet the moving requirement of a small space, a mode of matching the mikim wheel with the driving motor is generally adopted. In the structure, an output shaft of the driving motor is connected with a central shaft of the miklamer wheel, and the miklamer wheel is driven to rotate through the driving motor, so that the motion of the wheeled robot is realized. In the structure, the size of the wheeled robot is limited by the output shafts of the Maclam wheels and the driving motors.
In some application scenarios, the size requirement of the wheeled robot is higher, and how to further reduce the size of the wheeled robot becomes a technical problem which needs to be solved urgently. In addition, on the premise of reducing the size of the wheeled robot, how to ensure the output torque of the moving wheels is also a problem to be solved.
To this end, the present application provides a track power drive mechanism.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a brand-new crawler power driving mechanism. Based on the structural design after the improvement, the size of the motion device in the direction of the central axis of the motion wheel can be reduced, the output of large torque is realized, the requirements of robot traction and the like are met, and the motion requirement under a specific application scene can be met.
In order to achieve the purpose, the technical scheme adopted by the application is as follows:
a caterpillar power driving mechanism comprises a driving motor, a right-angle speed reducer, an output rotating shaft, a metal flexible gear, a wave generator for enabling the metal flexible gear to generate radial deformation, a steel wheel, a moving support, an output assembly and a control system;
the input end of the right-angle speed reducer is connected with the output shaft of the driving motor, the output end of the right-angle speed reducer is connected with the output rotating shaft, and the axial direction of the output shaft of the driving motor is vertical to the axial direction of the output rotating shaft;
the output rotating shaft is connected with the wave generator, and the driving motor can drive the wave generator to rotate through the right-angle speed reducer and the output rotating shaft in sequence;
the flexible metal gear is sleeved on the wave generator, the wave generator can enable the flexible metal gear to deform in the radial direction, and a plurality of first transmission teeth are arranged on the outer edge of the flexible metal gear along the circumferential direction of the flexible metal gear;
the steel wheel is sleeved on the metal flexible wheel, a plurality of second transmission teeth matched with the first transmission teeth are arranged on the inner edge of the steel wheel in the circumferential direction, and the wave generator realizes the transmission of power and motion through the relative staggered teeth between the first transmission teeth of the metal flexible wheel and the second transmission teeth of the steel wheel;
the steel wheel is connected with the moving support and can keep relative static with the moving support;
the output assembly comprises an output hub, a spoke and a rim which is used for being in contact with a working surface, the output hub is sleeved on the outer edge of the steel wheel and can rotate relative to the steel wheel, the output hub is connected with the metal flexible wheel, and the metal flexible wheel can drive the output hub to rotate;
the outer edge of the output hub is connected with the wheel rim through a spoke, and the driving motor drives the wheel rim to rotate relative to the working surface through the right-angle speed reducer, the output rotating shaft, the wave generator, the metal flexible gear, the output hub and the spoke in sequence;
the driving motor is connected with the control system.
The flexible gear is cup-shaped.
The meshing surface of the steel wheel matched with the metal flexible wheel is in a circular tube shape.
The wheel rim is in a circular tube shape.
The wheel rim is provided with a plurality of process holes.
The spoke is the strip, the spoke is a plurality of and spoke equipartition between output wheel hub and rim.
The spoke is in a curve shape.
The spokes are uniformly arranged along the radial direction of the wheel rim.
The output hub, the spoke and the rim are integrally formed.
To sum up, the application provides a track power-driven mechanism, it integrates reduction gears, actuating mechanism, can reduce track power-driven mechanism's volume by a wide margin, reduces its weight, to the miniaturization that promotes wheeled robot, big moment of torsion output, has important progressive meaning. The inventor finds that at present, a crawler power driving mechanism with a simple structure is not available. The wheel type robot has the advantages of ingenious design, reasonable design, convenience in use, easiness in maintenance, good stability and high reliability, has higher practical value and better application prospect, and can effectively promote the development of the field of wheel type robots.
Drawings
Fig. 1 is a schematic perspective view of a crawler power drive mechanism according to embodiment 1.
Fig. 2 is a horizontal sectional view of the track power drive mechanism in embodiment 1.
Fig. 3 is a perspective cross-sectional view of the crawler power driving mechanism in embodiment 1.
The labels in the figure are: 1. the device comprises a driving motor, 2, a right-angle speed reducer, 3, an output assembly, 4, an output rotating shaft, 5, a metal flexible gear, 6, a wave generator, 7, a steel wheel, 8 and a moving support.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.
Example 1
As shown in the figure, the present embodiment provides a track power driving mechanism, which includes a driving motor, a right-angle speed reducer, an output rotating shaft, a metal flexible gear, a wave generator for radially deforming the metal flexible gear, a steel wheel, a motion support, an output assembly, and a control system. The input end of the right-angle speed reducer is connected with the output shaft of the driving motor, the output end of the right-angle speed reducer is connected with the output rotating shaft, and the axial direction of the output shaft of the driving motor is perpendicular to the axial direction of the output rotating shaft. Meanwhile, the output rotating shaft is connected with a wave generator.
By adopting the structure, the driving motor can drive the wave generator to rotate through the right-angle speed reducer and the output rotating shaft in sequence. In this application, based on the cooperation of driving motor and right angle reducer, output shaft, can reduce the ascending width of track power drive mechanism in perpendicular to output shaft direction, and then reduce the whole volume of device.
In this embodiment, the flexible metal gear is sleeved on the wave generator, and the outer edge of the flexible metal gear is provided with a plurality of first transmission teeth along the circumferential direction thereof. Meanwhile, the steel wheel is sleeved on the metal flexible wheel, and a plurality of second transmission teeth matched with the first transmission teeth are arranged on the inner edge of the steel wheel in the circumferential direction. The steel wheel is connected with the motion support, and the steel wheel can keep relative stillness with the motion support.
In the structure, the wave generator can enable the metal flexible gear to generate radial deformation when rotating, and the transmission of power and motion can be realized through the design of relative staggered teeth between the first transmission teeth of the metal flexible gear and the second transmission teeth of the steel gear.
In this embodiment, the output assembly includes an output hub, spokes, and a rim for contacting the work surface. The output wheel hub is sleeved on the outer edge of the steel wheel and can rotate relative to the steel wheel. The output hub is connected with the metal flexible gear, the metal flexible gear can drive the output hub to rotate, the outer edge of the output hub is connected with the wheel rim through the spoke, and the driving motor is connected with the control system.
By adopting the structure, the driving motor drives the wheel rim to rotate relative to the working surface through the right-angle speed reducer, the output rotating shaft, the wave generator, the metal flexible gear, the output wheel hub and the spoke in sequence.
Based on the scheme, the speed reduction system and the wheel type output system are combined into a whole, the size of the track power driving mechanism can be greatly reduced, and large torque output is realized. The intelligent robot has remarkable progress significance for reducing the volume of the wheeled robot and promoting the miniaturization, multi-scene and high-reliability operation of the intelligent robot.
Further, the flexible gear of this embodiment is preferably cup-shaped, and the meshing surface of the steel gear that is matched with the metal flexible gear is in a circular tube shape, and the rim is in a circular tube shape.
Preferably, a plurality of process holes are formed in the wheel rim; by adopting the mode, the weight of the crawler power driving mechanism is favorably reduced.
Furthermore, the spokes are strip-shaped, the spokes are a plurality of spokes, and the spokes are uniformly distributed between the output hub and the rim; the spoke is preferably curved, and the spoke is along the radial even arrangement of rim, and output hub, spoke, rim adopt integrated into one piece. By adopting the mode, the quality of the output assembly can be ensured on the premise of reducing the quality of the output assembly.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (9)
1. A caterpillar power driving mechanism is characterized by comprising a driving motor, a right-angle speed reducer, an output rotating shaft, a metal flexible gear, a wave generator for enabling the metal flexible gear to generate radial deformation, a steel wheel, a moving support, an output assembly and a control system;
the input end of the right-angle speed reducer is connected with the output shaft of the driving motor, the output end of the right-angle speed reducer is connected with the output rotating shaft, and the axial direction of the output shaft of the driving motor is vertical to the axial direction of the output rotating shaft;
the output rotating shaft is connected with the wave generator, and the driving motor can drive the wave generator to rotate through the right-angle speed reducer and the output rotating shaft in sequence;
the flexible metal gear is sleeved on the wave generator, the wave generator can enable the flexible metal gear to deform in the radial direction, and a plurality of first transmission teeth are arranged on the outer edge of the flexible metal gear along the circumferential direction of the flexible metal gear;
the steel wheel is sleeved on the metal flexible wheel, a plurality of second transmission teeth matched with the first transmission teeth are arranged on the inner edge of the steel wheel in the circumferential direction, and the wave generator realizes the transmission of power and motion through the relative staggered teeth between the first transmission teeth of the metal flexible wheel and the second transmission teeth of the steel wheel;
the steel wheel is connected with the moving support and can keep relative static with the moving support;
the output assembly comprises an output hub, a spoke and a rim which is used for being in contact with a working surface, the output hub is sleeved on the outer edge of the steel wheel and can rotate relative to the steel wheel, the output hub is connected with the metal flexible wheel, and the metal flexible wheel can drive the output hub to rotate;
the outer edge of the output hub is connected with the wheel rim through a spoke, and the driving motor drives the wheel rim to rotate relative to the working surface through the right-angle speed reducer, the output rotating shaft, the wave generator, the metal flexible gear, the output hub and the spoke in sequence;
the driving motor is connected with the control system.
2. The track power drive of claim 1, wherein the flexspline is cup-shaped.
3. The track power drive of claim 1, wherein the engagement surface of the steel wheel with the compliant metal wheel is circular.
4. The track power drive of claim 3, wherein the rim is tubular.
5. The track power drive of claim 1, wherein the rim has a plurality of tooling holes formed therein.
6. The track power drive mechanism of claim 1, wherein the spokes are in the form of a plurality of bars and are evenly spaced between the output hub and the rim.
7. The track power drive of claim 6, wherein the spokes are curved.
8. The track power drive of claim 6, wherein the spokes are uniformly arranged in a radial direction of the rim.
9. The track power-driven mechanism as claimed in any one of claims 1 to 7, wherein the output hub, the spokes and the rim are integrally formed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121487653.9U CN215749134U (en) | 2021-07-01 | 2021-07-01 | Crawler power driving mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121487653.9U CN215749134U (en) | 2021-07-01 | 2021-07-01 | Crawler power driving mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215749134U true CN215749134U (en) | 2022-02-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121487653.9U Active CN215749134U (en) | 2021-07-01 | 2021-07-01 | Crawler power driving mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215749134U (en) |
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2021
- 2021-07-01 CN CN202121487653.9U patent/CN215749134U/en active Active
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