CN219007925U

CN219007925U - Driving gear set of robot

Info

Publication number: CN219007925U
Application number: CN202223553090.6U
Authority: CN
Inventors: 张辉; 段万胜; 韦令勤; 张耀春
Original assignee: Shenzhen Huajun Technology Development Co ltd
Current assignee: Shenzhen Huajun Technology Development Co ltd
Priority date: 2022-12-27
Filing date: 2022-12-27
Publication date: 2023-05-12
Anticipated expiration: 2032-12-27

Abstract

The utility model discloses a driving gear set of a robot, which comprises wheels, wherein the wheels are rotatably arranged below one surface of a rotating disc, the rotating disc is rotatably arranged in a mounting ring, the mounting ring is fixed on a bearing plate, a gear ring is coaxially fixed on the other surface of the rotating disc, a first gear meshed with the gear ring is arranged on the mounting ring, and the first gear is connected with an output shaft of a steering motor arranged on the bearing plate; one surface of the wheel is provided with a curved bevel gear which is meshed with a spiral bevel gear, and one end of the spiral bevel gear passes through the turntable and is connected with an output shaft of a driving motor arranged on the bearing plate. According to the utility model, the turntable and the gear ring are arranged, so that the wheels can be driven to turn by the turning motor, and the independent turning of single wheels is realized; the wheels can freely rotate through the arrangement of the driving motor, the curved bevel gear and the spiral bevel gear; the steering and rotation states of the wheels are not interfered with each other and can be independently carried out.

Description

Driving gear set of robot

Technical Field

The utility model relates to the field of robots, in particular to a driving gear set of a robot.

Background

The robot is applied to a plurality of fields, such as household cleaning robots, industrial autonomous distribution robots, the moving principle of the robot is that a motor drives gears and wheels to rotate, and when the robot turns, the robot turns mostly depending on the speed difference between the wheels. The prior art robots lack a gear combination that can control the steering of each wheel individually.

Disclosure of Invention

In view of the above technical problems, the utility model provides a driving gear set of a robot, which solves the problem that the wheels of the robot cannot individually steer and rotate in the prior art.

Other features and advantages of the utility model will be apparent from the following detailed description, or may be learned by the practice of the utility model.

The utility model aims to provide a driving gear set of a robot, which comprises wheels, wherein the wheels are rotatably arranged below one surface of a rotating disc, the rotating disc is rotatably arranged in a mounting ring, the mounting ring is fixed on a bearing plate, a gear ring is coaxially fixed on the other surface of the rotating disc, a first gear meshed with the gear ring is arranged on the mounting ring, and the first gear is connected with an output shaft of a steering motor arranged on the bearing plate; the wheel is characterized in that a curved bevel gear is arranged on one surface of the wheel, the curved bevel gear is meshed with a spiral bevel gear, and one end of the spiral bevel gear penetrates through the turntable and then is connected with an output shaft of a driving motor arranged on the bearing plate.

Further, the output shaft of the driving motor is connected with a second gear rotatably mounted on the edge of the bearing plate, the second gear is meshed with a fourth gear coaxially arranged with the rotary table through a third gear, the second gear, the third gear and the fourth gear are both located on one surface, far away from the rotary table, of the bearing plate, a fifth gear coaxial with the fourth gear is arranged on the other surface of the bearing plate, and the fifth gear is meshed with a sixth gear mounted on one end of the spiral bevel gear. Through second gear, third gear, fourth gear, fifth gear and sixth gear for driving motor forms the transmission to curved bevel gear and spiral bevel gear, and then the wheel can be driven.

Further, the first gear is located between the turntable and the bearing plate, a seventh gear is coaxially arranged on the first gear, and the seventh gear is meshed with an output shaft of the steering motor. Through the seventh gear, the steering motor can drive the gear ring to rotate, so that the turntable can be rotated, and the wheels can realize steering.

Further, a plurality of first mounting holes are formed in the bearing plate. So that the gear set can be installed on the robot chassis.

Further, an L-shaped frame for protecting the wheels is arranged on one surface of the bearing plate, which faces the wheels, and a plurality of second mounting holes are formed in the L-shaped frame. So that the gear set can be installed on the robot chassis.

The technical scheme of the utility model has the following beneficial effects:

by arranging the turntable and the gear ring, the wheels can be driven by the steering motor to steer, so that the independent steering of single wheels is realized; the wheels can freely rotate through the arrangement of the driving motor, the curved bevel gear and the spiral bevel gear; the steering and rotating states of the wheels are not interfered with each other, and the steering and rotating states can be respectively and independently carried out, so that the movement of the robot provided with the gear set can be accurately controlled to move.

Drawings

Fig. 1 is a schematic structural view of a driving gear set of a robot according to an embodiment of the present disclosure;

FIG. 2 is a schematic view of a driving gear set of the robot according to the embodiment of the present disclosure, with the L-shaped frame omitted;

fig. 3 is a schematic view of the structure of fig. 2 without the load-bearing plate.

Reference numerals:

1. a wheel; 2. a turntable; 3. a mounting ring; 4. a bearing plate; 5. a gear ring; 6. a first gear; 7. a steering motor; 8. curved bevel gears; 9. a spiral bevel gear; 10. a driving motor; 11. a second gear; 12. a third gear; 13. a fourth gear; 14. a fifth gear; 15. a sixth gear; 16. a seventh gear; 17. a first mounting hole; 18. an L-shaped frame; 19. and a second mounting hole.

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.

As shown in fig. 1 to 3, the embodiment of the present disclosure provides a driving gear set of a robot, including a wheel 1, where the wheel 1 is rotatably mounted under one surface of a turntable 2, the turntable 2 is rotatably disposed in a mounting ring 3, the mounting ring 3 is fixed on a bearing plate 4, a gear ring 5 is coaxially fixed on the other surface of the turntable 2, a first gear 6 meshed with the gear ring 5 is disposed on the mounting ring 3, and the first gear 6 is connected with an output shaft of a steering motor 7 mounted on the bearing plate 4; one surface of the wheel 1 is provided with a curved bevel gear 8, the curved bevel gear 8 is meshed with a spiral bevel gear 9, and one end of the spiral bevel gear 9 penetrates through the turntable 2 and is connected with an output shaft of a driving motor 10 arranged on the bearing plate 4.

Specifically, the output shaft of the driving motor 10 is connected with a second gear 11 rotatably installed on the edge of the bearing plate 4, the second gear 11 is meshed with a fourth gear 13 coaxially arranged with the turntable 2 through a third gear 12, the second gear 11, the third gear 12 and the fourth gear 13 are all located on one surface of the bearing plate 4 far away from the turntable 2, a fifth gear 14 coaxial with the fourth gear 13 is arranged on the other surface of the bearing plate 4, and the fifth gear 14 is meshed with a sixth gear 15 installed at one end of the spiral bevel gear 9. The drive motor 10 forms the transmission of the curved bevel gear 8 and the spiral bevel gear 9 through the second gear 11, the third gear 12, the fourth gear 13, the fifth gear 14 and the sixth gear 15, so that the wheel 1 can be driven. The first gear 6 is located between the turntable 2 and the bearing plate 4, the first gear 6 is coaxially provided with a seventh gear 16, and the seventh gear 16 is meshed with the output shaft of the steering motor 7. Through the seventh gear 16, the steering motor 7 can drive the gear ring 5 to rotate, and the turntable 2 can be rotated, so that the wheels 1 can be steered.

In one embodiment, the bearing plate 4 is provided with a plurality of first mounting holes 17. So that the gear set can be installed on the robot chassis.

In one embodiment, the side of the bearing plate 4 facing the wheel 1 is provided with an L-shaped bracket 18 forming a protection for the wheel 1, and the L-shaped bracket 18 is provided with a plurality of second mounting holes 19. So that the gear set can be installed on the robot chassis.

Working principle: generally, the gear teeth are used in a plurality of matching ways, and are commonly installed at the bottom of the robot, when the robot needs to turn, the gear of the output shaft of the steering motor 7 drives the seventh gear 16 to rotate, the seventh gear 16 rotates with the first gear 6 coaxial with the seventh gear, the first gear 6 drives the gear ring 5, and the gear ring 5 and the turntable 2 are fixed, so that the wheel 1 installed on the rotating shaft is driven to turn. When the vehicle needs to travel, the driving motor 10 rotates to drive the second gear 11, the second gear 11 drives the third gear 12, the third gear 12 drives the fourth gear 13, the fourth gear 13 drives the fifth gear 14 coaxial with the fourth gear 13, the fifth gear 14 drives the sixth gear 15 beside the fifth gear, the sixth gear 15 drives the spiral bevel gear 9 coaxially arranged, the spiral bevel gear 9 drives the curved bevel gear 8, and the wheel 1 further rotates.

As known from the above embodiment, the wheel 1 can be driven to turn by the turning motor 7 by arranging the turntable 2 and the gear ring 5, so that the single wheel 1 can be turned independently; the wheel 1 can realize free rotation by arranging the driving motor 10, the curved bevel gear 8 and the spiral bevel gear 9; the steering and rotation states of the wheels 1 are not interfered with each other, and can be performed independently, so that the movement of the robot provided with the gear set can be controlled to move accurately.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present utility model, and not for limiting the same; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the utility model. Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features but not others included in other embodiments, combinations of features of different embodiments are meant to be within the scope of the utility model and form different embodiments. For example, in the claims below, any of the claimed embodiments may be used in any combination. The information disclosed in this background section is only for enhancement of understanding of the general background of the utility model and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.

Claims

1. The driving gear set of the robot is characterized by comprising wheels, wherein the wheels are rotatably arranged below one surface of a rotating disc, the rotating disc is rotatably arranged in a mounting ring, the mounting ring is fixed on a bearing plate, a gear ring is coaxially fixed on the other surface of the rotating disc, a first gear meshed with the gear ring is arranged on the mounting ring, and the first gear is connected with an output shaft of a steering motor arranged on the bearing plate; the wheel is characterized in that a curved bevel gear is arranged on one surface of the wheel, the curved bevel gear is meshed with a spiral bevel gear, and one end of the spiral bevel gear penetrates through the turntable and then is connected with an output shaft of a driving motor arranged on the bearing plate.

2. The driving gear set of the robot according to claim 1, wherein an output shaft of the driving motor is connected with a second gear rotatably mounted on an edge of the bearing plate, the second gear is meshed with a fourth gear coaxially arranged with the turntable through a third gear, the second gear, the third gear and the fourth gear are all located on one surface of the bearing plate far away from the turntable, a fifth gear coaxial with the fourth gear is arranged on the other surface of the bearing plate, and the fifth gear is meshed with a sixth gear mounted on one end of the spiral bevel gear.

3. The drive gear set of the robot according to claim 2, wherein the first gear is located between the turntable and the bearing plate, and a seventh gear is coaxially provided with the first gear, and the seventh gear is meshed with the output shaft of the steering motor.

4. The drive gear set of the robot of claim 1, wherein the bearing plate is provided with a plurality of first mounting holes.

5. The drive gear set of the robot according to claim 1, wherein an L-shaped frame forming a protection for the wheel is provided on a face of the bearing plate facing the wheel, and a plurality of second mounting holes are provided on the L-shaped frame.