Robot walking and steering integrated mechanism without gear transmission

Abstract

The invention relates to the technical field of robot walking and steering structures, and particularly discloses a robot walking and steering integrated mechanism without gear transmission, the robot walking and steering integrated mechanism without gear transmission comprises a first motor and a second motor, the first motor comprises a connector assembly I, the connector assembly I is mounted on the surface of a code disc cover, and an oil seal I is mounted on the surface of the code disc cover; the bottom of the code disc cover is connected with a first rear end cover, and first screws are installed between the first rear end cover and the code disc cover at equal intervals in a surrounding mode. According to the robot walking and steering integrated mechanism without gear transmission, the first motor is arranged, meanwhile, the first motor is an inner rotor servo motor, the mounting support is electromagnetically driven to rotate circumferentially, the mounting support drives the rubber wheel assembly to rotate circumferentially, and the circumferential position of the rubber wheel assembly is steered; and the structure of the device is more compact, the occupied space is smaller, and the overall practicability and stability of the robot device can be remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of robot walking and steering structure technology, specifically to an integrated robot walking and steering mechanism that does not require gear transmission. Background Technology

[0002] A robot is an intelligent machine capable of semi-autonomous or fully autonomous operation. Through programming and automatic control, robots can perform tasks such as work or movement. They possess fundamental characteristics like perception, decision-making, and execution, and can assist or even replace humans in dangerous, heavy, and complex tasks, improving work efficiency and quality, serving human life, and expanding or extending the scope of human activities and capabilities. A robot typically includes: a frame shell, joints, and transmission components. The robot's frame, like a human skeleton, supports and protects internal components and is usually made of aluminum alloy, steel, or carbon fiber composite materials. In warehousing and logistics scenarios with narrow shelves and limited space, the omnidirectional movement of a wheeled chassis and flexible robotic arms enable fast and precise sorting operations. Wheeled robots are commonly used in these scenarios, while robot walking and steering integrated mechanisms combine walking and steering functions. This mechanism allows the robot to flexibly move forward, backward, and change direction during movement, unlike traditional machines that rely on separate independent systems for walking and steering. It greatly simplifies the mechanical structure of robots, improves space utilization efficiency, and helps to improve the coordination and response speed of robot movement. However, existing wheeled robots mostly use joint modules for steering, which has poor stability and causes wheel wobbling after long-term operation. At the same time, the use of motors to drive gears to rotate occupies a certain space, making it inconvenient to transport and resulting in low transport efficiency of the robot. Summary of the Invention

[0003] The purpose of this invention is to provide a robot walking and steering integrated mechanism that does not require gear transmission, so as to solve the problems mentioned in the background art, such as poor stability of the structure, wheel wobbling caused by long-term operation, and the low handling efficiency of the robot caused by the motor driving the gears to rotate, which occupies a certain space and is inconvenient to handle.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a robot walking and steering integrated mechanism without gear transmission, comprising a first motor and a second motor, wherein the first motor includes a connector, the connector being mounted on the surface of the encoder cover, and an oil seal being mounted on the surface of the encoder cover;

[0005] The bottom of the code disk cover is connected to a rear end cover, and screws are installed around the rear end cover and the code disk cover at equal intervals. The bottom of the rear end cover is connected to a stator assembly, and screws are installed between the stator assembly and the rear end cover. The surface of the rear end cover is connected to an encoder stator component, and screws are installed between the encoder stator component and the rear end cover. The surface of the rear end cover is mounted to a controller assembly, and screws are installed between the controller assembly and the rear end cover. The inside of the stator assembly is connected to a rotor assembly, and an encoder rotor component is mounted on the bearing surface of the rotor assembly. A thrust bearing is connected to the bottom surface of the stator assembly.

[0006] Preferably, an oil seal 2 is installed inside the stator assembly 1; a mounting bracket is connected to the end of the rotor assembly 1 through the stator assembly 1; a screw 5 connects the rotor assembly 1 to the mounting bracket; a shoulder positioning screw connects the stator assembly 1 to the mounting bracket; a protective cover is installed on the bottom surface of the mounting bracket; a screw 6 connects the protective cover to the mounting bracket; a lead box is connected to the surface of the encoder cover; a screw 7 is installed between the lead box and the encoder cover; a cable 1 is installed on the connector 1 by welding; a lead box is connected to one end of the cable 1; a protective cover is connected to the surface of the mounting bracket; a screw 8 is provided between the protective cover and the mounting bracket; and a connector 2 is installed on the inner surface of the protective cover.

[0007] By adopting the above technical solution, the above parts are formed into a first motor, which performs circular motion on the mounting bracket.

[0008] Preferably, the second motor includes: a stator assembly two is embedded in both ends of the bottom of the mounting bracket, one end of the stator assembly two is connected to the mounting bracket via a cap nut, and the other end of the stator assembly two is connected to the mounting bracket via a nut; a rotor assembly two is disposed on the outer side of the stator assembly two, and a rubber wheel assembly is mounted on the surface of the rotor assembly two; a screw nine connects the rubber wheel assembly two to the rotor assembly two; a set screw is mounted on the surface of the rotor assembly two; and an encoder stator component two is connected to the end mounting bracket of the stator assembly two. A screw ten connects to the stator assembly two. The rear bearing of the stator assembly two is equipped with a rear end cover two, and the rear end cover two is connected to the stator assembly two by a screw twelve. An encoder rotor component two is installed on the surface of the rear end cover two, and the encoder rotor component two is connected to the rear end cover two by a screw eleven. An oil seal four is installed in the oil seal chamber at the end of the rear end cover two, and a stop washer two and a stop washer one are installed at both ends of the stator assembly two. A connector three is installed inside the stator assembly two, and a cable two is connected to the end of the connector three. An oil seal three is provided in the oil seal chamber at the end of the rotor assembly two.

[0009] Using the above technical solution, the second motor drives the rubber wheel assembly to rotate, which in turn drives the robot to walk.

[0010] Preferably, the rotor assembly is a hollow structure, and the cable is embedded in the hollow structure of the rotor assembly. Both ends of the rotor assembly penetrate the encoder cover and the surface of the mounting bracket.

[0011] The above technical solution involves the cable contacting the stator assembly 2 via the rotor assembly 1, and supplying power to the stator assembly 2 via the cable.

[0012] Preferably, both the thrust bearing and the second oil seal are configured as annular structures, and the thrust bearing and the second oil seal are located on the outside of the bearing of the rotor assembly.

[0013] Using the above technical solution, the second function of the oil seal is to prevent internal grease from overflowing.

[0014] Preferably, the cross-section of the mounting bracket is configured as an inverted C-shape, the bottom of the mounting bracket is provided with a sliding groove, and both ends of the stator assembly two are located inside the sliding groove of the mounting bracket, and the protective cover is located at the bottom of the mounting bracket.

[0015] By adopting the above technical solution, the inner bottom surface of the rubber wheel assembly mounting bracket is made.

[0016] Preferably, one side of the cable passes through the bottom of the mounting bracket, so that the cable is positioned at the top of the protective cover, while the other end of the cable passes through the mounting bracket and is installed inside the protective cover.

[0017] Using the above technical solution, the cable is bent and installed inside the mounting bracket, while the protective cover can protect the outside of the cable.

[0018] Preferably, the first stop washer is disposed between the cap nut and the mounting bracket, and the first stop washer is configured as a circular ring structure, and the first stop washer is installed on the outside of the bearing of the second stator assembly.

[0019] Using the above technical solution, the first stop washer can prevent the second stator assembly of the second motor from rotating.

[0020] Preferably, the second stop washer is disposed on one side of the nut component, and the second stop washer has a circular structure, and the second stop washer is installed on the outside of the bearing of the second stator assembly.

[0021] By adopting the above technical solution, the second stop shim can prevent the second motor stator assembly from rotating.

[0022] Preferably, the first motor and the second motor are positioned vertically, with the first motor connected to a mounting bracket at its end, and the second motor connected to the rubber wheel assembly.

[0023] Using the above technical solution, the first motor drives the rubber wheel assembly to rotate in a certain direction, and the second motor drives the rubber wheel assembly to rotate, thereby driving the rubber wheel assembly.

[0024] Compared with the prior art, the beneficial effects of the present invention are: the integrated robot walking and steering mechanism that does not require gear transmission:

[0025] 1. A first motor is set up, which is an internal rotor servo motor. It drives the mounting bracket to rotate in a circle through electromagnetic drive. The mounting bracket drives the rubber wheel assembly to rotate in a circle and turns the circumferential position of the rubber wheel assembly. This method of transmission through electromagnetic structure makes the structure of the device more compact and occupies less space, which can significantly improve the overall practicality and stability of the robot device.

[0026] 2. A second motor is provided. The second motor is an external rotor servo motor, which drives the rubber wheel assembly to rotate, so that the rubber wheel assembly rotates on the ground. The direction and speed of the rubber wheel assembly can be adjusted by the first motor and the second motor, so that the robot is more stable and can better improve the walking stability and turning flexibility of the robot during operation.

[0027] 3. A protective cover and shield are provided to protect cable 1 as it passes through the interior of the first motor. The protective cover protects cable 1 between the cover and the mounting bracket, protecting the bottom of the cable and preventing it from being exposed on the outside of the device, thus improving the stability of the cable's power supply to the second motor. Attached Figure Description

[0028] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0029] Figure 2 This is a front view structural diagram of the present invention;

[0030] Figure 3 This is a schematic diagram of the first motor mounting structure of the present invention;

[0031] Figure 4 This is a schematic diagram of the cable structure of the present invention, showing a reversed front view.

[0032] Figure 5 This is a front view schematic diagram of the mounting bracket of the present invention;

[0033] Figure 6 This is a top view schematic diagram of the encoder cover installation structure of the present invention;

[0034] Figure 7 This is a schematic diagram of the three-dimensional structure of the rear cover II of the present invention.

[0035] Figure 8This is a schematic diagram of the three-dimensional structure for installing the cable of the present invention;

[0036] Figure 9 This is a schematic diagram of the second motor mounting structure of the present invention.

[0037] In the diagram: 1. Connector 1; 2. Oil seal 1; 3. Screw 1; 4. Code disc cover; 5. Screw 2; 6. Encoder stator assembly 1; 7. Screw 3; 8. Controller assembly; 9. Screw 4; 10. Encoder rotor assembly 2; 11. Shoulder positioning screw; 12. Rear end cover 1; 13. Rotor assembly 1; 14. Stator assembly 1; 15. Thrust bearing; 16. Oil seal 2; 17. Mounting bracket; 18. Screw 5; 19. Protective cover plate; 20. Screw 6; 21. Screw 7; 22. Lead box; 23. Cable 1; 24. Connector II; 25. Protective cover; 26. Screw VIII; 27. Cap nut; 28. Locking washer I; 29. ​​Oil seal III; 30. Rubber wheel assembly; 31. Rotor assembly II; 32. Screw IX; 33. Set screw; 34. Stator assembly II; 35. Encoder stator component II; 36. Screw X; 37. Screw XI; 38. Encoder rotor component II; 39. Rear end cover II; 40. Screw XII; 41. Oil seal IV; 42. Locking washer II; 43. Nut; 44. Connector III; 45. Cable II. Detailed Implementation

[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] Please see Figure 1-9As shown, the present invention provides a technical solution: a robot walking and steering integrated mechanism without gear transmission, including connector 1, oil seal 2, screw 3, encoder disk cover 4, screw 2 5, encoder stator component 6, screw 3 7, controller assembly 8, screw 4 9, encoder rotor component 10, shoulder positioning screw 11, rear end cover 12, rotor assembly 13, stator assembly 14, thrust bearing 15, oil seal 2 16, mounting bracket 17, screw 5 18, protective cover plate 19, screw 6 20, and screw 7. 21. Nail 7, 22. Lead box, 23. Cable 1, 24. Connector 2, 25. Protective cover, 26. Screw 8, 27. Cap nut, 28. Stop washer 1, 29. Oil seal 3, 30. Rubber wheel assembly, 31. Rotor assembly 2, 32. Screw 9, 33. Set screw, 34. Stator assembly 2, 35. Encoder stator component 2, 36. Screw 11, 37. Encoder rotor component 2, 38. Rear end cover 2, 39. Screw 12, 40. Oil seal 4, 41. Stop washer 2, 42. Nut, 43. Connector 3, 44. Cable 2, 45.

[0040] This robot's integrated walking and steering mechanism facilitates the turning of the rubber wheel assembly 30 and simultaneously drives the rubber wheel assembly 30. The specific implementation method is as follows:

[0041] The first motor includes a connector 1, which is mounted on the surface of a code disk cover 4. An oil seal 2 is mounted on the surface of the code disk cover 4. A rear end cover 12 is connected to the bottom of the code disk cover 4, and screws 3 are equidistantly mounted around the rear end cover 12 and the code disk cover 4. A stator assembly 14 is connected to the bottom of the rear end cover 12, and screws 4 9 are mounted between the stator assembly 14 and the rear end cover 12. An encoder stator component 6 is connected to the surface of the rear end cover 12, and screws 2 5 are connected between the encoder stator component 6 and the rear end cover 12. A controller assembly 8 is mounted on the surface of the rear end cover 12, and screws 3 7 are connected between the controller assembly 8 and the rear end cover 12. A rotor assembly 13 is connected inside the stator assembly 14, and an encoder rotor component 10 is mounted on the bearing surface of the rotor assembly 13. A thrust bearing is connected to the inner bottom surface of the stator assembly 14. Bearing 15, oil seal 16 is installed inside stator assembly 14, the end of rotor assembly 13 passes through stator assembly 14 and is connected to mounting bracket 17, and screw 18 is connected between rotor assembly 13 and mounting bracket 17, shoulder positioning screw 11 is connected between stator assembly 14 and mounting bracket 17, protective cover 19 is installed on the bottom surface of mounting bracket 17, and screw 20 is connected between protective cover 19 and mounting bracket 17, lead box 22 is connected to the surface of code disk cover 4, and screw 21 is installed between lead box 22 and code disk cover 4, cable 23 is installed on connector 1 by welding, and lead box 22 is connected to one end of cable 23, protective cover 25 is connected to the surface of mounting bracket 17, and screw 26 is provided between protective cover 25 and mounting bracket 17, connector 24 is installed on the inner surface of protective cover 25;

[0042] The second motor includes: a stator assembly 34 embedded at both ends of the bottom of the mounting bracket 17, one end of the stator assembly 34 being connected to the mounting bracket 17 via a cap nut 27, and the other end of the stator assembly 34 being connected to the mounting bracket 17 via a nut 43; a rotor assembly 31 is disposed on the outer side of the stator assembly 34, and a rubber wheel assembly 30 is mounted on the surface of the rotor assembly 31, with a screw 32 connecting the rubber wheel assembly 30 and the rotor assembly 31; a set screw 33 is mounted on the surface of the rotor assembly 31; and an encoder stator component 35 is connected to the end mounting bracket of the stator assembly 34. A screw 10 36 connects stator component 2 35 and stator assembly 2 34. A rear end cover 2 39 is mounted on the rear bearing of stator assembly 2 34, and a screw 12 40 connects the rear end cover 2 39 to stator assembly 2 34. An encoder rotor component 2 38 is mounted on the surface of the rear end cover 2 39, and the encoder rotor component 2 38 is connected to the rear end cover 2 39 by a screw 11 37. An oil seal 41 is installed in the oil seal chamber at the end of the rear end cover 2 39, and a stop washer 2 42 and a stop washer 1 28 are installed at both ends of stator assembly 2 34. A connector 3 44 is installed inside stator assembly 2 34, and a wire is connected to the end of connector 3 44. Cable 245, oil seal 39 is provided at the end oil seal chamber of rotor assembly 21, rotor assembly 13 is hollow, and cable 23 is embedded in the hollow structure of rotor assembly 13. Both ends of rotor assembly 13 pass through the encoder cover 4 and the surface of mounting bracket 17. Thrust bearing 15 and oil seal 26 are both annular structures. The cross-section of mounting bracket 17 is an inverted C-shaped structure. A sliding groove is provided at the bottom of mounting bracket 17, and both ends of stator assembly 24 are located inside the sliding groove. Protective cover plate 19 is located at the bottom of mounting bracket 17. Cable 23 passes through the bottom of mounting bracket 17 on one side, so that cable 23 is located at the top of protective cover plate 19. Meanwhile, the end of cable 23 passes through the mounting bracket 17 and is installed inside the protective cover 25 for stopping. The stop washer 28 is set between the cap nut 27 and the mounting bracket 17, and the stop washer 28 is set as a ring structure. The stop washer 28 is installed on the outside of the bearing of the stator assembly 34. The stop washer 42 is set on one side of the nut 43, and the stop washer 42 is set as a ring structure. The stop washer 42 is installed on the outside of the bearing of the stator assembly 34. The axial positions of the first motor and the second motor are set perpendicularly. The end of the first motor is connected to the mounting bracket 17, and the second motor is connected to the rubber wheel assembly 30.

[0043] The first motor is started, causing its end to rotate the mounting bracket 17. This, in turn, causes the second motor to rotate, which in turn rotates the rubber wheel assembly 30. The rubber wheel assembly 30 rotates in a circular motion. The direction of rotation of the rubber wheel assembly 30 is adjusted, and it is turned 120°. The second motor is then started, causing it to rotate the rubber wheel assembly 30 within the mounting bracket 17. Simultaneously, the rubber wheel assembly 30 rotates on the ground, moving the robot. By using the first and second motors to change the position of the rubber wheel assembly 30, it is possible to easily drive it.

[0044] Working principle: When using this gearless robot walking and steering integrated mechanism, a first motor and a second motor are set up to facilitate the turning of the rubber wheel assembly 30 and drive the rubber wheel assembly 30, thereby increasing the overall practicality.

[0045] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robot walking and steering integrated mechanism without gear transmission, comprising a first motor and a second motor, wherein the first motor comprises a connector (1), the connector (1) is mounted on the surface of a code disk cover (4), and an oil seal (2) is mounted on the surface of the code disk cover (4); Its features are: The bottom of the code disk cover (4) is connected to a rear end cover (12), and screws (3) are installed around the rear end cover (12) and the code disk cover (4) at equal distances. The bottom of the rear end cover (12) is connected to a stator assembly (14), and screws (9) are installed between the stator assembly (14) and the rear end cover (12). The surface of the rear end cover (12) is connected to an encoder stator component (6), and screws (5) are connected between the encoder stator component (6) and the rear end cover (12). The surface of the rear end cover (12) is connected to a controller assembly (8), and screws (7) are connected between the controller assembly (8) and the rear end cover (12). The inside of the stator assembly (14) is connected to a rotor assembly (13), and an encoder rotor component (10) is installed on the bearing surface of the rotor assembly (13). The bottom surface of the stator assembly (14) is connected to a thrust bearing (15).

2. The integrated robot walking and steering mechanism without gear transmission according to claim 1, characterized in that: An oil seal 2 (16) is installed inside the stator assembly 1 (14). The end of the rotor assembly 1 (13) passes through the stator assembly 1 (14) and is connected to a mounting bracket (17). A screw 5 (18) connects the rotor assembly 1 (13) and the mounting bracket (17). A shoulder positioning screw (11) connects the stator assembly 1 (14) and the mounting bracket (17). A protective cover plate (19) is installed on the bottom surface of the mounting bracket (17), and a screw connects the protective cover plate (19) and the mounting bracket (17). 6 (20), the surface of the code disk cover (4) is connected to a lead box (22), and a screw seven (21) is installed between the lead box (22) and the code disk cover (4). The connector one (1) is connected to a cable one (23) by welding, and one end of the cable one (23) is connected to the lead box (22). The surface of the mounting bracket (17) is connected to a protective cover (25), and a screw eight (26) is provided between the protective cover (25) and the mounting bracket (17). The inner surface of the protective cover (25) is equipped with a connector two (24).

3. The integrated robot walking and steering mechanism without gear transmission according to claim 1, characterized in that: The second motor includes: a stator assembly two (34) is embedded in both ends of the bottom of the mounting bracket (17), and one end of the stator assembly two (34) is connected to the mounting bracket (17) through a cap nut (27), and the other end of the stator assembly two (34) is connected to the mounting bracket (17) through a nut piece (43). A rotor assembly two (31) is provided on the outside of the stator assembly two (34), and a rubber wheel assembly (30) is installed on the surface of the rotor assembly two (31), and a screw nine (32) is connected between the rubber wheel assembly (30) and the rotor assembly two (31). A set screw (33) is installed on the surface of the rotor assembly two (31). An encoder stator component two (35) is connected to the end mounting bracket of the stator assembly two (34), and the encoder stator component two (35) and the stator assembly two (34) are connected to each other. 4) A screw ten (36) is connected between them. The rear bearing of the stator assembly two (34) is equipped with a rear end cover two (39), and the rear end cover two (39) and the stator assembly two (34) are equipped with a screw twelve (40). The surface of the rear end cover two (39) is equipped with an encoder rotor component two (38), and the encoder rotor component two (38) and the rear end cover two (39) are connected by a screw eleven (37). The oil seal chamber at the end of the rear end cover two (39) is equipped with an oil seal four (41), and the two ends of the stator assembly two (34) are equipped with a stop washer two (42) and a stop washer one (28). The stator assembly two (34) is equipped with a connector three (44), and the end of the connector three (44) is connected with a cable two (45). The oil seal chamber at the end of the rotor assembly two (31) is equipped with an oil seal three (29).

4. The integrated robot walking and steering mechanism without gear transmission according to claim 2, characterized in that: The rotor assembly (13) is a hollow structure, and the cable (23) is embedded in the hollow structure of the rotor assembly (13). Both ends of the rotor assembly (13) pass through the code disk cover (4) and the surface of the mounting bracket (17).

5. The integrated robot walking and steering mechanism without gear transmission according to claim 1, characterized in that: Both the thrust bearing (15) and the oil seal (16) are circular ring structures.

6. The integrated robot walking and steering mechanism without gear transmission according to claim 3, characterized in that: The mounting bracket (17) has an inverted C-shaped cross section. The bottom of the mounting bracket (17) is provided with a sliding groove, and both ends of the stator assembly (34) are located inside the sliding groove. The protective cover plate (19) is located at the bottom of the mounting bracket (17).

7. The integrated robot walking and steering mechanism without gear transmission according to claim 2, characterized in that: One side of the cable (23) passes through the bottom of the mounting bracket (17), so that the cable (23) is set on the top of the protective cover (19), and the end of the cable (23) passes through the mounting bracket (17) and is installed inside the protective cover (25).

8. The integrated robot walking and steering mechanism without gear transmission according to claim 3, characterized in that: The first stop washer (28) is disposed between the cap nut (27) and the mounting bracket (17), and the first stop washer (28) is configured as a circular structure, and the first stop washer (28) is installed on the outside of the bearing of the second stator assembly (34).

9. A gearless robot walking and steering integrated mechanism according to claim 3, characterized in that: The second stop washer (42) is located on one side of the nut (43), and the second stop washer (42) is a circular structure. The second stop washer (42) is installed on the outside of the bearing of the second stator assembly (34).

10. A gearless robot walking and steering integrated mechanism according to claim 1, characterized in that: The first motor and the second motor are arranged vertically in axial position, and the end of the first motor is connected to the mounting bracket (17), and the second motor is connected to the rubber wheel assembly (30).

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