Chassis differential system of sorting robot

Abstract

The utility model discloses a sorting robot chassis differential system, and particularly relates to a sorting robot which comprises a front wheel walking system and a rear wheel walking system, and the front wheel walking system and the rear wheel walking system respectively comprise a differential box and a motor. Telescopic cross shaft universal transmission shafts are assembled in the two oppositely-arranged output ends on the differential box, and an output shaft of a motor is inserted into the input end of the differential box. The telescopic cross shaft universal transmission shaft comprises a shaft rod inserted into the output end of the differential box, synchronous wheels are fixedly installed on the shaft rod, and a synchronous belt is connected to the two synchronous wheels in a transmission mode. The motor control device is simple in structure, and can avoid the situation that the motor cannot be controlled to perform forward rotation and reverse rotation due to circuit board faults.

Description

TECHNICAL FIELD

[0001] The utility model relates to a sorting robot, concretely relates to a sorting robot chassis differential system. BACKGROUND

[0002] The differential system is the core of power transmission of the sorting robot, which is used for transmitting the power output by the sorting robot to four wheels, so as to perform forward and backward.

[0003] The above-mentioned sorting robot is mainly used for garbage classification and garbage treatment, and reference is made to Chinese patents, publication number: CN106514670A, a sorting robot disclosed, and Chinese patent, publication number: CN113998361A, a sorting robot and a sorting method disclosed.

[0004] In the prior art including the above two patents, the control of forward and backward is determined by changing the positive and negative poles of the motor input current, that is, one motor needs to perform forward rotation and reverse rotation, two execution actions, if the circuit board fails, the motor cannot perform forward rotation and reverse rotation. UTILITY MODEL CONTENTS

[0005] The utility model aims at providing a sorting robot chassis differential system, which is used to solve the above-mentioned problems.

[0006] In order to achieve the above-mentioned purpose, the utility model provides the following technical scheme:

[0007] A sorting robot chassis differential system, comprising a front wheel walking system and a rear wheel walking system, the front wheel walking system and the rear wheel walking system comprising a differential box and a motor respectively;

[0008] Two oppositely arranged output ends of the differential box are assembled with telescopic cross axle universal transmission shafts, and the output shaft of the motor is inserted into the input end of the differential box;

[0009] The telescopic cross axle universal transmission shafts comprise shaft rods inserted into the output ends of the differential box, the shaft rods are fixedly installed with synchronous wheels, and the two synchronous wheels are drivingly connected with synchronous belts.

[0010] As preferred, a driving box partition support is further included, and the two motors are fixedly installed on the driving box partition support.

[0011] As preferred, the shaft rods of the two telescopic cross axle universal transmission shafts assembled on the same differential box are inserted and kept circumferentially rotating connected.

[0012] As preferred, a driven gear is fixedly installed on each of the two shaft rods of the same differential case, and the output shaft of the motor is in transmission connection with a transmission gear rotating around the differential case, and the driven gear is coupled with the transmission gear in a default state.

[0013] As preferred, a partition baffle is fixedly welded in the differential case, and the two shaft rods assembled by insertion pass through the center of a guide pipe installed by the partition baffle;

[0014] The driven gear is slidingly assembled on the guide pipe, and a tension spring is arranged between the driven gear and the partition baffle and sleeved on the guide pipe.

[0015] As preferred, a bevel guide disc is fixedly installed on one end of the driven gear towards the partition baffle;

[0016] An electric telescopic rod is fixedly installed in the differential case, a circular truncated cone guide part is rotationally arranged on the output end of the electric telescopic rod, and the circular truncated cone guide part is in rolling connection with the bevel of the two bevel guide discs.

[0017] As preferred, two electric telescopic rods are fixedly installed in one differential case with the output ends arranged adjacently.

[0018] In the above technical solution, the sorting robot chassis differential system has the following beneficial effects: two sets of differential cases and motors are respectively arranged corresponding to the front wheel walking system and the rear wheel walking system, then the telescopic cross shaft universal transmission shafts of the output shafts of the two differential cases are assembled into one body through synchronous wheels and synchronous belts, that is, the corresponding motors of the front wheel walking system and the rear wheel walking system, one is used for driving the sorting robot to move forward, and one is used for driving the sorting robot to move backward, the synchronous belt is used to make the transmission directions of the four telescopic cross shaft universal transmission shafts consistent. Thus, the occurrence of the situation that the motor cannot be controlled to perform forward rotation and reverse rotation due to the circuit board failure is avoided. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art according to these drawings.

[0020] Fig. 1 The overall structure schematic view provided by the embodiment of the present application;

[0021] Fig. 2 The cross-sectional structure schematic view of the differential case provided by the embodiment of the present application;

[0022] Fig. 3The embodiment of the utility model provides a circular table guide piece and inclined plane guide disc assembly structure schematic view.

[0023] Mark explanation:

[0024] 1, telescopic cross axle universal transmission shaft, 11, driven gear, 12, transmission gear, 13, inclined plane guide disc, 3, synchronous wheel, 4, differential box, 41, partition baffle, 42, guide pipe, 43, tension spring, 44, electric telescopic rod, 441, circular table guide piece, 5, motor, 6, drive box partition support, 7, synchronous belt. Specific implementation

[0025] In order to make those skilled in the art better understand the technical scheme of the utility model, the utility model will be further introduced in detail below in conjunction with the drawings.

[0026] As Figs. 1-3 Indicated, a sorting robot chassis differential system, including front wheel walking system and rear wheel walking system, front wheel walking system and rear wheel walking system include differential box 4 and motor 5 respectively,

[0027] Two oppositely arranged output ends on differential box 4 are assembled with telescopic cross axle universal transmission shaft 1, and the output shaft of motor 5 is inserted into the input end of differential box 4.

[0028] Telescopic cross axle universal transmission shaft 1 includes the axle of insertion in the output end of differential box 4, and synchronous wheel 3 is fixedly installed on the axle, and two synchronous wheels 3 are driven to be connected with synchronous belt 8.

[0029] Specifically, two differential boxes 4 and two motors 5 in the embodiment are arranged in the drive box of sorting robot, and two motors 5 are fixedly installed on drive box partition support 6.

[0030] In the above technology, two sets of differential box 4 and motor 5 are arranged respectively corresponding to front wheel walking system and rear wheel walking system, then telescopic cross axle universal transmission shaft 1 of two differential box 4 output shafts is assembled into an organic whole through synchronous wheel 3 and synchronous belt 8, that is, corresponding motor 5 of front wheel walking system and rear wheel walking system, one is used to drive sorting robot to advance, one is used to drive sorting robot to retreat, utilizes synchronous belt 8 to make four telescopic cross axle universal transmission shafts 1 transmission direction consistent, thereby avoiding the occurrence of the situation that motor 5 cannot be controlled to execute forward rotation and reverse rotation due to circuit board failure.

[0031] As a further embodiment of the utility model, the axle of two telescopic cross axle universal transmission shafts 1 assembled on the same differential box 4 is inserted and kept circumferential rotation connection.

[0032] And, the two shaft rods of the same differential case 4 in the embodiment are respectively fixedly installed with driven gears 11, the output shaft of the motor 5 is in transmission connection with a transmission gear 12 arranged in the differential case 4 in a circumferential direction, and the driven gear 11 is coupled with the transmission gear 12 in a default state.

[0033] Specifically, the two shaft rods of the same differential case 4 in the embodiment are inserted, so that when the two shaft rods rotate in a circumferential direction, the two telescopic cross shaft universal transmission shafts 1 can have a differential speed.

[0034] As further provided in another embodiment of the utility model, the differential case 4 is fixedly welded with a partition baffle 41, the two inserted shaft rods pass through the center of a guide pipe 42 installed by the partition baffle 41, the driven gear 11 is slidingly assembled on the guide pipe 42, and a tension spring 43 is arranged between the driven gear 11 and the partition baffle 41 and sleeved on the guide pipe 42. Further, the driven gear 11 is fixedly installed with an inclined surface guide disc 13 at one end facing the partition baffle 41. The differential case 4 is fixedly installed with an electric telescopic rod 44, the output end of the electric telescopic rod 44 is rotationally arranged with a circular table guide piece 441, and the circular table guide piece 441 is in rolling connection with the inclined surfaces of the two inclined surface guide discs 13.

[0035] Specifically, as shown in Figs. Fig. 2 and Fig. 3 If the motor 5 on the front wheel walking system drives to operate, the electric telescopic rod 44 on the rear wheel walking system extends to push the circular table guide piece 441 to be close to the guide pipe 42, so that the distance between the two inclined surface guide discs 13 is increased, and the tension spring 43 is deformed under stress. At this time, the driven gear 11 on the rear wheel walking system is separated from the transmission gear 12. If the motor 5 on the front wheel walking system drives to operate, the motor 5 drives the telescopic cross shaft universal transmission shaft 1, so that the transmission directions of the four telescopic cross shaft universal transmission shafts 1 are consistent by means of the synchronous belt 8, so that the sorting robot moves forward.

[0036] It should be noted that the two electric telescopic rods 44 are fixedly installed in one differential case 4 with adjacent output ends.

[0037] The above only describes certain exemplary embodiments of the utility model by way of illustration, and it is self-evident that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the utility model. Therefore, the above drawings and description are illustrative in nature and should not be understood as limiting the scope of protection of the utility model claims.

Claims

1. A sortation robot chassis differential system comprising a front wheel drive system and a rear wheel drive system, characterized in that, The front wheel walking system and the rear wheel walking system respectively comprise a differential box (4) and a motor (5); Two oppositely arranged output ends of the differential box (4) are internally fitted with telescopic cross axle universal transmission shafts (1), and an output shaft of the motor (5) is inserted into an input end of the differential box (4); The telescopic cross axle universal transmission shaft (1) comprises a shaft rod inserted into an output end of the differential box (4), and a synchronous wheel (3) is fixedly installed on the shaft rod, and two synchronous wheels (3) are drivingly connected with a synchronous belt (8).

2. A sort robot chassis differential system according to claim 1, wherein, A driving box partition support (6) is further included, and two motors (5) are fixedly installed on the driving box partition support (6).

3. The sort robot chassis differential system of claim 1, wherein, Shaft rods of two telescopic cross axle universal transmission shafts (1) fitted on the same differential box (4) are inserted and circumferentially rotationally connected.

4. A sort robot chassis differential system according to claim 3, wherein, Two shaft rods in the same differential box (4) are respectively fixedly installed with driven gears (11), an output shaft of the motor (5) is drivingly connected with a transmission gear (12) circumferentially rotationally arranged in the differential box (4), and the driven gears (11) and the transmission gear (12) are coupled in a default state.

5. A sort robot chassis differential system according to claim 4, wherein, The differential box (4) is internally fixedly welded with a partition baffle (41), and two inserted and fitted shaft rods pass through a center of a guide pipe (42) installed by the partition baffle (41); The driven gears (11) are slidingly fitted on the guide pipe (42), and a tension spring (43) sleeved on the guide pipe (42) is arranged between the driven gears (11) and the partition baffle (41).

6. A sort robot chassis differential system according to claim 5, wherein, The driven gears (11) are fixedly installed with inclined surface guide discs (13) towards one end of the partition baffle (41); The differential box (4) is internally fixedly installed with electric telescopic rods (44), and a circular truncated cone guide piece (441) is rotationally arranged at an output end of the electric telescopic rod (44), and the circular truncated cone guide piece (441) is rollingly connected with inclined surfaces of two inclined surface guide discs (13).

7. The sort robot chassis differential system of claim 1, wherein, Two electric telescopic rods (44) are internally fixedly installed in one differential box (4) with adjacent output ends.

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