Multi-stage planetary damping driving mechanism of mobile robot

Abstract

The utility model belongs to the field of mobile robots, and particularly relates to a multi-stage planetary damping driving mechanism of a mobile robot. The first gear is fixedly arranged on the rack, and the axis of the first gear is arranged in the vertical direction; the mounting plate is horizontally arranged on the rack and can horizontally rotate relative to the rack; the second gear is fixedly arranged on the mounting plate, the axis of the second gear is arranged in the vertical direction, and the second gear is meshed with the first gear; the wheel assembly comprises a tire and a support, the middle of the support is hinged to the tire, the two ends of the support are connected with the mounting plate, and at least one end of the support is elastically connected with the mounting plate. Damage to the mobile robot in the running process can be reduced through elastic connection, and therefore the service life of the mobile robot is prolonged.

Description

TECHNICAL FIELD

[0001] The utility model belongs to mobile robot field especially relates to a mobile robot multistage planetary damping drive mechanism. BACKGROUND

[0002] With the continuous development of mobile robot technology, its application in the field of industrial automation, logistics transportation, service robot is increasingly widespread. The driving mechanism of mobile robot is one of its core components, directly affects the mobility, stability and adaptability of robot. The traditional mobile robot driving mechanism usually adopts simple gear transmission or belt drive and the like, although it can realize the basic driving function, but in the face of complex terrain or need high precision motion control occasion, there is the technical problem of poor damping performance, when driving on uneven ground, the robot is easily affected by the ground bump, leading to unstable driving, even the mechanical parts damage situation. The traditional driving mechanism lacks effective damping measures, cannot effectively absorb and relieve the ground impact force, affects the service life and reliability of robot. SUMMARY

[0003] The utility model discloses a mobile robot multistage planetary damping drive mechanism, which aims to solve the technical problem of the existing mobile robot that cannot relieve the ground impact force and affects the service life.

[0004] To achieve the above object, the utility model embodiment provides a mobile robot multistage planetary damping drive mechanism, which comprises a rack, a first gear fixed on the rack, the axis of the first gear being arranged in the vertical direction, a mounting plate horizontally arranged on the rack and horizontally rotatable relative to the rack, a second gear fixed on the mounting plate, the axis of the second gear being arranged in the vertical direction and the second gear being engaged with the first gear, and a wheel assembly comprising a tire and a bracket, the middle part of the bracket being hinged to the tire, both ends of the bracket being connected to the mounting plate, and the connection between at least one end of the bracket and the mounting plate being elastic connection.

[0005] Optionally, the bracket comprises two fixed plates, the two fixed plates being respectively located on both sides of the axial direction of the tire, the tire being hinged to the middle part of the two fixed plates, both ends of the two fixed plates being connected to each other through two connecting blocks, the two connecting blocks being connected to the mounting plate, and the connection between at least one of the connecting blocks and the mounting plate being elastic connection.

[0006] Optionally, the connecting block located at the front end of the fixed plate is a first connecting block. The first connecting block includes a connecting block body and a shock-absorbing guide sleeve. The left and right sides of the connecting block body are respectively hinged to the two fixed plates. The bottom end of the shock-absorbing guide sleeve is inserted into the connecting block body. The shock-absorbing guide sleeve can slide relative to the connecting block body along its own axial direction. A shock-absorbing spring is sleeved on the shock-absorbing guide sleeve. The top end of the shock-absorbing guide sleeve is hinged to the mounting plate.

[0007] Optionally, the connecting block located at the rear end of the fixing plate is a second connecting block, the bottom end of the second connecting block is hinged to the two fixing plates, and the top end of the second connecting block is fixedly connected to the mounting plate.

[0008] Optionally, a travel motor is provided on one of the fixed plates, the travel motor passes through the fixed plate and docks with the tire and can drive the tire to rotate.

[0009] Optionally, the fixing plate has a structure that is wide in the middle and narrow at both ends.

[0010] Optionally, the mounting plate is provided with a steering motor, which is connected to the second gear and can drive the second gear to rotate.

[0011] Optionally, the mounting plate is provided with an angle encoder and a third gear. The third gear is rotatably mounted on the mounting plate and meshes with the first gear. The angle encoder is connected to the third gear and can count the rotation angle of the third gear.

[0012] Optionally, a planetary reduction gear is provided inside the tire.

[0013] Compared with the prior art, the above-mentioned one or more technical solutions in the multi-stage planetary shock absorption drive mechanism for mobile robots provided by this utility model embodiment have at least one of the following technical effects: when encountering uneven road surfaces, the elastic connection between the bracket and the mounting plate can buffer part of the impact force, thereby reducing damage to the mobile robot during travel and thus improving the service life of the mobile robot. Furthermore, by setting a bracket elastically connected to the mounting plate and placing the tire on the bracket, this utility model can minimize the space occupied by the buffer structure and reduce the size of the equipment. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a schematic diagram of the shock absorption drive mechanism in an embodiment of the present utility model;

[0016] Figure 2 This is a schematic diagram of the bottom structure of the shock-absorbing drive mechanism in an embodiment of the present utility model;

[0017] Figure 3 for Figure 1 A schematic diagram of the structure on the other side.

[0018] The following are the labeling elements in the figure:

[0019] First gear 100;

[0020] Mounting plate 200;

[0021] Second gear 300;

[0022] Wheel assembly 400, tire 410, bracket 420, fixing plate 421, first connecting block 422, connecting block body 422a, shock-absorbing guide sleeve 422b, second connecting block 423, shock-absorbing spring 430;

[0023] 500 walking motor;

[0024] Steering motor 600;

[0025] Angle encoder 700;

[0026] Third gear 800. Detailed Implementation

[0027] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the embodiments of the present invention, and should not be construed as limiting the present invention.

[0028] In the description of the embodiments of this utility model, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing the embodiments of this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0029] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0030] In this embodiment of the invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this embodiment of the invention according to the specific circumstances.

[0031] like Figures 1 to 3 As shown, this utility model embodiment provides a multi-stage planetary shock absorption drive mechanism for a mobile robot, including a frame (not shown in the figure), a first gear 100, a mounting plate 200, a second gear 300, and a wheel assembly 400.

[0032] The first gear 100 is fixed on the frame, and the axis of the first gear 100 is arranged in a vertical direction. The mounting plate 200 is horizontally arranged on the frame and can rotate horizontally relative to the frame. The second gear 300 is fixed on the mounting plate 200, and the axis of the second gear 300 is arranged in a vertical direction and meshes with the first gear 100. The wheel assembly 400 includes a tire 410 and a bracket 420. The middle part of the bracket 420 is hinged to the tire 410, and both ends of the bracket 420 are respectively connected to the mounting plate 200. The connection between at least one end of the bracket 420 and the mounting plate 200 is an elastic connection.

[0033] Understandably, when encountering uneven road surfaces, the elastic connection between the bracket 420 and the mounting plate 200 can buffer some of the impact force, thereby reducing damage to the mobile robot during operation and thus improving its service life. Specifically, by setting up a bracket 420 that is elastically connected to the mounting plate 200 and placing the tire 410 on the bracket 420, this invention can minimize the space occupied by the buffer structure and reduce the size of the equipment.

[0034] It should be noted that the frame is the main framework structure of the mobile robot. During installation, the first gear 100 can be fixed relative to the frame. When the second gear 300 rotates, it can drive the wheel assembly 400 to rotate relative to the first gear 100, thereby changing the direction.

[0035] like Figures 1 to 3 As shown, in one embodiment of this utility model, the bracket 420 includes two fixing plates 421, which are respectively located on both sides of the tire 410 along its axial direction, maintaining the stability of the tire 410 installation and ensuring that the tire 410 remains balanced on both sides. Furthermore, the tire 410 is hinged to the middle of the two fixing plates 421, and the two ends of the two fixing plates 421 are connected to each other by two connecting blocks. Both connecting blocks are connected to the mounting plate 200, and at least one of the connecting blocks has an elastic connection with the mounting plate 200. When the mobile robot traverses uneven ground, the elastic connection structure can reduce the impact during the robot's movement, extend its service life, and prevent the tire 410 from slipping.

[0036] like Figure 2 and Figure 3 As shown, in one embodiment of this utility model, the connecting block located at the front end of the fixed plate 421 is a first connecting block 422. The first connecting block 422 includes a connecting block body 422a and a shock-absorbing guide sleeve 422b. The left and right sides of the connecting block body 422a are respectively hinged to the two fixed plates 421. The bottom end of the shock-absorbing guide sleeve 422b is inserted into the connecting block body 422a. The shock-absorbing guide sleeve 422b can slide relative to the connecting block body 422a along its own axial direction. When the mobile robot passes over uneven ground, the shock-absorbing guide sleeve 422b can slide relative to the connecting block body 422a. Furthermore, a shock-absorbing spring 430 is sleeved on the shock-absorbing guide sleeve 422b. The top end of the shock-absorbing guide sleeve 422b is hinged to the mounting plate 200. The shock-absorbing spring 430 can play a shock-absorbing role.

[0037] like Figure 3 As shown, in one embodiment of this utility model, the connecting block located at the rear end of the fixing plate 421 is a second connecting block 423. The bottom end of the second connecting block 423 is hinged to the two fixing plates 421, and the top end of the second connecting block 423 is fixedly connected to the mounting plate 200. The support of the second connecting block 423 prevents excessive deformation and displacement between the mounting plate 200 and the bracket 420 under large impacts, thus preventing compression of the tire 410. The length direction of the fixing plate 421 is the front-to-back direction, and the two fixing plates 421 are arranged along the left-to-right direction on the left and right sides of the tire 410.

[0038] like Figure 1 and Figure 2 As shown, in one embodiment of this utility model, a walking motor 500 is provided on a fixed plate 421. The walking motor 500 passes through the fixed plate 421 and connects with the tire 410, and can drive the tire 410 to rotate. Setting the walking motor 500 to be coaxial with the tire 410 can save vertical assembly space and reduce the overall size of the mobile robot.

[0039] Reference Figures 1 to 3 In one embodiment of this utility model, the fixing plate 421 has a structure that is wider in the middle and narrower at both ends. The wider middle part can be used to assemble with the tire 410 and the walking motor 500, and the narrower ends can be used to connect with the first connecting block 422 and the second connecting block 423.

[0040] like Figure 1 and Figure 2 As shown, in one embodiment of this utility model, a steering motor 600 is provided on the mounting plate 200. The steering motor 600 is connected to the second gear 300 and can drive the second gear 300 to rotate. Specifically, when the second gear 300 rotates, the second gear drives the mounting plate 200 and the steering motor 600 to rotate synchronously around the first gear 100.

[0041] like Figures 1 to 3 As shown, in one embodiment of this utility model, an angle encoder 700 and a third gear 800 are provided on the mounting plate 200. The third gear 800 is rotatably mounted on the mounting plate 200 and meshes with the first gear 100. The angle encoder 700 is connected to the third gear 800 and can count the rotation angle of the third gear 800. While the second gear 300 rotates, the third gear 800 rotates synchronously, thereby measuring the rotation angle and realizing real-time monitoring of the tire 410's rotation angle. Specifically, the second gear 300 and the third gear 800 must be gears with the same outer diameter and number of teeth.

[0042] In one embodiment of this utility model, a planetary reduction mechanism (not shown in the figure) is provided inside the tire 410. The planetary reduction mechanism can reduce the relatively fast rotation speed output by the walking motor 500 to a rotation speed suitable for the tire 410. Setting the planetary reduction mechanism inside the tire 410 can reduce the space occupied and further reduce the size of the mobile robot.

[0043] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of this utility model. It should not be construed that the specific implementation of this utility model is limited to these descriptions. For those skilled in the art, the architectural form of this utility model can be flexibly varied without departing from its concept, and a series of products can be derived. Any simple deductions or substitutions should be considered as falling within the patent protection scope defined by the submitted claims.

Claims

1. A multi-stage planetary vibration damping drive mechanism for a mobile robot, characterized in that, include: frame; The first gear is fixed on the frame, and the axis of the first gear is arranged in the vertical direction; The mounting plate is horizontally mounted on the frame and can rotate horizontally relative to the frame. The second gear is fixed on the mounting plate, and the axis of the second gear is arranged in the vertical direction and the second gear meshes with the first gear; A wheel assembly includes a tire and a bracket, the middle portion of which is hinged to the tire, and both ends of the bracket are respectively connected to a mounting plate, wherein the connection between at least one end of the bracket and the mounting plate is an elastic connection.

2. The multi-stage planetary vibration damping drive mechanism for mobile robots according to claim 1, characterized in that, The bracket includes two fixing plates, which are located on both sides of the tire along the axial direction. The tire is hinged to the middle of the two fixing plates. The two ends of the two fixing plates are connected to each other by two connecting blocks. Both connecting blocks are connected to the mounting plate, and at least one of the connecting blocks is elastically connected to the mounting plate.

3. The multi-stage planetary vibration damping drive mechanism for mobile robots according to claim 2, characterized in that, The connecting block located at the front end of the fixed plate is the first connecting block. The first connecting block includes a connecting block body and a shock-absorbing guide sleeve. The left and right sides of the connecting block body are respectively hinged to the two fixed plates. The bottom end of the shock-absorbing guide sleeve is inserted into the connecting block body. The shock-absorbing guide sleeve can slide relative to the connecting block body along its own axial direction. A shock-absorbing spring is sleeved on the shock-absorbing guide sleeve. The top end of the shock-absorbing guide sleeve is hinged to the mounting plate.

4. The multi-stage planetary vibration damping drive mechanism for mobile robots according to claim 2, characterized in that, The connecting block located at the rear end of the fixed plate is a second connecting block. The bottom end of the second connecting block is hinged to the two fixed plates, and the top end of the second connecting block is fixedly connected to the mounting plate.

5. The multi-stage planetary vibration damping drive mechanism for mobile robots according to claim 2, characterized in that, One of the fixed plates is equipped with a walking motor, which passes through the fixed plate, connects to the tire, and can drive the tire to rotate.

6. The multi-stage planetary vibration damping drive mechanism for mobile robots according to claim 2, characterized in that, The fixing plate has a structure that is wider in the middle and narrower at both ends.

7. The multi-stage planetary vibration damping drive mechanism for mobile robots according to any one of claims 1 to 6, characterized in that, The mounting plate is equipped with a steering motor, which is connected to the second gear and can drive the second gear to rotate.

8. The multi-stage planetary vibration damping drive mechanism for mobile robots according to any one of claims 1 to 6, characterized in that, An angle encoder and a third gear are provided on the mounting plate. The third gear is rotatably mounted on the mounting plate and meshes with the first gear. The angle encoder is connected to the third gear and can count the rotation angle of the third gear.

9. The multi-stage planetary vibration damping drive mechanism for mobile robots according to claim 1, characterized in that, The tire is equipped with a planetary reduction gear mechanism.

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