Vertical transmission device of mobile robot

Abstract

The utility model belongs to the field of mobile robots, and particularly relates to a vertical transmission device of a mobile robot, which is characterized by comprising a base; the walking motor is arranged in the vertical direction and mounted at the top end of the base; the differential mechanism box body is arranged at the bottom of the base, a vertical spiral bevel gear with the axis arranged in the vertical direction and a horizontal spiral bevel gear with the axis arranged in the horizontal direction are arranged in the differential mechanism box body, and the vertical spiral bevel gear is connected with the output end of the walking motor; the walking wheel is rotationally arranged on the differential mechanism box body, a rotating shaft of the walking wheel is horizontally arranged, and the horizontal spiral bevel gear is connected with the walking wheel. Due to the vertical layout, the transmission device is compactly arranged in the vertical direction, and the occupied space in the horizontal direction is greatly reduced.

Description

TECHNICAL FIELD

[0001] The utility model belongs to mobile robot field, especially related to a mobile robot vertical transmission device. BACKGROUND

[0002] In the prior art, the transmission device of the mobile robot mostly adopts horizontal layout, that is, the transmission components such as motor and gear are arranged horizontally. Although this structure can realize basic transmission function, it also has many drawbacks. First, the horizontal transmission device occupies a large space, and for some application scenarios with high space requirements, such as logistics handling robots in narrow passages, its installation and use are greatly limited. Second, the transmission path of the horizontal transmission device is long, and the energy loss is large, which leads to low transmission efficiency, and further affects the endurance and working efficiency of the robot. In addition, the structure of the horizontal transmission device is complex, and the number of parts is large, which not only increases the manufacturing cost, but also increases the maintenance difficulty and failure rate. SUMMARY

[0003] The utility model aims at providing a mobile robot vertical transmission device, which aims to solve the technical problem of large space occupation and high cost of the transmission device in the prior art.

[0004] To achieve the above-mentioned purpose, the utility model embodiment provides a mobile robot vertical transmission device, characterized by comprising: a base; a walking motor arranged in a vertical direction and installed at the top end of the base; a differential box arranged at the bottom of the base, the inside of the differential box is provided with a vertical spiral bevel gear with an axis arranged in a vertical direction and a horizontal spiral bevel gear with an axis arranged in a horizontal direction, the vertical spiral bevel gear is connected with the output end of the walking motor; a walking wheel rotatably arranged on the differential box, the rotating shaft of the walking wheel is arranged horizontally, and the horizontal spiral bevel gear is connected with the walking wheel.

[0005] Optionally, the horizontal spiral bevel gear is provided with two, the two horizontal spiral bevel gears are coaxially arranged and engaged with the vertical spiral bevel gear, and the walking wheel is provided with two, the two walking wheels are respectively installed on the two sides of the differential box, and the two walking wheels are respectively connected with the two horizontal spiral bevel gears.

[0006] Optionally, it further comprises a driving gear and a driven gear, the driving gear and the driven gear are rotatably arranged on the base, a steering motor is further installed at the top end of the base, the steering motor is configured to drive the driving gear to rotate horizontally, and the driven gear is connected with the differential box and rotates synchronously.

[0007] Optionally, an output end of the steering motor is provided with a speed reducer, and the steering motor drives the driving gear to rotate through the speed reducer.

[0008] Optionally, a bottom of the driven gear is provided with an adapter, one end of the adapter is fixedly connected with the driven gear, and the other end is hingedly connected with the differential case.

[0009] Optionally, an axis of the traveling wheel extends along a left-right direction, and the adapter and the hinging shaft of the differential case extend along a front-rear direction.

[0010] Optionally, the adapter comprises a connecting plate and two ear plates, the connecting plate is horizontally arranged at the bottom of the driven gear, and the two ear plates are symmetrically arranged at two ends of the differential case.

[0011] Optionally, the base comprises a body and a boss, the boss is located at a side of the body, the steering motor is arranged on the boss, the traveling motor is arranged on the body, the body is respectively provided with a micro switch at regions close to left and right sides of the boss, and the driven gear is provided with a stop block, when the stop block rotates to the position of the micro switch, the micro switch is triggered and controls the steering motor to stop running through a control system.

[0012] Compared with the prior art, the above one or more technical solutions in the vertical transmission device of the mobile robot provided by the embodiments of the present application at least have one of the following technical effects: in the present application, the traveling motor is arranged along a vertical direction and is installed at the top end of the base, and the differential case is arranged at the bottom of the base, so that the transmission device is arranged compactly in the vertical direction, and the space occupation in the horizontal direction is greatly reduced. For the logistics handling robot in a narrow channel and other application scenarios with high space requirements, the vertical transmission device of the present application can be easily installed and used, is not limited by space, and significantly improves the applicability and flexibility of the robot. In addition, the transmission mode of the vertical spiral bevel gear and the horizontal spiral bevel gear in the present application shortens the transmission path and greatly reduces energy loss. Compared with the horizontal transmission device, the transmission efficiency of the present application is significantly improved, thereby effectively enhancing the endurance of the robot, reducing the charging frequency, improving the working efficiency of the robot, and reducing the operating cost. BRIEF DESCRIPTION OF DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0014] Figure 1 It is the three-dimensional structure schematic view of the mobile robot vertical transmission device in the embodiment of the utility model;

[0015] Figure 2 It is the main view structure schematic view of the mobile robot vertical transmission device in the embodiment of the utility model.

[0016] In the drawing, various reference signs are:

[0017] Base 100, body 110, driven gear 111, walking motor 112, micro switch 113, boss 120, driving gear 121, steering motor 122, speed reducer 123;

[0018] Differential case 200;

[0019] Walking wheel 300;

[0020] Adapter 400, connecting plate 410, ear plate 420;

[0021] Stop block 500. DETAILED DESCRIPTION

[0022] The embodiments of the utility model are described in detail below, the examples of the embodiments are shown in the drawings, wherein the same or similar signs represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary, and are intended to explain the embodiments of the utility model, and cannot be understood as the limitation of the utility model.

[0023] In the description of the embodiments of the utility model, it is understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the utility model and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the utility model.

[0024] In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include one or more of the features. In the description of the embodiments of the utility model, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0025] In the embodiments of the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship of two elements. For ordinary skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0026] As shown in Figure 1 and Figure 2 The utility model discloses a vertical transmission device of mobile robot, including base 100, walking motor 112, differential mechanism box 200 and walking wheel 300.

[0027] Among them, walking motor 112 is along vertical direction setting and is installed at the top of base 100, differential mechanism box 200 is set up at the bottom of base 100, the inside of differential mechanism box 200 is provided with vertical helical bevel gear (not shown in the drawing) and horizontal helical bevel gear (not shown in the drawing) of the axis along horizontal direction setting, vertical helical bevel gear is connected with the output end of walking motor 112, walking wheel 300 is rotationally arranged on differential mechanism box 200, and the rotating shaft of walking wheel 300 is horizontally arranged, and horizontal helical bevel gear is connected with walking wheel 300.

[0028] It can be understood that, in the utility model, walking motor 112 is along vertical direction setting and is installed at the top of base 100, differential mechanism box 200 is set up at the bottom of base 100, and the vertical layout makes the transmission device compactly arranged in the vertical direction, which greatly reduces the space occupation in the horizontal direction. For the application scene of high space requirement such as logistics carrying robot in narrow channel, the vertical transmission device of the utility model can be easily installed and used, is not limited by space, and the applicability and flexibility of the robot are significantly improved. In addition, the transmission mode that the vertical helical bevel gear and the horizontal helical bevel gear of the utility model are engaged makes the transmission path shorten, and the energy loss is greatly reduced. Compared with the horizontal transmission device, the transmission efficiency of the utility model is significantly improved, thereby effectively enhancing the endurance of the robot, reducing the charging frequency, improving the working efficiency of the robot, and reducing the operation cost.

[0029] As shown in Figure 1 and Figure 2As shown in one of the embodiments of the utility model, two horizontal spiral bevel gears are arranged, the two horizontal spiral bevel gears are coaxially arranged and are engaged with the vertical spiral bevel gear, two walking wheels 300 are arranged, the two walking wheels 300 are respectively installed on the two sides of the differential box body 200, and the two walking wheels 300 are respectively connected with the two horizontal spiral bevel gears. The structure design makes the power of the walking motor 112 be transmitted through the engagement of the vertical spiral bevel gear and the horizontal spiral bevel gear, is efficiently transmitted to the two walking wheels 300, and the robot is driven to walk stably. Meanwhile, the two walking wheels 300 are respectively installed on the two sides of the differential box body 200, differential steering can be realized, and the mobility of the robot is improved.

[0030] As Figure 1 and Figure 2 shown, in one of the embodiments of the utility model, it further includes driving gear 121 and driven gear 111, driving gear 121 and driven gear 111 are rotatably arranged on base 100, and steering motor 122 is further installed on the top end of base 100, steering motor 122 is configured to drive driving gear 121 to rotate horizontally, driven gear 111 is connected with differential box body 200 and rotates synchronously. The steering structure design in the embodiment makes the robot realize accurate steering control, the steering angle can be flexibly adjusted according to the needs of steering motor 122, and the mobility of the robot is improved. Especially in the complex environment or the scene needing frequent steering, the vertical transmission device of the utility model can make the robot more flexibly avoid obstacles, quickly adjust the driving direction, adapt to various different working environments and task requirements, and greatly improve the practicability and working efficiency of the robot.

[0031] As Figure 1 and Figure 2 shown, in one of the embodiments of the utility model, the output end of steering motor 122 is provided with speed reducer 123, and steering motor 122 drives driving gear 121 to rotate through speed reducer 123. The addition of speed reducer 123 can effectively reduce the output speed of steering motor 122, and significantly increase the output torque. In the steering process of the mobile robot, especially when the load is heavy or the steering resistance is large, such as the robot carrying heavy goods on uneven ground or needing to overcome large friction force for accurate steering in narrow space, the large torque can ensure that steering motor 122 easily drives driving gear 121 to rotate, so as to drive differential box body 200 and walking wheel 300 to realize stable and powerful steering, avoid steering difficulty or steering out of position due to insufficient torque, and improve the steering performance and controllability of the robot.

[0032] As Figure 1 and Figure 2As shown, in one embodiment of this utility model, an adapter 400 is installed at the bottom of the driven gear 111. One end of the adapter 400 is fixedly connected to the driven gear 111, and the other end is hinged to the differential housing 200. This structural design ensures that the differential housing 200 can rotate flexibly around the hinge axis when turning, while keeping the axis of the walking wheel 300 horizontal, so that the walking wheel 300 always maintains good contact with the ground, avoiding the walking wheel 300 from lifting or tilting due to turning, thereby improving the stability and driving safety of the robot during the turning process.

[0033] like Figure 1 and Figure 2 As shown, in one embodiment of this utility model, the axis of the walking wheel 300 extends in the left-right direction, and the hinge axis between the adapter 400 and the differential housing 200 extends in the front-back direction. The left-right extension of the axis of the walking wheel 300 ensures that the contact points between each walking wheel 300 and the ground are always located on the same horizontal plane during robot movement, guaranteeing stable contact between the walking wheel 300 and the ground and improving driving stability. Simultaneously, the front-back extension of the hinge axis between the adapter 400 and the differential housing 200 provides a reasonable rotation center for the rotation of the differential housing 200. During steering, the differential housing 200 rotates around the front-back hinge axis, enabling the two walking wheels 300 to rotate at different speeds, achieving differential steering. This makes the robot's steering more flexible and natural, conforms to vehicle dynamics principles, and improves steering stability and safety. Specifically, as... Figure 1 and Figure 2 As shown, the adapter 400 includes a connecting plate 410 and two ear plates 420. The connecting plate 410 is horizontally disposed at the bottom of the driven gear 111, and the two ear plates 420 are symmetrically disposed at both ends of the differential housing 200.

[0034] In one embodiment of this utility model, the base 100 includes a body 110 and a boss 120. The boss 120 is located on the side of the body 110. A steering motor 122 is mounted on the boss 120, and a walking motor 112 is mounted on the body 110. Microswitches 113 are respectively provided on the left and right sides of the body 110 near the boss 120. A stop block 500 is provided on the driven gear 111. When the stop block 500 rotates to the position of the microswitch 113, the microswitch 113 is triggered and controls the steering motor 122 to stop running through the control system. By setting the microswitch 113, it is further ensured that the robot travels along the preset trajectory, reducing deviations and swaying during travel, improving the overall stability of the robot, and also preventing the walking wheel 300 from turning too much. Specifically, the stop block 500 can be directly disposed on the driven gear 111 or indirectly disposed on the driven gear 111. For example, the stop block 500 can be disposed on the adapter 400 connected to the driven gear 111.

[0035] The above is a further detailed description of the utility model in combination with specific preferred embodiments, and cannot be deemed as limiting the specific implementation of the utility model to these descriptions. For ordinary skilled persons in the technical field of the utility model, the architecture form can be flexible and changeable without departing from the concept of the utility model, and a series of products can be derived. Only a few simple deductions or replacements should be deemed as belonging to the patent protection range determined by the submitted claims of the utility model.

Claims

1. A vertical transmission device for a mobile robot, characterized in that, include: Base; A walking motor is vertically positioned and mounted on the top of the base; A differential housing is disposed at the bottom of the base. Inside the differential housing are a vertical spiral bevel gear with its axis arranged in the vertical direction and a horizontal spiral bevel gear with its axis arranged in the horizontal direction. The vertical spiral bevel gear is connected to the output end of the travel motor. The travel wheel is rotatably mounted on the differential housing, and the axle of the travel wheel is horizontally positioned. The horizontal spiral bevel gear is connected to the travel wheel.

2. The vertical transmission device for mobile robots according to claim 1, characterized in that, There are two horizontal spiral bevel gears, which are coaxially arranged and mesh with the vertical spiral bevel gear. There are two wheels, which are respectively installed on both sides of the differential housing and are respectively connected to the two horizontal spiral bevel gears.

3. The vertical transmission device for a mobile robot according to claim 1, characterized in that, It also includes a drive gear and a driven gear, both of which are rotatably mounted on the base. A steering motor is also installed at the top of the base. The steering motor is configured to drive the drive gear to rotate horizontally. The driven gear is connected to the differential housing and rotates synchronously.

4. The vertical transmission device for a mobile robot according to claim 3, characterized in that, The output end of the steering motor is equipped with a speed reducer, and the steering motor drives the drive gear to rotate through the speed reducer.

5. The vertical transmission device for a mobile robot according to claim 3, characterized in that, An adapter is installed at the bottom of the driven gear. One end of the adapter is fixedly connected to the driven gear, and the other end is hinged to the differential housing.

6. The vertical transmission device for a mobile robot according to claim 5, characterized in that, The axis of the traveling wheel extends in the left-right direction, and the hinge shaft between the adapter and the differential housing extends in the front-back direction.

7. The vertical transmission device for a mobile robot according to claim 5, characterized in that, The adapter includes a connecting plate and two lugs. The connecting plate is horizontally positioned at the bottom of the driven gear, and the two lugs are symmetrically positioned at both ends of the differential housing.

8. The vertical transmission device for a mobile robot according to claim 3, characterized in that, The base includes a body and a boss. The boss is located on the side of the body. The steering motor is mounted on the boss, and the travel motor is mounted on the body. The body has microswitches on the left and right sides near the boss. The driven gear has a stop. When the stop rotates to the position of the microswitch, the microswitch is triggered and the steering motor is stopped by the control system.

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