Composite driving mechanism with shock absorption and robot

Abstract

The utility model discloses a kind of composite drive mechanism and robot with shock absorption, including steering motor, connecting piece, mounting piece, wheel hub motor, shock absorber and drive wheel, wheel hub motor is connected with drive wheel for making drive wheel rotate, mounting piece is used to connect wheel hub motor with connecting piece, mounting piece is hinged with connecting piece, connecting piece is connected with steering motor, to make steering motor drive connecting piece and wheel hub motor rotate, drive drive wheel to turn, shock absorber is located between connecting piece and wheel hub motor, for the shock absorption of drive wheel.The utility model carries out the layout to the structure of drive mechanism, simplifies the structure of existing connecting mechanism, using the cooperation of connecting piece and mounting piece, the connection of wheel hub motor and steering motor can be realized, so that the wiring of entire drive mechanism is more concealed, appearance is clean, with better aesthetic property.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a composite drive mechanism with shock absorption and a robot. Background Technology

[0002] The robot primarily utilizes a mobile chassis equipped with LiDAR, gas sensors, alarm mechanisms, and GPS positioning systems to perform functions such as inspection and detection of target areas. The chassis is equipped with multiple drive mechanisms to ensure it can move according to preset requirements.

[0003] Existing chassis, as shown in patent application number CN201910545016.3 entitled "Chassis System and Robot", have a drive module (drive mechanism) that includes tires, hub motors, steering motors, shock absorbers, and connecting mechanisms. The hub motors are connected to the tires to enable tire rotation, and the connecting mechanisms are used to connect the steering motors and hub motors, as well as the hub motors and shock absorbers, ensuring that the entire drive module can achieve autonomous rotation while also having steering and shock absorption functions.

[0004] In the aforementioned patent, the connecting mechanism adopts a multi-link structure and also intersperses components such as the fork body, making the entire drive module structure cumbersome and complex, which is not conducive to wiring and installation. Furthermore, the frame has a large lateral proportion along the chassis, which is not conducive to the compact design of the entire chassis. Utility Model Content

[0005] To address the shortcomings of existing technologies, this utility model provides a composite drive mechanism and robot with shock absorption. The layout of the drive mechanism simplifies the existing connection mechanism structure. By utilizing the cooperation of connectors and mounting parts, the hub motor and steering motor can be connected, making the wiring of the entire drive mechanism more concealed, the appearance cleaner, and the aesthetics better.

[0006] To achieve the above objectives, this utility model adopts the following technical solution: a composite drive mechanism with shock absorption, comprising a steering motor, a connecting component, a mounting component, a hub motor, a shock absorber, and a drive wheel.

[0007] The hub motor connects to the drive wheel to rotate it. The mounting bracket connects the hub motor to the connecting bracket, and the mounting bracket and the connecting bracket are hinged.

[0008] The connector is connected to the steering motor so that the steering motor drives the connector and the hub motor to rotate, thereby steering the drive wheels.

[0009] The shock absorber is located between the connector and the hub motor and is used to dampen the drive wheel.

[0010] Compared with the prior art, the present invention has the following beneficial effects:

[0011] This utility model's drive mechanism improves upon existing drive modules by modifying the connection mechanism. Using only mounting and connecting parts, it achieves the coordinated connection of the hub motor, steering motor, shock absorber, and drive wheel. This ensures that the drive wheel can rotate autonomously under the action of the hub motor and also steer under the action of the steering motor. Simultaneously, it provides shock absorption under the action of the shock absorber. The simplified connection mechanism facilitates the wiring of each motor and the connection and installation of the drive mechanism. Furthermore, the reduced overall size of the drive mechanism makes it more suitable for small-size robot designs, adapting to different chassis structures and enhancing the robot's aesthetics.

[0012] Furthermore, the hub motor is located inside the drive wheel and connected to the drive wheel, the mounting component is connected to the hub motor along the radial direction of the hub motor, and the hinge point between the connecting component and the mounting component is located in the circumferential direction of the hub motor.

[0013] Furthermore, the mounting component has a fork portion and a hinge portion, the fork portion being fixed to the hub motor along the circumference of the hub motor, and the hinge portion being hinged to the connecting component.

[0014] Furthermore, the hinged part is connected to the fork part and is arranged radially away from the hub motor.

[0015] Furthermore, a reinforcing member is provided between the fork support and the hub motor.

[0016] The reinforcement components include multiple slots and protrusions for use, with each slot and protrusion sequentially and alternately engaged. Each slot and protrusion is respectively located on the fork section and the wheel hub motor, or...

[0017] Each slot and each protrusion is respectively located on the hub motor and the fork section.

[0018] Furthermore, the connector has a strip-shaped connecting portion arranged radially along the drive wheel, the lower part of the connecting portion is hinged to the mounting component, and the upper part of the connecting portion is connected to the steering motor.

[0019] Furthermore, one end of the shock absorber is hinged to the middle of the connecting part, and the other end of the shock absorber is hinged to the hub motor.

[0020] This utility model also provides a robot, including multiple of the above-mentioned composite drive mechanisms with shock absorption, and a cabin, with each composite drive mechanism with shock absorption distributed around the cabin, and each steering motor fixed to the side wall of the cabin.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] Based on existing technology, this utility model improves the structure of the drive module by adopting a composite drive mechanism with shock absorption. This type of drive mechanism can be adapted to different shaped cabins to form chassis of different shapes, and has the advantages of more concealed wiring, cleaner appearance, and better aesthetics.

[0023] Furthermore, the cabin has a cylindrical cavity structure, and there are four composite drive mechanisms with shock absorption. The cabin is provided with four outwardly extending mounting seats, each of which is fixed to the corresponding steering motor. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of the robot of this utility model;

[0025] Figure 2 for Figure 1 Schematic diagram of the middle section;

[0026] Figure 3 This is a schematic diagram of the drive mechanism of this utility model excluding the steering motor;

[0027] Figure 4 for Figure 3 A structural diagram from another perspective.

[0028] In the figure: cabin 100, drive mechanism 200, steering motor 210, connector 230, rotating seat 231, mounting part 260, hinge part 261, fork part 262, hub motor 240, circumferential locking part 241, slot 242, shock absorber 250, drive wheel 220. Detailed Implementation

[0029] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0030] like Figure 1 , 2As shown in Figures 3 and 4, a robot includes multiple composite drive mechanisms 200 with shock absorption (hereinafter referred to as drive mechanisms 200), and a cabin 100. The cabin 100 and the multiple drive mechanisms 200 constitute the robot's chassis. The shape of the cabin 100 can be a common rectangular box, or it can be a cross-shaped structure as described in the applicant's previous patent application with patent number CN202311863039.1. The structure of the cabin 100 can be designed according to the components to be mounted (LiDAR, lifting gimbal, audio system, GPS positioning mechanism, etc.). This utility model does not limit the components mounted on the cabin 100, and they can be adjusted according to the application scenario of the robot. The specific components can be set with reference to the content described in the applicant's previous patent application with patent number CN202311863039.1. In this utility model, as... Figure 2 As shown, the cabin 100 has a cylindrical cavity structure, which makes the overall shape of the robot more unique. Due to the structural limitations of the cabin 100, compared with the conventional rectangular cabin 100 structure, a specific structure is required to facilitate the connection of each drive mechanism 200. For this purpose, the present invention has multiple outwardly extending mounting seats on the upper circumference of the cabin 100, and each mounting seat is respectively installed in conjunction with the corresponding drive mechanism 200.

[0031] The number of drive mechanisms 200 can be four, six, eight, etc., to ensure that the cabin 100 equipped with the drive mechanism 200 can run according to the preset route. In this utility model, four drive mechanisms 200 are set according to the size and overall layout of the cabin 100. Correspondingly, four mounting seats are provided around the cabin 100 for cooperation. The four drive mechanisms 200 are distributed around the cabin 100 and are installed in cooperation with the four mounting seats. The drive mechanisms 200 are used to drive the cabin 100 to move.

[0032] Existing drive modules are generally large, which is not conducive to the wiring of individual motors and the compact design of robots. Therefore, this application proposes a composite drive mechanism 200 with shock absorption based on existing drive modules. Specifically, the drive mechanism 200 includes a steering motor 210, a connector 230, a mounting member 260, a hub motor 240, a shock absorber 250, and a drive wheel 220. The hub motor 240 is connected to the drive wheel 220 to rotate it. The mounting member 260 connects the hub motor 240 and the connector 230, and the mounting member 260 is hinged to the connector 230. The connector 230 is connected to the steering motor 210, so that the steering motor 210 drives the connector 230 and the hub motor 240 to rotate, thereby steering the drive wheel 220. The shock absorber 250 is located between the connector 230 and the hub motor 240 to absorb vibrations in the drive wheel 220.

[0033] Understandably, the hub motor 240 is coaxially connected to the drive wheel 220. Since the hub motor 240 is an electrically controlled motor, its rotation allows the drive wheel 220 to rotate freely. The mounting component 260 can be any structure that connects the connector 230 and the hub motor 240, such as a ring structure or a block structure with grooves, facilitating the installation of the hub motor 240 while also allowing for hinged connection with the connector 230. Similarly, the connector 230 can be structured according to the position of the steering motor 210 to ensure that the steering motor 210 enables synchronous rotation of the connector 230, the hub motor 240, and the drive wheel 220, thereby achieving steering of the drive wheel 220. The steering motor 210 is an electrically controlled motor, such as a servo motor or stepper motor, allowing the robot to perform inspection operations according to a preset route. The shock absorber 250 is a spring shock absorber 250. The shock absorber 250 is installed between the connector 230 and the hub motor 240. Compared with the shock absorber 250 being positioned between the robot body (cabin 100 or chassis) and the hub motor 240 (or the connection structure of the hub motor 240), it is easier to match the basic load, vibration intensity and stability requirements of the shock absorber 250, resulting in better buffering effect and better stable support effect of the shock absorber 250.

[0034] The drive mechanism 200 of this utility model improves the connection mechanism based on the existing drive module. It only uses mounting parts 260 and connecting parts 230 to achieve the cooperative connection of hub motor 240, steering motor 210, shock absorber 250 and drive wheel 220. This ensures that the drive wheel 220 can rotate autonomously under the action of hub motor 240 and can also turn under the action of steering motor 210. At the same time, it can also have the shock absorption function under the action of shock absorber 250. The connection mechanism is simplified, which not only facilitates the wiring of each motor, but also facilitates the connection and installation of drive mechanism 200. At the same time, the overall size of drive mechanism 200 is reduced, which is more conducive to the small size design of robot, adapts to different chassis structures, and makes the robot more aesthetically pleasing.

[0035] To make the drive mechanism 200 of this utility model more compact, such as Figure 2 , 3 As shown in Figure 4, the hub motor 240 is located inside the drive wheel 220 and connected to it. The mounting member 260 is connected to the hub motor 240 radially. The hinge point between the connecting member 230 and the mounting member 260 is located circumferentially to the hub motor 240. By limiting the positions of the mounting member 260 and the connecting member 230, the overall size of the drive mechanism 200 can be further reduced, making the overall drive mechanism 200 more widely applicable.

[0036] Because this utility model is equipped with four drive mechanisms 200, and the four drive mechanisms 200 are respectively close to the front and rear sides of the chassis in the forward direction, in order to facilitate the positioning and assembly of each drive mechanism 200, the position of the mounting component 260 can be adjusted according to the installation position of each drive mechanism 200. This ensures that the mounting component 260 can achieve the corresponding connection function and improves the convenience of connection of the mounting component 260. The mounting component 260 of this utility model has a fork portion 262 and a hinge portion 261. The fork portion 262 is fixed to the hub motor 240 along the circumference of the hub motor 240, and the hinge portion 261 is hinged to the connecting component 230. Figure 3 , 4 As shown, the hub motor 240 has a cylindrical circumferential locking part 241, and the fork part 262 is similar to a semi-circular groove structure. The fork part 262 can be locked with the circumferential locking part 241 on both sides of the hub motor 240. Then, the hub motor 240 is fixed by bolts or the connecting seats on both ends of the fork part 262. When the fork part 262 is connected to the drive wheel 220 at different positions, the connection position of the fork part 262 and the hub motor 240 can be adjusted according to the installation position of the drive wheel 220. This not only facilitates the assembly of the drive mechanism 200, but also makes the four drive mechanisms 200 of the robot have better symmetry, higher overlap between the center of gravity and the center, and improves the overall operational stability of the robot.

[0037] Theoretically, the hinge portion 261 can be located at any position on the fork portion 262. For example, if the fork portion 262 is a plate-like structure, the hinge portion 261 is located on one side of the plate-like structure, which can be the side closer to the drive wheel 220 or the side farther away from the drive wheel 220. After the fork portion 262 and the hub motor 240 are connected, the hinge portion 261 is also located circumferentially on the hub motor 240. Therefore, the hinge portion 261 and the connecting portion are hinged, which can achieve the hinge point between the connecting member 230 and the mounting member 260 located circumferentially on the hub motor 240. In this utility model, to facilitate the integrated structural design of the mounting member 260 and to facilitate the connection between the connecting member 230 and the hinge portion 261, such as... Figure 2 , 3 As shown in Figure 4, the hinge portion 261 is connected to the fork portion 262 and is arranged radially away from the hub motor 240. This structure allows the hinge portion 261 and the fork portion 262 to be connected without having the hinge portion 261 located on either side of the fork portion 262. The hinge portion 261 is suspended, which facilitates the hinge of the hinge portion 261 and the connector 230.

[0038] To enhance the connection stability between the fork carriage 262 and the hub motor 240, this invention includes a reinforcing component between the fork carriage 262 and the hub motor 240. This reinforcing component comprises multiple engaging slots 242 and multiple engaging protrusions. The slots 242 and protrusions are sequentially and alternately engaged. Each slot 242 and protrusion is respectively positioned on the fork carriage 262 and the hub motor 240, or vice versa. The slots 242 and protrusions allow for overlapping connection between the two components, increasing the connection strength between the hub motor 240 and the fork carriage 262 along the axial direction of the hub motor 240, thus making the connection between the fork carriage 262 and the hub motor 240 more stable.

[0039] For the installation of the steering motor 210, it is necessary to raise the steering motor 210 to fix it to the corresponding mounting base. Therefore, the connector 230 needs to be a structure with length, or a connecting structure with length. For this purpose, the connector 230 of this application has a strip-shaped connecting portion arranged radially along the drive wheel 220. The lower part of the connecting portion is hinged to the mounting member 260, and the upper part of the connecting portion is connected to the steering motor 210. For example... Figure 2 , 3 As shown in Figure 4, the connector 230 is an inclined connecting arm structure. The width of the connecting arm is a sheet-like structure along the axial direction of the drive wheel 220. The lower part of the connecting arm is hinged to the hinge part 261. A rotating seat 231 is fixed on the upper part of the connecting arm near the drive wheel 220. The rotating seat 231 is connected to the steering motor 210. The steering motor 210 is fixed to the corresponding mounting seat. When the steering motor 210 works, it can realize the steering of the drive wheel 220.

[0040] Based on the structure of connector 230, such as Figure 3 , 4 As shown, the shock absorber 250 is located on the side of the connecting arm away from the drive wheel 220. One end of the shock absorber 250 is hinged to the hinge seat in the middle of the connecting part, and the other end of the shock absorber 250 is hinged to the fixed seat fixed on the hub motor 240.

[0041] Based on the existing technology, the robot of this utility model improves the structure of the drive module by adopting a composite drive mechanism 200 with shock absorption. This type of drive mechanism 200 can be adapted to different shaped cabins 100 to form chassis of different shapes. It has the advantages of more concealed wiring, cleaner appearance, and better aesthetics.

[0042] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," 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 utility model according to the specific circumstances.

[0043] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use. They are only for the convenience of describing 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. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0044] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A composite drive mechanism with vibration damping, characterized in that: It includes a steering motor (210), a connector (230), a mounting component (260), a hub motor (240), a shock absorber (250), and a drive wheel (220). The hub motor (240) is connected to the drive wheel (220) to rotate the drive wheel (220). The mounting piece (260) is used to connect the hub motor (240) and the connector (230). The mounting piece (260) and the connector (230) are hinged. The connector (230) is connected to the steering motor (210) so that the steering motor (210) drives the connector (230) and the hub motor (240) to rotate, thereby turning the drive wheel (220) to steer. The shock absorber (250) is located between the connector (230) and the hub motor (240) for damping the drive wheel (220).

2. The composite drive mechanism with vibration damping according to claim 1, characterized in that: The hub motor (240) is located inside the drive wheel (220) and connected to the drive wheel (220). The mounting part (260) is connected to the hub motor (240) along the radial direction of the hub motor (240). The hinge point between the connecting part (230) and the mounting part (260) is located in the circumferential direction of the hub motor (240).

3. The composite drive mechanism with shock absorption according to claim 1 or 2, characterized in that: The mounting part (260) has a fork section (262) and a hinge section (261). The fork section (262) is fixed to the hub motor (240) circumferentially, and the hinge section (261) is hinged to the connector (230).

4. The composite drive mechanism with shock absorption according to claim 3, characterized in that: The hinge (261) is connected to the fork (262) and is arranged radially away from the hub motor (240).

5. The composite drive mechanism with shock absorption according to claim 3, characterized in that: A reinforcing member is provided between the fork support (262) and the hub motor (240). The reinforcement includes multiple slots (242) and multiple protrusions for use. Each slot (242) and each protrusion is sequentially and alternately engaged. Each slot (242) and each protrusion is respectively located on the fork section (262) and the hub motor (240), or... Each slot (242) and each protrusion is respectively provided on the hub motor (240) and the fork section (262).

6. The composite drive mechanism with vibration damping according to claim 4, characterized in that: A reinforcing member is provided between the fork support (262) and the hub motor (240). The reinforcement includes multiple slots (242) and multiple protrusions for use. Each slot (242) and each protrusion is sequentially and alternately engaged. Each slot (242) and each protrusion is respectively located on the fork section (262) and the hub motor (240), or... Each slot (242) and each protrusion is respectively provided on the hub motor (240) and the fork section (262).

7. The composite drive mechanism with shock absorption according to claim 1, 2, 4, 5 or 6, characterized in that: The connector (230) has a strip-shaped connecting portion arranged radially along the drive wheel (220), the lower part of the connecting portion is hinged to the mounting member (260), and the upper part of the connecting portion is connected to the steering motor (210).

8. The composite drive mechanism with vibration damping according to claim 7, characterized in that: One end of the shock absorber (250) is hinged to the middle of the connecting part, and the other end of the shock absorber (250) is hinged to the hub motor (240).

9. A robot, characterized in that: The device includes a composite drive mechanism (200) with shock absorption as described in any one of claims 1-8, and also includes a cabin (100), wherein each composite drive mechanism (200) with shock absorption is distributed around the cabin (100), and each steering motor (210) is fixed to the side wall of the cabin (100).

10. The robot according to claim 9, characterized in that: The cabin (100) has a cylindrical cavity structure and four composite drive mechanisms with shock absorption. The cabin (100) has four outwardly extending mounting seats, each of which is fixed to the corresponding steering motor (210).

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