A driving component, a track walking mechanism and a track robot

Abstract

This utility model relates to the field of robotics, and more particularly to a drive component, a tracked walking mechanism, and a tracked robot. In the drive component, a cover has an internal space and a side hole communicating with the internal space. The cover is mounted on a drive assembly, which covers the internal space. A circuit board is mounted in the internal space. The sensing assembly includes a transmitter and a sensor. The transmitter is mounted on the first output shaft of the drive assembly, and the sensor is mounted on the circuit board, electrically connected to the circuitry on the circuit board, and corresponding to the position of the transmitter. The side hole is used to inject sealant into the internal space to encapsulate the circuit board, and also to allow wires to be led out from the circuit board. In this utility model, the sealant encapsulates the circuit board, preventing foreign objects such as water, mud, and dust from entering the internal space and thus ensuring the reliability of the drive component's seal.

Description

Technical Field

[0001] This utility model relates to the field of robot technology, and in particular to a drive component, a tracked walking mechanism, and a tracked robot. Background Technology

[0002] With the continuous development of automation technology, drive components are increasingly being used in various types of robots. For example, automatic lawnmowers use tracked walking mechanisms, which prevent the drive components from leaving wheel tracks while walking on the lawn, thus ensuring the aesthetics of the lawn. Similarly, home-use automatic snowplows also use tracked walking mechanisms, which are less prone to slipping accidents when walking on snow.

[0003] Tracked locomotives typically include a drive unit, a support frame, tracks, and drive and driven wheels spaced apart on the support frame. The tracks are fitted onto the drive and driven wheels, and the drive unit is connected to the drive wheels. As a key power output component of the robot, the performance of the drive unit directly affects the operational stability of the equipment in complex environments such as wet, slippery, and muddy conditions. Especially during field operations, rainwater and mud can easily penetrate the internal components through the connection points, causing corrosion and failure, thereby affecting the overall operational safety and lifespan of the equipment.

[0004] In the prior art, the sealing performance of the drive component depends on the mechanical clamping fit between the sealing ring and the cover. This structure is susceptible to factors such as sealing ring aging and insufficient clamping force, which can lead to water seepage channels when the equipment is in long-term operation or encounters external mud and water impact, making it difficult to achieve durable and reliable sealing protection. Summary of the Invention

[0005] This utility model provides a drive component, a tracked walking mechanism, and a tracked robot to solve the technical problems of low reliability of the sealing performance of the drive component in the prior art.

[0006] An embodiment of this utility model provides a driving component, including a driving assembly, a cover, a circuit board, and a sensing assembly;

[0007] The cover has an internal space and a side hole communicating with the internal space. The cover is mounted on the drive assembly, which is used to cover the internal space. The circuit board is mounted in the internal space.

[0008] The sensing component includes a transmitter and a sensor. The transmitter is mounted on the first output shaft of the drive component, and the sensor is mounted on the circuit board, electrically connected to the circuit on the circuit board, and corresponds to the position of the transmitter.

[0009] The second output shaft of the drive assembly is used to output power;

[0010] The side hole is used to inject sealant into the internal space so that the sealant covers the circuit board, and to lead out the wires of the circuit board.

[0011] Optionally, the transmitter includes a magnetic sleeve with an inner hole, the magnetic sleeve being coaxially sleeved on the first output shaft of the drive assembly; the sensing surface of the sensor is perpendicular to the axis of the first output shaft, or the sensing surface is parallel to the axis of the first output shaft.

[0012] Optionally, one end of the sensor away from the circuit board extends into the inner hole; a second gap is provided between the sensor and the inner wall of the inner hole.

[0013] Optionally, the drive component further includes an insulating pad, through which the circuit board is mounted on the inner wall of the housing.

[0014] Optionally, the inner wall of the cover is provided with a plurality of positioning protrusions spaced apart, the insulating pad is provided with a plurality of first positioning holes spaced apart, and the circuit board is provided with a plurality of second positioning holes spaced apart.

[0015] The positioning protrusions are inserted into the first positioning hole and the second positioning hole in a one-to-one correspondence.

[0016] Optionally, the cover is further provided with an annular flange, and the annular flange is provided with a plurality of first connecting holes spaced apart in a circumferential direction; the drive assembly is provided with a plurality of second connecting holes spaced apart in a circumferential direction.

[0017] The driving component also includes a plurality of connectors, which are inserted one-to-one into the first connection hole and the second connection hole;

[0018] The drive component also includes a sealing gasket, which is pressed between the annular flange and the drive assembly, and the sealing gasket is used to seal the gap between the cover and the drive assembly.

[0019] Optionally, the drive assembly includes a motor and a reducer, the first output shaft is the motor shaft of the motor, the second output shaft is the output shaft of the reducer, and the first output shaft and the second output shaft are perpendicular to each other.

[0020] This utility model also provides a tracked walking mechanism, including a support frame, a track, a drive wheel, a driven wheel, and the aforementioned driving components. The drive wheel and the driven wheel are rotatably mounted on the support frame at intervals, and the track is sleeved on the drive wheel and the driven wheel.

[0021] The drive assembly is mounted on the support frame, and the second output shaft of the drive assembly is connected to the drive wheel.

[0022] Optionally, the tracked traveling mechanism further includes a cover plate detachably mounted on the support frame, with a receiving space between the cover plate and the support frame, and an opening communicating with the receiving space on the cover plate; a part of the drive assembly is located in the receiving space, and another part of the drive assembly passes through the opening and is located outside the receiving space.

[0023] This utility model also provides a tracked robot, characterized in that it includes a main body, a working mechanism disposed on the main body, and at least one of the above-mentioned tracked walking mechanisms; the main body is used to control the movement of the tracked walking mechanism and to control the working mechanism to perform a work task, wherein the work task is one of snow sweeping, grass cutting, leaf blowing, and spraying.

[0024] In this invention, the sensing component includes a transmitter and a sensor. The transmitter is mounted on the first output shaft of the drive component, and the sensor is mounted on the circuit board. A cover is mounted on the drive component, and an internal space is provided between the cover and the drive component. The cover has a side hole communicating with the internal space, which is used to inject sealant into the internal space, and the sealant wraps around the circuit board. Both the circuit board and the sensing component are located within the internal space, and the sealant wraps around the circuit board. Even if foreign objects such as water, mud, and dust from the external environment enter the internal space, the sealant can prevent these objects from interfering with the circuit board, ensuring the reliability of the drive component's seal. Furthermore, the sealant has a certain degree of elasticity, ensuring the stability of the circuit board installed in the internal space and improving the shock resistance of the drive component. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments of this utility model 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.

[0026] Figure 1 This is an exploded structural diagram of a driving component provided in an embodiment of the present invention;

[0027] Figure 2 This is a partial exploded structural diagram of a driving component provided in an embodiment of the present invention;

[0028] Figure 3 This is a cross-sectional view of a driving component provided in an embodiment of the present invention;

[0029] Figure 4This is a partial cross-sectional view of a driving component provided in an embodiment of the present invention;

[0030] Figure 5 A schematic diagram of the tracked walking mechanism provided in one embodiment of this utility model.

[0031] The reference numerals in the accompanying drawings are as follows:

[0032] 1. Drive component; 11. Drive assembly; 111. First output shaft; 112. Second connecting hole; 113. Motor; 114. Reducer; 115. Second output shaft; 12. Cover; 121. Internal space; 122. Side hole; 123. Annular flange; 124. First connecting hole; 125. Positioning protrusion; 13. Circuit board; 131. Second positioning hole; 14. Sensing assembly; 141. Transmitter; 142. Sensor; 15. Connector; 16. Sealing gasket; 17. Insulating gasket; 171. First positioning hole; 2. Track; 3. Cover plate; 31. Opening; Detailed Implementation

[0033] To make the technical problems solved, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0034] like Figures 1 to 4 As shown, a driving component 1 provided in one embodiment of the present invention includes a driving assembly 11, a cover 12, a circuit board 13, and a sensing assembly 14.

[0035] The cover 12 has an internal space 121 and a side hole 122 communicating with the internal space 121. The cover 12 is mounted on the drive assembly 11, and the drive assembly 11 is used to cover the internal space 121. The circuit board 13 is installed in the internal space 121.

[0036] The sensing component 14 includes a transmitter 141 and a sensor 142. The transmitter 141 is mounted on the first output shaft 111 of the drive component 11, and the sensor 142 is mounted on the circuit board 13, electrically connected to the circuit on the circuit board 13, and corresponds to the position of the transmitter 141. The second output shaft 115 of the drive component 11 is used to output power.

[0037] The side hole 122 is used to inject sealant into the internal space 121, and the sealant wraps the circuit board 13 and the wires for leading out the circuit board 13.

[0038] The drive component 11 includes, but is not limited to, a motor, and may also be a combination of a motor and a reducer. The sealant can be a silicone-based potting compound, such as RTV (Room Temperature Vulcanizing) silicone or two-component thermally conductive silicone, which offers advantages such as good elasticity, suitability for vibration scenarios, and high temperature and moisture resistance; epoxy resin-based compounds, such as thermosetting epoxy, which offer high rigidity and excellent protective effects; or polyurethane-based compounds, such as PU (Polyurethane) potting compound, which offer good flexibility and weather resistance, making them suitable for outdoor environments. The sensing component 14 includes, but is not limited to, a magnetic encoder, used to detect the rotational speed and number of rotations of the drive component 11. The transmitter 141 is fixedly connected to the first output shaft 111 of the drive component 11 and is responsible for generating magnetic field signals. The sensor 142 is fixedly mounted on the housing 12 and is responsible for reading and converting magnetic signals. The housing 12 is made of aluminum alloy or engineering plastic, and a metal shielding layer may be provided on the inner wall of the housing 12. The second output terminal 115 of the drive assembly 11 is used to connect to the actuator (drive wheel, etc.), so that the drive assembly 11 outputs power through the second output terminal 115.

[0039] In this invention, the sensing component 14 includes a transmitter 141 and a sensor 142. The transmitter 141 is mounted on the first output shaft 111 of the drive component 11, and the sensor 142 is mounted on the circuit board 13. A cover 12 is mounted on the drive component 11, and an internal space 121 is provided between the cover 12 and the drive component 11. The cover 12 has a side hole 122 communicating with the internal space 121. The side hole 122 is used to inject sealant into the internal space 121, and the sealant wraps the circuit board 13. Both the circuit board 13 and the sensing component 14 are located in the internal space 121, and the sealant wraps the circuit board 13. Even if foreign objects such as water, mud, and dust from the external environment enter the internal space 121, the sealant can prevent foreign objects from interfering with the circuit board 13, ensuring the reliability of the sealing of the drive component 1. In addition, the sealant has a certain degree of elasticity, which ensures the stability of the circuit board 13 installed in the internal space 121 and improves the shock resistance of the drive component 1. Furthermore, the wires on the circuit board 13 can be led out through the side hole 122, thereby facilitating the electrical connection of the circuit board 13 with external electrical components (controllers, etc.).

[0040] In other embodiments, glue can be poured directly through the upper opening of the cover 12, and the side hole 122 is only used to lead out the wires of the circuit board 13.

[0041] In one embodiment, such as Figure 1 and Figure 2As shown, the transmitter 141 includes a magnetic sleeve with an inner hole, which is coaxially sleeved on the first output shaft 111 of the drive assembly 11; the sensing surface of the sensor 142 is perpendicular to the axis of the first output shaft 111, or the sensing surface is parallel to the axis of the first output shaft 111.

[0042] When the magnetic sleeve is axially magnetized (with N and S poles at both ends of the magnetic sleeve), the sensing surface of the sensor 142 is perpendicular to the axis of the first output shaft 111 to detect the magnetic field of the magnetic sleeve along the axis of the first output shaft 111; when the magnetic sleeve is axially magnetized (with N and S poles alternately distributed on the outer periphery of the magnetic sleeve), the sensing surface of the sensor 142 is parallel to the axis of the first output shaft 111 to detect the magnetic field of the magnetic sleeve along the axis of the first output shaft 111.

[0043] In this embodiment, the end of the sensor 142 away from the circuit board 13 (the end where the sensing surface is located) can extend into the inner hole. When sealant is injected into the internal space 121 through the side hole 122, the sealant covers all the pins of the sensor 142, ensuring the stability of the detection of the sensing component 14.

[0044] In one embodiment, such as Figure 1 As shown, the end of the sensor 142 away from the circuit board 13 extends into the inner hole, with an insertion distance of 0.5 mm to 2.5 mm along the axial direction of the inner hole, to ensure that the sensing surface of the sensor 142 is located in the magnetic flux density area; the center line of the inner hole passes through the sensor 142, and a second gap is provided between the sensor 142 and the inner wall of the inner hole (the second gap can ensure that relative rotation can occur between the magnetic sleeve and the sensor 142).

[0045] In this embodiment, the sensor 142 is located at the center of the inner hole. The sensor 142 extends slightly into the hole, which will not cause a significant weakening of the magnetic field. Instead, it can capture more symmetrical and stable magnetic flux lines, thereby reducing angular errors and ensuring the compactness of the sensing component 14.

[0046] In one embodiment, such as Figure 1 and Figure 2 As shown, the cover 12 is also provided with an annular flange 123, and the annular flange 123 is provided with a plurality of first connecting holes 124 distributed circumferentially; the drive assembly 11 is provided with a plurality of second connecting holes 112 distributed circumferentially.

[0047] The drive component 1 also includes a plurality of connectors 15, which are inserted one-to-one into the first connection hole 124 and the second connection hole 112.

[0048] The annular flange 123 surrounds the opening of the cover 12; the number of the first connecting hole 124, the second connecting hole 112, and the connector 15 can be set according to actual needs; the connector 15 includes, but is not limited to, screws, bolts, etc.

[0049] In this embodiment, the design of the annular flange 123 facilitates the assembly and disassembly of the cover 12 and the drive assembly 11, and ensures the stability of the cover 12 mounted on the drive assembly 11.

[0050] In one embodiment, such as Figure 1 and Figure 4 As shown, the drive component 1 also includes a sealing gasket 16, which is pressed between the annular flange 123 and the drive assembly 11. The sealing gasket 16 is used to seal the gap between the cover 12 and the drive assembly 11.

[0051] The sealing gasket 16 includes, but is not limited to, a silicone gasket.

[0052] In this embodiment, the sealing gasket 16 is pressed between the annular flange 123 and the drive assembly 11, which improves the sealing performance of the drive component 1.

[0053] In one embodiment, such as Figure 1 and Figure 2 As shown, the drive component 1 also includes an insulating pad 17, and the circuit board 13 is mounted on the inner wall of the cover 12 through the insulating pad 17.

[0054] The insulating pad 17 includes, but is not limited to, barley paper, which (usually a polyaramid fiber material) has high temperature resistance and good electrical insulation properties.

[0055] In this embodiment, the insulating pad 17 is disposed between the circuit board 13 and the inner wall of the cover 12, so that the insulating pad 17 can play the role of insulation, short circuit prevention and metal interference prevention between the circuit board 13 and the cover 12.

[0056] In one embodiment, such as Figure 2 and Figure 3 As shown, the inner wall of the cover 12 is provided with a plurality of positioning protrusions 125 spaced apart, the insulating pad 17 is provided with a plurality of first positioning holes 171 spaced apart, and the circuit board 13 is provided with a plurality of second positioning holes 131 spaced apart.

[0057] The positioning protrusions 125 are inserted into the first positioning hole 171 and the second positioning hole 131 in a one-to-one correspondence.

[0058] The number of the positioning protrusion 125, the first positioning hole 171, and the second positioning hole 131 can be set according to actual needs.

[0059] In this embodiment, the positioning protrusion 125 is inserted into the first positioning hole 171 and the second positioning hole 131, thereby preventing the circuit board 13 from being displaced.

[0060] In one embodiment, such as Figure 3 As shown, the drive assembly 11 includes a motor 113 and a reducer 114 mounted on the motor 113. The first output shaft 111 is the motor shaft of the motor 113, and the second output shaft 115 is the output shaft of the reducer 114. The first output shaft 111 and the second output shaft 115 are perpendicular to each other.

[0061] The connection between the motor 113 and the reducer 114 can be achieved by means of coupling, flange, gear meshing, belt / chain drive, etc.

[0062] In this application, the first output shaft 111 is perpendicular to the second output shaft 115, thereby reducing the axial dimension of the drive assembly 11, improving the compactness of the drive component 1, and reducing the space occupied by the drive component 1.

[0063] like Figure 5 As shown, another embodiment of the present invention also provides a tracked walking mechanism, including a support frame, a track 2, a drive wheel, a driven wheel, and the aforementioned drive component 1. The drive wheel and the driven wheel are rotatably mounted on the support frame at intervals, and the track 2 is sleeved on the drive wheel and the driven wheel.

[0064] The drive assembly 11 is mounted on the support frame, and the second output shaft 115 of the drive assembly 11 is connected to the drive wheel.

[0065] The track 2 is engaged with both the drive wheel and the driven wheel.

[0066] Specifically, the drive assembly 11 drives the drive wheel to rotate, and the drive wheel drives the track 2 to move, thereby realizing the function of the tracked walking mechanism to move on the ground and grass.

[0067] In one embodiment, such as Figure 5 As shown, the tracked walking mechanism also includes a cover plate 3 that can be detachably installed on the support frame. There is a receiving space between the cover plate 3 and the support frame. The cover plate 3 is also provided with an opening 31 that communicates with the receiving space. A part of the drive assembly 11 is located in the receiving space, and another part of the drive assembly 11 passes through the opening 31 and is located outside the receiving space.

[0068] In this embodiment, the cover plate 3 can cover the accommodating space, and a part of the drive assembly 11 is located outside the accommodating space through the opening 31, which improves the compactness of the tracked walking mechanism.

[0069] Another embodiment of this utility model provides a tracked robot, including a main body, a working mechanism disposed on the main body, and at least one of the above-mentioned tracked walking mechanisms; the main body is used to control the movement of the tracked walking mechanism and to control the working mechanism to perform a work task, wherein the work task is one of snow sweeping, grass cutting, leaf blowing, and spraying.

[0070] The working device can be a snow sweeper, lawn mower, leaf blower, sprayer, etc., so that the working mechanism can perform one of snow sweeping, lawn mowing, leaf blowing, and spraying.

[0071] The above-described embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model, and should all be included within the protection scope of this utility model.

Claims

1. A drive member characterized by comprising: Includes drive components, housing, circuit boards, and sensing components; The cover has an internal space and a side hole communicating with the internal space. The cover is mounted on the drive assembly, which is used to cover the internal space. The circuit board is mounted in the internal space. The sensing component includes a transmitter and a sensor. The transmitter is mounted on the first output shaft of the drive component, and the sensor is mounted on the circuit board, electrically connected to the circuit on the circuit board, and corresponds to the position of the transmitter. The second output shaft of the drive assembly is used to output power; The side hole is used to inject sealant into the internal space to wrap the circuit board, and to lead out the wires of the circuit board.

2. The drive member of claim 1, wherein The transmitter includes a magnetic sleeve with an inner hole, which is coaxially sleeved on the first output shaft of the drive assembly; the sensing surface of the sensor is perpendicular to the axis of the first output shaft, or the sensing surface is parallel to the axis of the first output shaft.

3. The drive member of claim 2, wherein The end of the sensor furthest from the circuit board extends into the inner hole; a second gap is provided between the sensor and the inner wall of the inner hole.

4. The drive member of claim 3, wherein The drive component also includes an insulating pad, through which the circuit board is mounted on the inner wall of the cover.

5. The drive member of claim 4, wherein The inner wall of the cover is provided with a plurality of positioning protrusions spaced apart, the insulating pad is provided with a plurality of first positioning holes spaced apart, and the circuit board is provided with a plurality of second positioning holes spaced apart. The positioning protrusions are inserted into the first positioning hole and the second positioning hole in a one-to-one correspondence.

6. The drive member according to any one of claims 1 to 5, characterized in that The cover is also provided with an annular flange, and the annular flange is provided with a plurality of first connecting holes distributed circumferentially; the drive assembly is provided with a plurality of second connecting holes distributed circumferentially. The driving component also includes a plurality of connectors, which are inserted one-to-one into the first connection hole and the second connection hole; The drive component also includes a sealing gasket, which is pressed between the annular flange and the drive assembly, and the sealing gasket is used to seal the gap between the cover and the drive assembly.

7. The drive member of claim 1, wherein The drive assembly includes a motor and a reducer. The first output shaft is the motor shaft of the motor, and the second output shaft is the output shaft of the reducer. The first output shaft and the second output shaft are perpendicular to each other.

8. A track assembly characterized by, It includes a support frame, tracks, a drive wheel, a driven wheel, and a drive component as described in any one of claims 1 to 7, wherein the drive wheel and the driven wheel are rotatably mounted on the support frame at intervals, and the tracks are sleeved on the drive wheel and the driven wheel; The drive assembly is mounted on the support frame, and the second output shaft of the drive assembly is connected to the drive wheel.

9. The track according to claim 8, characterized in that The tracked walking mechanism also includes a cover plate that can be detachably mounted on the support frame, with a receiving space between the cover plate and the support frame, and an opening on the cover plate communicating with the receiving space; a part of the drive assembly is located in the receiving space, and another part of the drive assembly passes through the opening and is located outside the receiving space.

10. A track robot, characterized in that It includes a main body, a working mechanism disposed on the main body, and at least one tracked walking mechanism as described in claim 8 or 9; the main body is used to control the movement of the tracked walking mechanism and to control the working mechanism to perform a work task, the work task being one of snow sweeping, grass cutting, leaf blowing, and spraying.

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