Transmission and climbing robot

Abstract

The present disclosure relates to the technical field of robots, and particularly relates to a transmission device and a climbing robot. The transmission device provided by the present disclosure comprises a main frame and a secondary frame, the main frame is provided with a driving motor and a driving wheel; the secondary frame is provided with a driven wheel; wherein the driving motor comprises a first output end and a second output end; the first output end is in driving connection with the driving wheel, and is used for driving the driving wheel; the second output end is in driving connection with the driven wheel, and is used for driving the driven wheel, thereby avoiding power waste caused by the fact that the driven wheel needs to be driven by an additional motor in a traditional single-output-shaft structure.

Description

Technical Field

[0001] This disclosure relates to the field of robotics, and more particularly to a transmission device and a climbing robot. Background Technology

[0002] In modern industrial manufacturing, automated equipment, and intelligent robotics, mechanical transmission devices serve as core components for power transmission and motion control, and their performance directly impacts equipment efficiency and operating costs. Traditional mechanical transmission devices often employ a single-output shaft structure for the drive motor, typically with power output from one side directly connected to the drive wheel to propel the main body of the equipment. This transmission method often struggles to meet power distribution requirements when facing scenarios that need to simultaneously drive multiple actuators (such as drive wheels and driven wheels). Summary of the Invention

[0003] This disclosure provides a transmission device and a climbing robot to at least solve the above-mentioned technical problems existing in the prior art.

[0004] The first aspect of this disclosure provides a transmission device, comprising: A main frame, wherein the main frame is equipped with a drive motor and drive wheels; Sub-frame, the sub-frame being equipped with driven wheels; The drive motor includes a first output terminal and a second output terminal; the first output terminal is driven and connected to the drive wheel to drive the drive wheel; the second output terminal is driven and connected to the driven wheel to drive the driven wheel.

[0005] Furthermore, it also includes a transmission mechanism, the two ends of which are respectively connected to the second output end and the driven wheel.

[0006] Furthermore, the transmission mechanism includes a first housing, a second housing, a first shaft, and a second shaft; The first housing and the second housing are fixedly connected, the first shaft is sleeved inside the first housing, and the second shaft is sleeved inside the second housing; The first shaft is connected to the second output end, and the second shaft is connected to the driven wheel.

[0007] Furthermore, the inner wall of the first housing is provided with a first inner spherical raceway, the outer wall of the first shaft is provided with a first outer spherical raceway, a first raceway is formed between the first inner spherical raceway and the first outer spherical raceway, and the first raceway is filled with a first steel ball.

[0008] Furthermore, the inner wall of the second housing is provided with a second inner spherical raceway, and the outer wall of the second shaft is provided with a second outer spherical raceway. A second raceway is formed between the second inner spherical raceway and the second outer spherical raceway, and the second raceway is filled with a second steel ball.

[0009] Furthermore, the first shaft is connected to a first transmission shaft, the second output end is provided with a second output shaft, the second output shaft is provided with a first gear, the first transmission shaft is provided with a second gear, and the first gear meshes with the second gear; The second gear and the first gear have a transmission ratio for maintaining the linear velocities of the driving wheel and the driven wheel to be the same.

[0010] Furthermore, the second shaft is connected to a second transmission shaft, and the driven wheel is mounted on the driven wheel shaft; The second drive shaft is provided with a third gear, and the second drive shaft and the third gear are connected by a spline. The driven wheel shaft is provided with a fourth gear, and the third gear meshes with the fourth gear.

[0011] Furthermore, a first bearing is provided between the first drive shaft and the main frame, and a second bearing is provided between the second drive shaft and the auxiliary frame.

[0012] Furthermore, the first output terminal is provided with a first output shaft, and the first output shaft and the second output shaft are an integral structure.

[0013] A second aspect of this disclosure provides a climbing robot, including the transmission device described in the first aspect.

[0014] The technical solution provided in this disclosure has the following advantages compared with the prior art: The transmission device provided in this embodiment includes a main frame and a secondary frame. The main frame is equipped with a drive motor and a drive wheel; the secondary frame is equipped with a driven wheel. The drive motor includes a first output end and a second output end. The first output end is driven by the drive wheel and is used to drive the drive wheel; the second output end is driven by the driven wheel and is used to drive the driven wheel. The drive motor drives the drive wheel and the driven wheel respectively through its dual output ends (first output end and second output end), avoiding the power waste caused by the need for an additional motor to drive the driven wheel in the traditional single-output shaft structure. When there is a margin in the output power of the drive motor, it can be directly transmitted to the driven wheel through the second output end without the need for a new power source, thus improving energy utilization. Furthermore, the direct connection of the dual output ends of the drive motor to the drive wheel and the driven wheel eliminates intermediate links such as synchronous belts and chains in the transmission path, shortening the transmission path and providing advantages such as high efficiency, constant angular velocity, large transmitted torque, and simple sealing structure.

[0015] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0016] The above and other objects, features, and advantages of this disclosure will become readily apparent from the following detailed description of exemplary embodiments, taken in conjunction with the accompanying drawings. Several embodiments of this disclosure are illustrated in the drawings by way of example and not limitation, in which: In the accompanying drawings, the same or corresponding reference numerals indicate the same or corresponding parts.

[0017] Figure 1 A schematic diagram of the structure of the climbing robot provided in an embodiment of this disclosure is shown; Figure 2 A cross-sectional view of the climbing robot provided in an embodiment of this disclosure is shown. Figure 1 ; Figure 3 A cross-sectional view of the climbing robot provided in an embodiment of this disclosure is shown. Figure 2 ; Figure 4 A schematic diagram of the transmission mechanism in the climbing robot provided in this embodiment is shown; Figure 5 A cross-sectional schematic diagram of the transmission mechanism in the climbing robot provided in this embodiment is shown. Figure 1 ; Figure 6 A cross-sectional schematic diagram of the transmission mechanism in the climbing robot provided in this embodiment is shown. Figure 2 .

[0018] The following are the labels in the diagram: 1. Main frame; 2. Sub-frame; 3. Drive motor; 31. First output shaft; 32. Second output shaft; 321. First gear; 4. Drive wheel; 5. Driven wheel; 51. Driven wheel shaft; 511. Fourth gear; 6. Transmission mechanism; 61. First housing; 62. Second housing; 63. First shaft; 631. First transmission shaft; 632. Second gear; 64. Second shaft; 641. Second transmission shaft; 642. Third gear; 65. First steel ball; 66. Second steel ball; 7. First bearing; 8. Second bearing; 9. Swinging mechanism; 10. Magnet. Detailed Implementation

[0019] To make the objectives, features, and advantages of this disclosure more apparent and understandable, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0020] Combination Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, the transmission device provided in this embodiment includes a main frame 1 and a secondary frame 2. The main frame 1 is equipped with a drive motor 3 and a drive wheel 4; the secondary frame 2 is equipped with a driven wheel 5. The drive motor 3 includes a first output end and a second output end. The first output end is driven by the drive wheel 4 and is used to drive the drive wheel 4; the second output end is driven by the driven wheel 5 and is used to drive the driven wheel 5. The drive motor 3 drives the drive wheel 4 and the driven wheel 5 respectively through the dual output ends (first output end and second output end), avoiding the power waste caused by the need for an additional motor to drive the driven wheel 5 in the traditional single-output shaft structure. When there is a margin in the output power of the drive motor 3, it can be directly transmitted to the driven wheel 5 through the second output end without the need for a new power source, thus improving energy utilization. Furthermore, the direct connection of the dual output ends to the drive wheel 4 and the driven wheel 5 eliminates intermediate links such as synchronous belts and chains in the transmission path, shortening the transmission path and providing advantages such as high efficiency, constant angular velocity, large transmitted torque, and simple sealing structure.

[0021] In some specific embodiments, a swing mechanism 9 is provided between the main frame 1 and the sub-frame 2. The swing mechanism 9 can increase redundancy. When climbing over a bend in the wall, the swing mechanism 9 will swing adaptively to keep the distance between the magnet 10 and the surface unchanged, thereby improving the stability and safety of the wall-climbing robot.

[0022] In some specific embodiments, a transmission mechanism 6 is also included, with its two ends connected to the second output end and the driven wheel 5, respectively. The transmission mechanism 6 connects the second output end and the driven wheel 5, allowing the driven wheel 5 to swing in a plane perpendicular to the transmission direction. When the robot using this transmission device traverses terrain with outward-angled bends, the transmission mechanism 6 can automatically adjust the tilt angle of the driven wheel 5 according to the posture of the main frame 1, ensuring that the driven wheel 5 remains perpendicular to the contact surface and preventing slippage or jamming due to angular deviation.

[0023] In some specific embodiments, the transmission mechanism 6 includes a first housing 61, a second housing 62, a first shaft 63, and a second shaft 64. The first housing 61 and the second housing 62 are fixedly connected. The first shaft 63 is sleeved inside the first housing 61, and the second shaft 64 is sleeved inside the second housing 62. The first shaft 63 is connected to the second output end, and the second shaft 64 is connected to the driven wheel 5. The transmission mechanism 6 adopts a ball cage mechanism formed by the first housing 61, the second housing 62, the first shaft 63, and the second shaft 64. When the driven wheel 5 deflects to its maximum angle with the transmission mechanism 6, the angular velocity deviation between the second output shaft 32 (second output end) and the driven wheel shaft 51 (driven wheel 5) can be reduced, improving torque transmission efficiency and ensuring uniform driving force under complex postures. This ball cage transmission mechanism 6 achieves a technological breakthrough of "lossless large-angle swing, high fault tolerance for complex impacts, and long-term maintenance-free operation" through the design of "double ball cage series + constant speed transmission". Compared with traditional swinging solutions, it has significant advantages in power transmission efficiency, environmental adaptability, and safety and reliability, and is especially suitable for special robots and high-end equipment transmission systems with stringent requirements for mechanical precision and durability.

[0024] In some specific embodiments, the inner wall of the first housing 61 is provided with a first inner spherical raceway, and the outer wall of the first shaft 63 is provided with a first outer spherical raceway. A first raceway is formed between the first inner spherical raceway and the first outer spherical raceway, and the first raceway is filled with a first steel ball 65. The first inner spherical raceway of the first housing 61 and the first outer spherical raceway of the first shaft 63 form a symmetrical arc structure. When the first shaft 63 (connected to the second output end) rotates, the first steel ball 65 rolls in the raceway, ensuring that the rotational speed of the first housing 61 (connected to the second housing 62) is completely consistent with that of the second output shaft 32 (second output end).

[0025] In some specific embodiments, the inner wall of the second housing 62 is provided with a second inner spherical raceway, and the outer wall of the second shaft 64 is provided with a second outer spherical raceway. A second raceway is formed between the second inner spherical raceway and the second outer spherical raceway, and the second raceway is filled with a second steel ball 66. The design of the spherical raceway and steel ball of the second ball cage ensures that it maintains constant velocity characteristics during radial oscillation.

[0026] The first housing 61 and the first shaft 63 can form a first ball cage, and the second housing 62 and the second shaft 64 can form a second ball cage. The fixed connection between the first housing 61 and the second housing 62 can provide a two-stage angle compensation structure for the first and second ball cages. Optionally, the first ball cage can bear axial oscillation (such as pitch angle), which can make the angle between the driven wheel 5 and the second output shaft 32 adaptable in the vertical plane; the second ball cage can focus on radial oscillation (such as yaw angle), which can compensate for the horizontal angle deviation when the robot turns or operates on curved surfaces. The two work together to enable the driven wheel 5 to achieve three-dimensional oscillation in space. When climbing a 90° outward bend, the driven wheel 5 can automatically adjust to the optimal contact angle, thereby improving the contact rate between the wheel surface and the wall surface.

[0027] Optionally, the number of first steel balls 65 or second steel balls 66 filling the raceway is usually 6-8, evenly distributed in the circumferential direction.

[0028] In some specific embodiments, the first shaft 63 is connected to a first drive shaft 631, and the second output end is provided with a second output shaft 32. The second output shaft 32 is provided with a first gear 321, and the first drive shaft 631 is provided with a second gear 632. The first gear 321 and the second gear 632 mesh. Optionally, both the first gear 321 and the second gear 632 are spur gears. The meshing of the first gear 321 and the second gear 632 can achieve a 90° rotation of the power, allowing the drive motor 3 and the first drive shaft 631 to be arranged perpendicularly, saving space in the axial direction.

[0029] The second gear 632 and the first gear 321 have a transmission ratio for maintaining the linear velocities of the driving wheel 4 and the driven wheel 5 in the same direction.

[0030] The first shaft 63 and the first drive shaft 631 can be designed as an integrated unit, or they can be connected by a spline.

[0031] In some specific embodiments, the second shaft 64 is connected to a second drive shaft 641, and the driven wheel 5 is mounted on the driven wheel shaft 51. The second drive shaft 641 is equipped with a third gear 642, and the second drive shaft 641 and the third gear 642 are connected by a spline. The driven wheel shaft 51 is equipped with a fourth gear 511, and the third gear 642 meshes with the fourth gear 511. The meshing of the third gear 642 and the fourth gear 511 enables flexible power steering, allowing the second drive shaft 641 and the driven wheel shaft 51 to be arranged perpendicularly or at a specific angle, which can save radial space of the equipment. In applications with stringent space requirements, such as pipeline inspection robots, this allows for a smaller outer diameter of the equipment, making it easier to operate in confined spaces.

[0032] Optionally, both the third gear 642 and the fourth gear 511 can be bevel gears.

[0033] In some specific embodiments, a first bearing 7 is provided between the first drive shaft 631 and the main frame 1, and a second bearing 8 is provided between the second drive shaft 641 and the auxiliary frame 2, which can improve the stability and rotational accuracy of the transmission device.

[0034] In some specific implementations, the first output end is provided with a first output shaft 31, and the first output shaft 31 and the second output shaft 32 are an integral structure, which avoids the risk of loosening of the connection parts, can improve the overall torsional stiffness, and improve the structural strength and stability.

[0035] The climbing robot provided in this disclosure includes the transmission device provided in this disclosure. Since the climbing robot and the transmission device provided in this disclosure have the same advantages, they will not be described again here.

[0036] It should be understood that the various forms of processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this invention disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this embodiment can be achieved, and this is not limited herein.

[0037] 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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this disclosure, "a plurality of" means two or more, unless otherwise explicitly specified.

[0038] The above are merely specific embodiments of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. A transmission, characterized in that include: A main frame (1) is provided with a drive motor (3) and drive wheels (4); Sub-frame (2), wherein the sub-frame (2) is provided with driven wheels (5); The drive motor (3) includes a first output end and a second output end; the first output end is driven to the drive wheel (4) and is used to drive the drive wheel (4); the second output end is driven to the driven wheel (5) and is used to drive the driven wheel (5).

2. The transmission device according to claim 1, characterized in that, It also includes a transmission mechanism (6), the two ends of which are connected to the second output end and the driven wheel (5), respectively.

3. The transmission of claim 2, wherein, The transmission mechanism (6) includes a first housing (61), a second housing (62), a first shaft (63), and a second shaft (64); The first housing (61) and the second housing (62) are fixedly connected, the first shaft (63) is sleeved in the first housing (61), and the second shaft (64) is sleeved in the second housing (62); The first shaft (63) is connected to the second output end, and the second shaft (64) is connected to the driven wheel (5).

4. The transmission of claim 3, wherein The inner wall of the first housing (61) is provided with a first inner spherical raceway, and the outer wall of the first shaft (63) is provided with a first outer spherical raceway. A first raceway is formed between the first inner spherical raceway and the first outer spherical raceway, and the first raceway is filled with a first steel ball (65).

5. The transmission of claim 3, wherein The inner wall of the second housing (62) is provided with a second inner spherical raceway, and the outer wall of the second shaft (64) is provided with a second outer spherical raceway. A second raceway is formed between the second inner spherical raceway and the second outer spherical raceway, and the second raceway is filled with a second steel ball (66).

6. The transmission of claim 3, wherein The first shaft (63) is connected to a first transmission shaft (631), the second output end is provided with a second output shaft (32), the second output shaft (32) is provided with a first gear (321), the first transmission shaft (631) is provided with a second gear (632), and the first gear (321) meshes with the second gear (632); The second gear (632) and the first gear (321) have a transmission ratio for maintaining the linear velocities of the drive wheel (4) and the driven wheel (5) to be the same.

7. The transmission of claim 6, wherein The second shaft (64) is connected to a second transmission shaft (641), and the driven wheel (5) is mounted on the driven wheel shaft (51); The second drive shaft (641) is provided with a third gear (642), and the second drive shaft (641) and the third gear (642) are connected by a spline. The driven wheel shaft (51) is provided with a fourth gear (511), and the third gear (642) meshes with the fourth gear (511).

8. The transmission of claim 7, wherein A first bearing (7) is provided between the first drive shaft (631) and the main frame (1), and a second bearing (8) is provided between the second drive shaft (641) and the auxiliary frame (2).

9. The transmission of claim 6, wherein, The first output end is provided with a first output shaft (31), and the first output shaft (31) and the second output shaft (32) are an integral structure.

10. A climbing robot, characterized in that, Includes the transmission device as described in any one of claims 1 to 9.

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