CN217730201U - Secondary planet speed reduction walking wheel for robot - Google Patents
Secondary planet speed reduction walking wheel for robot Download PDFInfo
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- CN217730201U CN217730201U CN202222124057.5U CN202222124057U CN217730201U CN 217730201 U CN217730201 U CN 217730201U CN 202222124057 U CN202222124057 U CN 202222124057U CN 217730201 U CN217730201 U CN 217730201U
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Abstract
The utility model relates to a walking wheel technical field especially relates to a robot is with second grade planet speed reduction walking wheel, which comprises an outer shell, the internal connection of shell has motor element, motor element's output fixedly connected with motor shaft, the surface cover of motor shaft is equipped with brake assembly, the output of motor shaft is connected with planet speed reduction subassembly, planet speed reduction subassembly's surface cover is equipped with the rubber wheel. The utility model discloses walking wheel when operation, brake subassembly and motor element switch on together, make armature on the brake subassembly by actuation and motor shaft separation, motor element normal operating, when brake subassembly and motor element outage, no current passes through in the coil of brake subassembly, armature is hugged closely by compression spring jack-up and motor shaft, and produce very big frictional force in the twinkling of an eye with the motor shaft, make motor element in time brake, can control the trend of walking wheel well, suffer the shakiness, can control the timely brake of walking wheel, guarantee the security that the walking wheel used.
Description
Technical Field
The utility model relates to a walking wheel technical field specifically is a second grade planet speed reduction walking wheel for robot.
Background
A robot is an automated machine, except that it has some intelligent capabilities similar to human or biological, such as perception capability, planning capability, action capability, and coordination capability, and is an automated machine with a high degree of flexibility.
The existing robot walking unit generally adopts a crawler type and a wheel type, when the robot walking unit encounters a downslide section or receives unstable external force, the trend of the robot cannot be well controlled due to unevenness of a road surface or temporary change of a walking direction, and the robot is inconvenient to control.
SUMMERY OF THE UTILITY MODEL
The utility model provides a not enough to prior art, the utility model provides a robot is with second grade planet speed reduction walking wheel has solved when the robot walking unit meets gliding highway section or receives external force unstability, because the unevenness on road surface, or the interim change of walking direction, can't control the trend of robot well, can lead to the problem that the robot is not convenient for control.
In order to solve the technical problem, the utility model provides a following technical scheme: the utility model provides a second grade planet speed reduction walking wheel for robot, includes the shell, the internally connected with motor element of shell, motor element's output fixedly connected with motor shaft, the surface cover of motor shaft is equipped with the brake subassembly, the output of motor shaft is connected with planet speed reduction subassembly, planet speed reduction subassembly's surface cover is equipped with the rubber wheel, the one end fixedly connected with shrouding of shell is kept away from to planet speed reduction subassembly, the tail end fixedly connected with of shell drives the control board, drive fixedly connected with encoder on the control board, it is connected with the motor element electricity to drive the control board.
Further, the brake component is an electromagnetic brake piece.
Furthermore, the tail end of the shell is fixedly connected with a tail cover, and the driving and controlling plate and the encoder are positioned in the tail cover.
Further, the tail end of shell is equipped with the first hole of dodging, the tail end of tail-hood is equipped with the second and dodges the hole, the last electric wire of motor element passes the first hole of dodging and the tail end that the hole and extend to the tail-hood of dodging of second, the tail end fixedly connected with line ball piece of tail-hood, the last electric wire of motor element is located between line ball piece and the tail-hood.
Further, the planet speed reduction subassembly is including the holder, the inside middle part of holder rotates and is connected with one-level sun gear, the outside meshing of one-level sun gear has one-level planet wheel, one-level planet wheel rotates to be connected in the holder, the outside meshing of one-level planet wheel has one-level ring gear, one-level ring gear rotates to be connected in the holder.
Furthermore, a secondary sun wheel is fixedly sleeved on the surface of the transmission rod on the primary sun wheel and connected with the output end of the motor shaft, a secondary planet wheel is meshed on the outer side of the secondary sun wheel, and the secondary planet wheel is rotatably connected in the retainer.
Furthermore, the outer surface of the retainer is rotatably connected with a secondary gear ring through a bearing, the rubber wheel is fixedly sleeved on the outer surface of the secondary gear ring, and teeth of the secondary planet wheel are meshed with teeth of the secondary gear ring.
Furthermore, the secondary planet wheel is including the pivot, the pivot is rotated and is connected in the holder, the surface cover of pivot is equipped with the axle sleeve, the equal fixedly connected with spacing ring in both sides of axle sleeve, the fixed cover of surface of axle sleeve is equipped with the star gear, and two spacing rings are located the both sides of star gear.
Borrow by above-mentioned technical scheme, the utility model provides a robot is with second grade planet speed reduction walking wheel possesses following beneficial effect at least:
1. this robot is with second grade planet speed reduction walking wheel, brake subassembly is electromagnetic brake spare, the walking wheel is when moving, brake subassembly and motor element circular telegram together, make armature on the brake subassembly by actuation and motor shaft separation, motor element normally operates, when brake subassembly and motor element outage, no electric current passes through in brake subassembly's the coil, armature is hugged closely with the motor shaft by compression spring jack-up, and produce very big frictional force in the twinkling of an eye with the motor shaft, make motor element in time brake, can control the trend of walking wheel well, suffer the unstability, can control the timely brake of walking wheel, guarantee the security that the walking wheel used.
2. This robot is with second grade planet speed reduction walking wheel, motor element operation drive motor shaft is rotatory, and the motor shaft can drive the rotation of one-level sun gear and second grade planet wheel, and the operation of second grade planet wheel can drive the rotation of second grade ring gear, drives the rubber wheel through the second grade ring gear and takes place rotatoryly, has guaranteed the stationarity when this robot is with the walking of second grade planet speed reduction walking wheel.
3. This robot is with second grade planet speed reduction walking wheel establishes the surface at the axle sleeve with the star gear cover, and the spacing ring can be injectd the position of star gear, and the pivot can take place to rotate in the retainer, simple structure, and it is convenient to install, has improved the result of use.
4. The power unit of this robot drives the motion of one-level sun gear, the motion of one-level sun gear drive one-level planet wheel, the motion of one-level planet wheel passes through the one-level holder and drives the motion of second grade sun gear, the second grade sun gear passes through the second grade planet wheel and drives the rotation of second grade ring gear, it realizes the bulk movement to drive rolling mechanism by the second grade ring gear again, through the rational overall arrangement of each part, and adopt the structure of second grade planet reduction gears linkage, whole axial length has been reduced, reduce and turn to the radius, be applicable to the operating requirement of robot parts miniaturization and high-speed low torsion.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application:
FIG. 1 is an exploded view of the structure of the present invention;
FIG. 2 is a perspective view of the present invention;
fig. 3 is the structure schematic diagram of the secondary planet wheel of the utility model.
In the figure: 1. a housing; 2. a motor assembly; 3. a motor shaft; 4. a brake assembly; 5. a planetary reduction assembly; 501. a holder; 502. a primary sun gear; 503. a primary planet wheel; 504. a primary gear ring; 505. a secondary sun gear; 506. a secondary planet wheel; 5061. a rotating shaft; 5062. a shaft sleeve; 5063. a limiting ring; 5064. a star wheel; 507. a bearing; 508. a secondary gear ring; 6. a rubber wheel; 7. closing the plate; 8. a drive control plate; 9. an encoder; 10. a tail cover; 11. and a line pressing block.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1-3, a secondary planetary speed-reducing walking wheel for a robot, including a housing 1, a motor assembly 2 is connected inside the housing 1, a motor shaft 3 is fixedly connected to an output end of the motor assembly 2, a brake assembly 4 is sleeved on an outer surface of the motor shaft 3, the brake assembly 4 is an electromagnetic brake, when the walking wheel operates, the brake assembly 4 and the motor assembly 2 are powered on together, so that an armature on the brake assembly 4 is attracted to be separated from the motor shaft 3, the motor assembly 2 operates normally, when the brake assembly 4 and the motor assembly 2 are powered off, no current passes through a coil of the brake assembly 4, the armature is jacked by a compression spring to be attached to the motor shaft 3, and a very large friction force is instantaneously generated with the motor shaft 3, so that the motor assembly 2 brakes in time, the walking wheel can be well controlled, when the walking wheel brakes in time, the walking wheel is controlled, the safety of the walking wheel in use is ensured, the output end of the motor shaft 3 is connected with a planetary speed-reducing assembly 5, an outer surface sleeve of the planetary speed-reducing assembly 5 is provided with a rubber wheel 6, one end of the planetary speed-reducing assembly 5, a sealing plate 7 is fixedly connected to a tail end of the housing 1, a driving plate 8 is fixedly connected with a driving plate 8, and the motor assembly 2, a driving plate 8 is electrically connected with the motor.
The tail end fixedly connected with tail-hood 10 of shell 1 drives accuse board 8 and encoder 9 and is located tail-hood 10, and the tail end of shell 1 is equipped with the first hole of dodging, and the tail end of tail-hood 10 is equipped with the second and dodges the hole, and the electric wire on the motor element 2 passes the first hole of dodging and the second dodges the hole and extends to the tail end of tail-hood 10, and the tail end fixedly connected with line ball piece 11 of tail-hood 10, the electric wire on the motor element 2 is located between line ball piece 11 and tail-hood 10.
The planetary reduction assembly 5 comprises a retainer 501, a first-stage sun gear 502 is rotatably connected to the middle inside the retainer 501, a first-stage planet gear 503 is meshed to the outer side of the first-stage sun gear 502, the first-stage planet gear 503 is rotatably connected into the retainer 501, a first-stage gear ring 504 is meshed to the outer side of the first-stage planet gear 503, the first-stage gear ring 504 is rotatably connected into the retainer 501, a second-stage sun gear 505 is fixedly sleeved on the surface of a transmission rod on the first-stage sun gear 502, the second-stage sun gear 505 is connected with the output end of the motor shaft 3, a second-stage planet gear 506 is meshed to the outer side of the second-stage sun gear 505, the second-stage planet gear 506 is rotatably connected into the retainer 501, a second-stage gear ring 508 is rotatably connected to the outer surface of the retainer 501 through a bearing 507, a rubber wheel 6 is fixedly sleeved on the outer surface of the second-stage gear ring 508, teeth of the second-stage planet gear 506 are meshed with teeth of the second-stage gear ring 508, the second-stage planet gear 506 can drive the rubber wheel 508 to rotate, and the rubber wheel 6 is driven to rotate through the second-stage planet reduction travelling wheel, so that the traveling wheel for the robot is stable when traveling.
When the walking wheel operates, the brake component 4 and the motor component 2 are powered on together, the armature on the brake component 4 is attracted and separated from the motor shaft 3, the motor shaft 3 is driven to rotate by the normal operation of the motor component 2, the motor shaft 3 can drive the first-stage sun gear and the second-stage planet gear to rotate, the second-stage planet gear 506 operates to drive the second-stage gear ring 508 to rotate, the rubber wheel 6 is driven to rotate through the second-stage gear ring 508, when the brake component 4 and the motor component 2 are powered off, no current passes through a coil of the brake component 4, the armature is jacked by the compression spring to be attached to the motor shaft 3, and generates a great friction force instantly with the motor shaft 3, so that the motor component 2 brakes in time, the trend of the walking wheel can be well controlled, and when the instability is suffered, the walking wheel can be controlled to brake in time.
It is to be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides a robot is with second grade planet speed reduction walking wheel, includes shell (1), its characterized in that: the utility model discloses a motor, including shell (1), the internal connection of shell (1) has motor element (2), the output fixedly connected with motor shaft (3) of motor element (2), the surface cover of motor shaft (3) is equipped with brake subassembly (4), the output of motor shaft (3) is connected with planet speed reduction subassembly (5), the surface cover of planet speed reduction subassembly (5) is equipped with rubber wheel (6), the one end fixedly connected with shrouding (7) of shell (1) are kept away from in planet speed reduction subassembly (5), tail end fixedly connected with of shell (1) drives control panel (8), drive fixedly connected with encoder (9) on control panel (8), it is connected with motor element (2) electricity to drive control panel (8).
2. The secondary planetary reduction walking wheel for robots of claim 1, characterized in that: the brake component (4) is an electromagnetic brake piece.
3. The secondary planetary reduction walking wheel for robots of claim 1, characterized in that: the tail end of the shell (1) is fixedly connected with a tail cover (10), and the driving and controlling plate (8) and the encoder (9) are located in the tail cover (10).
4. The robot secondary planet speed-reducing walking wheel as claimed in claim 3, wherein: the tail end of shell (1) is equipped with the first hole of dodging, the tail end of tail-hood (10) is equipped with the second hole of dodging, the electric wire on motor element (2) passes the first hole of dodging and the tail end that the hole and extend to tail-hood (10) are dodged to the second, the tail end fixedly connected with line ball piece (11) of tail-hood (10), the electric wire on motor element (2) is located between line ball piece (11) and tail-hood (10).
5. The secondary planetary reduction walking wheel for robots of claim 1, characterized in that: planetary reduction subassembly (5) is including holder (501), the inside middle part of holder (501) is rotated and is connected with one-level sun gear (502), the outside meshing of one-level sun gear (502) has one-level planet wheel (503), one-level planet wheel (503) rotate to be connected in holder (501), the outside meshing of one-level planet wheel (503) has one-level ring gear (504), one-level ring gear (504) rotate to be connected in holder (501).
6. The secondary planetary reduction walking wheel for robots of claim 5, characterized in that: the fixed cover in transmission rod surface is equipped with second grade sun gear (505) on one-level sun gear (502), second grade sun gear (505) are connected with the output of motor shaft (3), the outside meshing of second grade sun gear (505) has second grade planet wheel (506), second grade planet wheel (506) rotate to be connected in holder (501).
7. The secondary planetary reduction walking wheel for robots of claim 6, characterized in that: the outer surface of the retainer (501) is rotatably connected with a secondary gear ring (508) through a bearing (507), the rubber wheel (6) is fixedly sleeved on the outer surface of the secondary gear ring (508), and teeth of the secondary planet wheel (506) are meshed with teeth of the secondary gear ring (508).
8. The secondary planetary reduction walking wheel for robots of claim 6, characterized in that: secondary planet wheel (506) is including pivot (5061), pivot (5061) rotate to be connected in holder (501), the surface cover of pivot (5061) is equipped with axle sleeve (5062), the equal fixedly connected with spacing ring (5063) in both sides of axle sleeve (5062), the external fixed surface cover of axle sleeve (5062) is equipped with star wheel (5064), and two spacing ring (5063) are located the both sides of star wheel (5064).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222124057.5U CN217730201U (en) | 2022-08-12 | 2022-08-12 | Secondary planet speed reduction walking wheel for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222124057.5U CN217730201U (en) | 2022-08-12 | 2022-08-12 | Secondary planet speed reduction walking wheel for robot |
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| Publication Number | Publication Date |
|---|---|
| CN217730201U true CN217730201U (en) | 2022-11-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222124057.5U Active CN217730201U (en) | 2022-08-12 | 2022-08-12 | Secondary planet speed reduction walking wheel for robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115929849A (en) * | 2022-12-02 | 2023-04-07 | 广东天太机器人有限公司 | Two-stage planetary reduction walking unit |
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2022
- 2022-08-12 CN CN202222124057.5U patent/CN217730201U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115929849A (en) * | 2022-12-02 | 2023-04-07 | 广东天太机器人有限公司 | Two-stage planetary reduction walking unit |
| CN115929849B (en) * | 2022-12-02 | 2023-12-08 | 广东天太机器人有限公司 | Two-stage planetary speed-reducing walking unit |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP02 | Change in the address of a patent holder |
Address after: 528000, No. 43 Longliang Road, Longyan Industrial Zone, Longyan Village, Leliu Street, Shunde District, Foshan City, Guangdong Province Patentee after: GUANGDONG TIANTAI ROBOT Co.,Ltd. Address before: Floor 3, Complex Building 6, Dadun Section of Daliang 105 National Road (Plot 5-1), Shunde District, Foshan City, Guangdong Province, 510030 (No. 23-9, Honggang Section of Guangzhou Zhuhai Highway) Patentee before: GUANGDONG TIANTAI ROBOT Co.,Ltd. |
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| CP02 | Change in the address of a patent holder |