CN106514606A - Wheel-legged double-arm robot - Google Patents
Wheel-legged double-arm robot Download PDFInfo
- Publication number
- CN106514606A CN106514606A CN201611173213.XA CN201611173213A CN106514606A CN 106514606 A CN106514606 A CN 106514606A CN 201611173213 A CN201611173213 A CN 201611173213A CN 106514606 A CN106514606 A CN 106514606A
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- Prior art keywords
- axle
- component
- forearm
- arm seat
- swivel
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- 230000033001 locomotion Effects 0.000 claims abstract description 22
- 230000005484 gravity Effects 0.000 claims abstract description 21
- 230000000007 visual effect Effects 0.000 claims abstract description 13
- 230000000712 assembly Effects 0.000 claims abstract description 10
- 238000000429 assembly Methods 0.000 claims abstract description 10
- 210000000245 forearm Anatomy 0.000 claims description 65
- 239000003921 oil Substances 0.000 claims description 59
- 239000012530 fluid Substances 0.000 claims description 17
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 17
- 125000006850 spacer group Chemical group 0.000 claims description 12
- 238000005266 casting Methods 0.000 claims description 11
- 230000008878 coupling Effects 0.000 claims description 10
- 238000010168 coupling process Methods 0.000 claims description 10
- 238000005859 coupling reaction Methods 0.000 claims description 10
- 230000008859 change Effects 0.000 claims description 8
- 239000010720 hydraulic oil Substances 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 3
- 210000000078 claw Anatomy 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 claims description 3
- 238000004088 simulation Methods 0.000 claims description 3
- 229910001220 stainless steel Inorganic materials 0.000 claims description 3
- 239000010935 stainless steel Substances 0.000 claims description 3
- 230000003068 static effect Effects 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- 230000009194 climbing Effects 0.000 abstract description 9
- 230000008901 benefit Effects 0.000 abstract description 5
- 230000001105 regulatory effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 12
- 239000013536 elastomeric material Substances 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000007665 sagging Methods 0.000 description 2
- 241001124569 Lycaenidae Species 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a wheel-legged double-arm robot comprising a wheeled chassis (1), a supporting frame (2), a gravity center regulating assembly (3), an electrically-driven body twisting assembly (4), a hydraulic leg lifting assembly (5), a vehicle body (6), visual information acquisition devices (7) and mechanical arm assemblies (8); the structure of the wheeled chassis (1) is same as the structure of a commercially available typical wheeled chassis, and only parts of mounting dimensions are adjusted; the four groups of visual information acquisition devices (7) are provided and are respectively mounted in four directions including the front, rear, left and right of the vehicle body (6); and the two groups of mechanical arm assemblies (8) are provided and are respectively mounted at two sides of the vehicle body (6). The invention discloses the wheel-legged double-arm robot, a moving device of the wheel-legged double-arm robot is integrated with the advantages of high speed of a wheeled device and high obstacle climbing ability of a legged device, and the wheel-legged double-arm robot can rapidly enter a narrow or dangerous region and substitute working staff to perform complex tasks through the coordinated movement of double six-degree-of-freedom mechanical arms.
Description
Technical field
The present invention relates to a kind of robot, specifically a kind of wheel leg type tow-armed robot, belong to robotics.
Background technology
In narrow regions or danger zone, staff is generally difficult to enter or dangerous big, at this moment generally needs movement
The robot that ability is good and ability to work is strong is replacing manually performing task.
In existing technical scheme, wheeled mobile device speed is fast but obstacle climbing ability is poor, leg formula mobile device obstacle climbing ability
It is strong but translational speed is slow；Additionally, existing robot is typically only capable to perform simple data collection task and cannot perform complexity
Task.
The content of the invention
For the problem that above-mentioned prior art is present, the present invention provides a kind of wheel leg type tow-armed robot, and it combines wheel
The advantage that formula mobile device speed is fast and leg formula mobile device obstacle climbing ability is strong, can rapidly enter narrow and small or danger zone, lead to
The coordinated movement of various economic factors of double six degree-of-freedom mechanical arm is crossed, replaces staff to perform complicated operation task.
To achieve these goals, the technical solution used in the present invention is：A kind of wheel leg type tow-armed robot, including it is wheeled
Chassis, scaffold, centre of gravity adjustment component, electric drive swivel component, fluid pressure type lift leg assembly vehicle body, visual information harvester
And robot assemblies；Two sets of wheel undercarriages provide translational speed fast wheel type mobile mode for tow-armed robot, and electric drive turns
Body component and fluid pressure type lift leg assembly provide obstacle climbing ability strong leg formula move mode for tow-armed robot, have concurrently so as to be combined into
Translational speed is fast and the wheel leg type tow-armed robot of strong two advantages of obstacle climbing ability, quickly reaches narrow and small or danger zone；Four
Under the guidance of the visual information that group visual information harvester gets, by the coordinated movement of various economic factors of two set of six shaft mechanical arm component,
Replacement personnel perform complicated operation task；
Described wheel undercarriage is identical with typical wheel undercarriage structure on the market, has only adjusted in the fitted position of part；
Described visual information harvester has four groups, is separately mounted to the orientation of front, rear, left and right four of vehicle body；For operation
Personnel provide the environmental information residing for robot, in order to the remote control of mechanical arm；
Described robot assemblies have two groups, are separately mounted to vehicle body both sides, including one component of axle, two component of axle, three component of axle,
Four component of axle, five component of axle, six component of axle and mechanical arm are electrically held；One component of axle, two component of axle, three component of axle, four groups of axle
Part, five component of axle and six component of axle are sequentially connected, and are combined into the mechanical part of sixdegree-of-freedom simulation, and electrically end is outer for mechanical arm
Power supply and signal receiving/transmission device are connect, so as to constitute the six degree of freedom machinery that complex task can be performed by staff's remote control
Both arms；
Described one component of axle includes pawl head, pawl head swivel bearing, pawl head electric rotating machine and pawl headstock；Pawl head electric rotating machine is embedding
Enter the rectangular opening the inner ring axially position by pawl head swivel bearing of pawl headstock；The Internal and external cycle of pawl head swivel bearing respectively with pawl head
Seat and pawl hook bolt connect；The output shaft of pawl head electric rotating machine is bonded with pawl head, and pawl head end can connect according to mission requirements
Clamping manipulator or exploring equipment；The rotational band pawl head of pawl head electric rotating machine output shaft around pawl head electric rotating machine axis direction is
Axle one is rotated, so as to realize the rotation of clamping manipulator or exploring equipment around axle one；
Described two component of axle includes pawl headstock electric motor end cap, pawl headstock electric rotating machine, pawl headstock swivel bearing and forearm；Pawl
The Internal and external cycle of headstock swivel bearing respectively with pawl headstock and forearm bolt connection, the output shaft of pawl headstock electric rotating machine and pawl headstock
It is bonded；Pawl headstock electric motor end cap Jing periphery holes are fixed with little arm bolt, then Jing inner ring hole fixed claw headstock electric rotating machines；Pawl head
The rotational band pawl headstock of seat electric rotating machine output shaft is that axle two rotates around pawl headstock electric rotating machine axis direction, so as to realize axle
Rotation of one component around axle two；
Described three component of axle includes forearm rotary connector, forearm swivel bearing, forearm electric rotating machine and little arm seat；Forearm
The Internal and external cycle of swivel bearing respectively with forearm rotary connector and little arm seat bolt connection, the other end of forearm rotary connector with
Forearm bolt connection；Forearm electric rotating machine is embedded in the rectangular opening of little arm seat the simultaneously inner ring axially position of Jing forearm swivel bearings,
The output shaft of forearm electric rotating machine is bonded with forearm rotary connector；The rotation of forearm electric rotating machine output shaft drives forearm rotation
Turn connector around i.e. three rotation of axle in forearm electric rotating machine axis direction, so as to realize rotation of two component of axle around axle three；
Described four component of axle include little arm seat electric motor end cap, forearm seat rotating axis hold, little arm seat electric rotating machine and large arm；It is little
The Internal and external cycle of arm seat swivel bearing respectively with little arm seat and large arm bolt connection, output shaft and the little arm seat of little arm seat electric rotating machine
It is bonded；Little arm seat electric motor end cap Jing periphery holes are fixed with big arm bolt, then Jing inner ring holes fix little arm seat electric rotating machine；Forearm
It is that axle four rotates around little arm seat spin motor shaft line direction that the rotation of seat electric rotating machine output shaft drives forearm seat, so as to realize axle
Rotation of three components around axle four；
Described five component of axle includes large arm electric motor end cap, large arm electric rotating machine, large arm swivel bearing and big arm seat；Large arm is revolved
The Internal and external cycle that rotating shaft is held respectively with large arm and big arm seat bolt connection, the output shaft of large arm electric rotating machine is bonded with large arm；Greatly
Arm electric motor end cap Jing periphery holes are fixed with big arm seat bolt, then Jing inner ring holes fix large arm electric rotating machine；Large arm electric rotating machine is defeated
It is that axle five rotates around large arm electric rotating machine axis direction that the rotation of shaft drives large arm, so as to realize rotation of four component of axle around axle five
Turn；
Described six component of axle includes that big arm seat rotary connector, large arm seat rotating axis hold, mechanical arm pedestal and big arm seat revolve
Turn reducing motor；Mechanical arm pedestal is bolted on vehicle body, the Internal and external cycle that large arm seat rotating axis hold respectively with mechanical arm
Pedestal and big arm seat rotary connector bolt connection, the other end of big arm seat rotary connector and big arm seat bolt connection；Large arm
Seat rotational deceleration motor Jing is bolted on mechanical arm pedestal, and its output shaft is bonded with big arm seat rotary connector；Large arm
The big arm seat rotary connectors of rotation Jing of seat rotational deceleration motor output shaft drive big arm seat around big arm seat rotational deceleration motor shaft
Line direction is that axle six is rotated, so as to realize rotation of five component of axle around axle six；
Described centre of gravity adjustment component includes leading screw band edge bearing, oil cylinder bottom, piston, piston drive, cylinder block, leading screw
Shaft coupling, piston motor, piston drive decelerator, oil cylinder cylinder cap, oil pipe, piston to drive ball-screw and oil pipe to connect
Head；Oil cylinder bottom, cylinder block and oil cylinder cylinder cap Jing bolt connections, are combined into the oil cylinder main body of centre of gravity adjustment component and pass through
It is bolted in support frame, two oil cylinder connections are got up by oil pipe by oil connection；Leading screw band edge bearing and piston drive
Dynamic decelerator is bolted on oil cylinder bottom and oil cylinder lid respectively, and piston drives the power of decelerator to be driven by piston
Motor is provided, its output shaft connection leading screw shaft coupling one end；Piston drive ball-screw two ends respectively with leading screw shaft coupling and silk
The inner ring tight fit of thick stick band edge bearing；The inner ring of piston drive drives the cooperation of ball-screw screw thread, outer end and piston with piston
Bolt connection, the output torque Jing piston of piston motor drive decelerator to amplify, then are converted to work by ball-screw-transmission
The movement along oil cylinder axis direction in oil cylinder is filled in, so as to change the volume of hydraulic oil in oil cylinder；Two piston motor associations
Allocation and transportation are dynamic, realize the circulation between two oil cylinder internal hydraulic pressure oil, so as to the quality for changing wheel leg type tow-armed robot both sides is matched somebody with somebody
Than, and then changing its position of centre of gravity, the work for lifting leg assembly for fluid pressure type provides precondition；
Described fluid pressure type lift leg assembly include rotatable base, vehicle body bracing frame, Barrel of Hydraulic Cylinders, hydraulic cylinder piston rod,
It is fixed that support rotates little bearing, bracing frame rotary shaft, the big bearing of bracing frame rotation, bracing frame rotation hubcap, hydraulic cylinder rotary shaft
Bit slice and hydraulic cylinder rotary shaft；Vehicle body bracing frame is connected with carriage bolt, and its two side holes is connected with bracing frame rotary shaft Jing spline
Connect and by the shaft shoulder and sleeve axially position；Bracing frame rotating shaft terminal rotates little bearing and bracing frame rotation respectively with bracing frame
The inner ring tight fit of big bearing, bracing frame rotates little bearing and bracing frame rotate the outer ring of big bearing respectively with rotatable base
Two counterbore tight fits, bracing frame rotation hubcap are adjacent to and are bolted on rotatable with the outer face of bracing frame rotary shaft
On pedestal, so as to realize the axially position of bracing frame rotary shaft；The interlude outer surface of hydraulic cylinder rotary shaft and Barrel of Hydraulic Cylinders
Or the connection end internal surface gaps of hydraulic cylinder piston rod coordinate, both sides section outer surface and rotatable base or vehicle body bracing frame it is right
Hole position internal surface gaps are answered with merging Jing hydraulic cylinder rotary shafts spacers positioning, so as to by Barrel of Hydraulic Cylinders and hydraulic cylinder piston rod
Connection end be connected to the specified location of rotatable base or vehicle body bracing frame；Unilateral hydraulic cylinder piston rod is along its axis side
To linear motion rotation of the vehicle body bracing frame around bracing frame rotary shaft is converted to by linkage rod slide block mechanism, so as to by opposite side
Rotatable base lift, the work for electric drive swivel component provides precondition；
Described electric drive swivel component includes turning motor, swivel decelerator, turntable bearing, swivel set axle and set axle
Spacer；The two ends of turntable bearing respectively with rotatable base and scaffold bolt connection, swivel decelerator by bolt consolidate
It is scheduled on rotatable base, its power source comes from swivel motor；Swivel set axle one end and the output shaft for turning decelerator
Bonded, the other end is with scaffold Jing spline connections and by covering axle spacer axially position；The output of swivel motor
Torque Jing swivel decelerators amplify, then Jing swivel set axles are delivered on scaffold, on the premise of scaffold is maintained static,
Rotating backward for swivel decelerator is converted to, and so as to drive rotatable base to rotate, the motion of leg assembly is lifted with reference to fluid pressure type, it is real
The leg formula movement of existing tow-armed robot and obstacle detouring.
Seal approach is connected by described centre of gravity adjustment component, to prevent the seepage of hydraulic oil.
The head of the cylinder block in described centre of gravity adjustment component is provided with airport, to prevent because of oil-free cavity space in oil cylinder
Between closed and mobile difficulty that cause piston.
Described rotatable base and vehicle body bracing frame are formed by stainless steel casting, are done on the basis of bearing capacity is ensured
Light-weight technologg.
Described oil pipe adopts elastomeric material, not only without limitation on fluid pressure type lift leg assembly motion but also will not be sagging.
The casting of described pawl headstock, forearm, little arm seat, large arm, big arm seat and mechanical arm pedestal is formed, and is ensureing to carry
Light-weight technologg is done on the basis of ability.
The present invention is a kind of wheel leg type tow-armed robot, and its mobile device combines that wheeled devices speed is fast and leg formula device
The strong advantage of obstacle climbing ability, can rapidly enter narrow and small or danger zone, by the coordinated movement of various economic factors of double six degree-of-freedom mechanical arm, generation
Complex task is performed for staff.
Description of the drawings
Fig. 1 is wheel leg type tow-armed robot principle schematic provided in an embodiment of the present invention；
In figure：1st, wheel undercarriage, 2, scaffold, 3, centre of gravity adjustment component, 4, electric drive swivel component, 5, fluid pressure type lift leg
Component, 6, vehicle body, 7, visual information harvester, 8, robot assemblies.
Fig. 2 is wheel leg type tow-armed robot front view provided in an embodiment of the present invention；
Fig. 3 is wheel leg type tow-armed robot top view provided in an embodiment of the present invention；
Fig. 4 is wheel leg type tow-armed robot side view provided in an embodiment of the present invention；
Fig. 5 is robot assemblies principle schematic provided in an embodiment of the present invention；
In figure：8.1st, one component of axle, 8.2, two component of axle, 8.3, three component of axle, 8.4, four component of axle, 8.5, five component of axle,
8.6th, six component of axle, 8.7 mechanical arms are electrically held.
Fig. 6 is one assembly principle schematic diagram of axle provided in an embodiment of the present invention；
In figure：8.1.1, pawl head, 8.1.2, pawl head swivel bearing, 8.1.3, pawl head electric rotating machine, 8.1.4, pawl headstock.
Fig. 7 is two assembly principle schematic diagram of axle provided in an embodiment of the present invention；
In figure：8.2.1, pawl headstock electric motor end cap, 8.2.2, pawl headstock electric rotating machine, 8.2.3, pawl headstock swivel bearing,
8.2.4, forearm.
Fig. 8 is three assembly principle schematic diagram of axle provided in an embodiment of the present invention；
In figure：8.3.1, forearm rotary connector, 8.3.2, forearm swivel bearing, 8.3.3, forearm electric rotating machine are 8.3.4, little
Arm seat.
Fig. 9 is four assembly principle schematic diagram of axle provided in an embodiment of the present invention；
In figure：8.4.1, little arm seat electric motor end cap, 8.4.2, forearm seat rotating axis hold, 8.4.3, little arm seat electric rotating machine,
8.4.4, large arm.
Figure 10 is five assembly principle schematic diagram of axle provided in an embodiment of the present invention；
In figure：8.5.1, large arm electric motor end cap, 8.5.2, large arm electric rotating machine, 8.5.3, large arm swivel bearing, 8.5.4, large arm
Seat.
Figure 11 is six assembly principle schematic diagram of axle provided in an embodiment of the present invention；
In figure：8.6.1, big arm seat rotary connector, 8.6.2, large arm seat rotating axis hold, and 8.6.3, mechanical arm pedestal, 8.6.4 are big
Arm seat rotational deceleration motor.
Figure 12 is centre of gravity adjustment assembly principle schematic diagram provided in an embodiment of the present invention；
In figure：3.1st, leading screw band edge bearing, 3.2, oil cylinder bottom, 3.3, piston, 3.4, piston drive, 3.5, cylinder block,
3.6th, leading screw shaft coupling, 3.7, piston motor, 3.8, piston drive decelerator, 3.9, oil cylinder cylinder cap, 3.10, oil pipe,
3.11st, piston drives ball-screw, and 3.12, oil connection.
Figure 13 is that fluid pressure type provided in an embodiment of the present invention lifts leg assembly principle schematic；
In figure：5.1st, rotatable base, 5.2, vehicle body bracing frame, 5.3, Barrel of Hydraulic Cylinders, 5.4, hydraulic cylinder piston rod, 5.5,
Support rotates little bearing, 5.6, bracing frame rotary shaft, 5.7, bracing frame rotate big bearing, 5.8, bracing frame rotation hubcap,
5.9th, hydraulic cylinder rotary shaft spacer, 5.10, hydraulic cylinder rotary shaft.
Figure 14 is electric drive swivel component principle schematic provided in an embodiment of the present invention；
In figure：4.1st, turn motor, 4.2, swivel decelerator, 4.3, turntable bearing, 4.4, swivel set axle, 4.5, set axle it is fixed
Bit slice.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Fig. 1 to Fig. 4 is referred to, is a kind of wheel leg type tow-armed robot principle schematic provided in an embodiment of the present invention and three
View, it include wheel undercarriage 1, scaffold 2, centre of gravity adjustment component 3, electric drive swivel component 4, fluid pressure type lift leg assembly 5,
Vehicle body 6, visual information harvester 7 and robot assemblies 8；Two sets of wheel undercarriages 1 provide translational speed for tow-armed robot
It is strong that fast wheel type mobile mode, electric drive swivel component 4 and fluid pressure type lift leg assembly 5 provide obstacle climbing ability for tow-armed robot
Leg formula move mode, has translational speed concurrently soon and the wheel leg type tow-armed robot of strong two advantages of obstacle climbing ability so as to be combined into,
Narrow and small or danger zone is reached quickly；Under the guidance of the visual information that four groups of visual information harvesters 7 get, by two
The coordinated movement of various economic factors of six shaft mechanical arm components 8 is covered, replaces staff to perform complicated operation task；
Described wheel undercarriage 1 is identical with typical wheel undercarriage structure on the market, has only adjusted in the fitted position of part；
Described visual information harvester 7 has four groups, is separately mounted to the orientation of front, rear, left and right four of vehicle body 6；For behaviour
Make the environmental information residing for personnel's offer robot, in order to the remote control of mechanical arm.
Fig. 5 is referred to, is that a kind of wheel leg type tow-armed robot robot assemblies principle provided in an embodiment of the present invention is illustrated
Figure, including one component 8.1 of axle, two component 8.2 of axle, three component 8.3 of axle, four component 8.4 of axle, five component 8.5 of axle, six component of axle
8.6 and the electric end 8.7 of mechanical arm；One component 8.1 of axle, two component 8.2 of axle, three component 8.3 of axle, four component 8.4 of axle, five groups of axle
Part 8.5 and six component 8.6 of axle are sequentially connected, and are combined into the mechanical part of sixdegree-of-freedom simulation, and mechanical arm is electrically held outside 8.7
Power supply and signal receiving/transmission device are connect, so as to constitute the six degree of freedom machinery that complex task can be performed by staff's remote control
Both arms.
Fig. 6 is referred to, is a kind of one principle schematic of wheel leg type tow-armed robot axle provided in an embodiment of the present invention, it wraps
Include pawl head 8.1.1, pawl head swivel bearing 8.1.2, pawl head electric rotating machine 8.1.3 and pawl headstock 8.1.4；Pawl head electric rotating machine
8.1.3 the rectangular opening the inner ring axially position by pawl head swivel bearing 8.1.2 of pawl headstock 8.1.4 are embedded in；Pawl head swivel bearing
8.1.2 Internal and external cycle respectively with pawl headstock 8.1.4 and pawl head 8.1.1 bolt connections；The output shaft of pawl head electric rotating machine 8.1.3 with
Head 8.1.1 is bonded for pawl, and pawl head 8.1.1 ends can connect clamping manipulator or exploring equipment according to mission requirements；Pawl head rotates
The rotational band pawl head 8.1.1 of motor 8.1.3 output shafts is that axle one is rotated around pawl head electric rotating machine 8.1.3 axis directions, so as to
Realize the rotation of clamping manipulator or exploring equipment around axle one；
Described pawl headstock 8.1.4 castings are formed, and on the basis of bearing capacity is ensured do light-weight technologg.
Fig. 7 is referred to, is a kind of two assembly principle schematic diagram of wheel leg type tow-armed robot axle provided in an embodiment of the present invention,
It includes pawl headstock electric motor end cap 8.2.1, pawl headstock electric rotating machine 8.2.2, pawl headstock swivel bearing 8.2.3 and forearm
8.2.4；The Internal and external cycle of pawl headstock swivel bearing 8.2.3 respectively with pawl headstock 8.1.4 and forearm 8.2.4 bolt connections, pawl headstock
The output shaft of electric rotating machine 8.2.2 is bonded with pawl headstock 8.1.4；Pawl headstock electric motor end cap 8.2.1 Jing periphery holes and forearm
8.2.4 bolt is fixed, then Jing inner ring hole fixed claw headstock electric rotating machine 8.2.2；Pawl headstock electric rotating machine 8.2.2 output shafts turn
Dynamic band pawl headstock 8.1.4 is that axle two rotates around pawl headstock electric rotating machine 8.2.2 axis directions, so as to realize one component 8.1 of axle
Around the rotation of axle two；
Described forearm 8.2.4 castings are formed, and on the basis of bearing capacity is ensured do light-weight technologg.
Fig. 8 is referred to, is a kind of three assembly principle schematic diagram of wheel leg type tow-armed robot axle provided in an embodiment of the present invention,
It includes forearm rotary connector 8.3.1, forearm swivel bearing 8.3.2, forearm electric rotating machine 8.3.3 and little arm seat 8.3.4；
The Internal and external cycle of forearm swivel bearing 8.3.2 respectively with forearm rotary connector 8.3.1 and little arm seat 8.3.4 bolt connections, forearm
The other end of rotary connector 8.3.1 and forearm 8.2.4 bolt connections；Forearm electric rotating machine 8.3.3 is embedded in little arm seat 8.3.4's
The inner ring axially position of the interior simultaneously Jing forearm swivel bearing 8.3.2 of rectangular opening, output shaft and the forearm of forearm electric rotating machine 8.3.3 revolve
Turn connector 8.3.1 bonded；The rotation of forearm electric rotating machine 8.3.3 output shafts drives forearm rotary connector 8.3.1 around little
Arm electric rotating machine 8.3.3 axis directions are that axle three is rotated, so as to realize rotation of two component 8.1 of axle around axle three；
Described little arm seat 8.3.4 castings are formed, and on the basis of bearing capacity is ensured do light-weight technologg.
Fig. 9 is referred to, is a kind of four assembly principle schematic diagram of wheel leg type tow-armed robot axle provided in an embodiment of the present invention,
It includes that little arm seat electric motor end cap 8.4.1, forearm seat rotating axis hold 8.4.2, little arm seat electric rotating machine 8.4.3 and large arm
8.4.4；Forearm seat rotating axis are held the Internal and external cycle of 8.4.2 and are revolved with little arm seat 8.3.4 and the little arm seat of large arm 8.4.4 bolt connection respectively
The output shaft of rotating motor 8.4.3 is bonded with little arm seat 8.3.4；Little arm seat electric motor end cap 8.4.1 Jing periphery holes and large arm 8.4.4
Bolt is fixed, then Jing inner ring holes fix little arm seat electric rotating machine 8.4.3；The rotational band of little arm seat electric rotating machine 8.4.3 output shafts
It is that axle four rotates around little arm seat electric rotating machine 8.4.3 axis directions to move little arm seat 8.3.4, so as to realize three component 8.3 of axle around axle
Four rotation；
Described large arm 8.4.4 casting is formed, and on the basis of bearing capacity is ensured does light-weight technologg.
Figure 10 is referred to, is that a kind of five assembly principle of wheel leg type tow-armed robot axle provided in an embodiment of the present invention is illustrated
Figure, it includes large arm electric motor end cap 8.5.1, large arm electric rotating machine 8.5.2, large arm swivel bearing 8.5.3 and big arm seat
8.5.4；The Internal and external cycle of large arm swivel bearing 8.5.3 respectively with large arm 8.4.4 and big arm seat 8.5.4 bolt connections, large arm rotation
The output shaft of motor 8.5.2 is bonded with large arm 8.4.4；Large arm electric motor end cap 8.5.1 Jing periphery holes and big arm seat 8.5.4 bolts
It is fixed, then Jing inner ring holes fixation large arm electric rotating machine 8.5.2；The rotation of large arm electric rotating machine 8.5.2 output shafts drives large arm
8.4.4 it is that axle five rotates around large arm electric rotating machine 8.5.2 axis directions, so as to realize rotation of four component 8.4 of axle around axle five；
Described big arm seat 8.5.4 castings are formed, and on the basis of bearing capacity is ensured do light-weight technologg.
Figure 11 is referred to, is that a kind of six assembly principle of wheel leg type tow-armed robot axle provided in an embodiment of the present invention is illustrated
Figure, it includes that big arm seat rotary connector 8.6.1, large arm seat rotating axis hold 8.6.2, mechanical arm pedestal 8.6.3 and big arm seat
Rotational deceleration motor 8.6.4；Mechanical arm pedestal 8.6.3 is bolted on vehicle body 6, and large arm seat rotating axis hold 8.6.2's
Internal and external cycle respectively with mechanical arm pedestal 8.6.3 and big arm seat rotary connector 8.6.1 bolt connections, big arm seat rotary connector
8.6.1 the other end and big arm seat 8.5.4 bolt connections；Big arm seat rotational deceleration motor 8.6.4 Jing are bolted to mechanical arm
On pedestal 8.6.3, its output shaft is bonded with big arm seat rotary connector 8.6.1；Big arm seat rotational deceleration motor 8.6.4 outputs
The big arm seat rotary connector 8.6.1 of rotation Jing of axle drive big arm seat 8.5.4 around big arm seat rotational deceleration motor 8.6.4 axis sides
Rotate to i.e. axle six, so as to realize rotation of five component 8.5 of axle around axle six；
The mechanical arm pedestal 8.6.3 castings are formed, and on the basis of bearing capacity is ensured do light-weight technologg.
Figure 12 is referred to, is that a kind of wheel leg type tow-armed robot centre of gravity adjustment assembly principle provided in an embodiment of the present invention shows
It is intended to, it includes leading screw band edge bearing 3.1, oil cylinder bottom 3.2, piston 3.3, piston drive 3.4, cylinder block 3.5, leading screw
Shaft coupling 3.6, piston motor 3.7, piston drive decelerator 3.8, oil cylinder cylinder cap 3.9, oil pipe 3.10, piston to drive ball
Leading screw 3.11 and oil connection 3.12；Oil cylinder bottom 3.2,3.9 Jing bolt connections of cylinder block 3.5 and oil cylinder cylinder cap, group
The oil cylinder main body of synthesis centre of gravity adjustment component 3 is simultaneously bolted on scaffold 2,3.11 Jing oil connections 3.12 of oil pipe
Two oil cylinder connections are got up；Leading screw band edge bearing 3.1 and piston drive decelerator 3.8 to be bolted on oil cylinder respectively
On bottom 3.2 and oil cylinder cylinder cap 3.9, piston drives the power of decelerator 3.8 to be provided by piston motor 3.7, and its output shaft connects
Connect 3.6 one end of leading screw shaft coupling；Piston drive ball-screw 3.11 two ends respectively with leading screw shaft coupling 3.6 and leading screw band edge bearing
3.1 inner ring tight fit；The inner ring of piston drive 3.4 drives the cooperation of 3.11 screw thread of ball-screw, outer end and piston with piston
3.3 bolt connections, the output torque Jing piston of piston motor 3.7 drive decelerator 3.8 to amplify, then by ball-screw-transmission
The movement along oil cylinder axis direction in the oil cylinder of piston 3.3 is converted to, so as to change the volume of hydraulic oil in oil cylinder；Two pistons
3.7 coordinated movement of various economic factors of motor, realizes the circulation between two oil cylinder internal hydraulic pressure oil, so as to change wheel leg type tow-armed robot
The quality proportioning of both sides, and then change its position of centre of gravity, the work for lifting leg assembly 5 for fluid pressure type provides precondition；
Seal approach is connected by described centre of gravity adjustment component 3, to prevent the seepage of hydraulic oil；
The head of the cylinder block 3.5 in described centre of gravity adjustment component 3 is provided with airport, to prevent because of oil-free cavity space in oil cylinder
Between closed and mobile difficulty that cause piston 3.3；
Described oil pipe 3.10 adopts elastomeric material, not only without limitation on fluid pressure type lift leg assembly 5 motion but also will not be sagging.
Figure 13 is referred to, is that a kind of fluid pressure type lift leg assembly of wheel leg type tow-armed robot provided in an embodiment of the present invention is former
Reason schematic diagram, it includes rotatable base 5.1, vehicle body bracing frame 5.2, Barrel of Hydraulic Cylinders 5.3, hydraulic cylinder piston rod 5.4, support
Frame rotates little bearing 5.5, bracing frame rotary shaft 5.6, bracing frame and rotates big bearing 5.7, bracing frame rotation hubcap 5.8, hydraulic pressure
Cylinder rotary shaft spacer 5.9 and hydraulic cylinder rotary shaft 5.10；Vehicle body bracing frame 5.2 and 6 bolt connection of vehicle body, its two side holes with
5.6 Jing spline connections of bracing frame rotary shaft pass through the shaft shoulder and sleeve axially position；5.6 two ends of bracing frame rotary shaft respectively with support
Frame rotates little bearing 5.5 and bracing frame rotates the inner ring tight fit of big bearing 5.7, and bracing frame rotates little bearing 5.5 and bracing frame
Rotate the outer ring of big bearing 5.7 two counterbore tight fits respectively with rotatable base 5.1, bracing frame rotation hubcap 5.8 with
The outer face of support rotary shaft 5.6 is adjacent to and is bolted on rotatable base 5.1, so as to realize bracing frame rotary shaft
5.6 axially position；The interlude outer surface of hydraulic cylinder rotary shaft 5.10 and Barrel of Hydraulic Cylinders 5.3 or hydraulic cylinder piston rod 5.4
Connection end internal surface gaps coordinate, both sides section outer surface with the corresponding hole position of rotatable base 5.1 or vehicle body bracing frame 5.2
Surface gap is positioned with Jing hydraulic cylinder rotary shafts spacer 5.9 is merged, so as to by Barrel of Hydraulic Cylinders 5.3 and hydraulic cylinder piston rod
5.4 connection end is connected to the specified location of rotatable base 5.1 or vehicle body bracing frame 5.2；Unilateral hydraulic cylinder piston rod
5.4 are converted to vehicle body bracing frame 5.2 around bracing frame rotary shaft 5.6 by linkage rod slide block mechanism along the linear motion of its axis direction
Rotation, so as to the rotatable base 5.1 of opposite side is lifted, the work for electric drive swivel component 4 provides precondition；
Described rotatable base 5.1 and vehicle body bracing frame 5.2 are formed by stainless steel casting, on the basis of bearing capacity is ensured
Do light-weight technologg.
Figure 14 is referred to, is that a kind of electric drive swivel component of wheel leg type tow-armed robot provided in an embodiment of the present invention is former
Reason schematic diagram, it includes turning motor 4.1, swivel decelerator 4.2, turntable bearing 4.3, swivel set axle 4.4 and set axle
Spacer 4.5；The two ends of turntable bearing 4.3 respectively with 2 bolt connection of rotatable base 5.1 and scaffold, turn decelerator
4.2 are bolted on rotatable base 5.1, and its power source comes from swivel motor 4.1；Swivel set axle 4.4 1
Hold bonded with the output shaft of swivel decelerator 4.2, the other end is with 2 Jing spline connections of scaffold and by covering axle spacer
4.5 axially position；The output torque Jing swivel decelerator 4.2 of swivel motor 4.1 amplifies, then Jing swivel set axles 4.4 are transmitted
To on scaffold 2, on the premise of scaffold 2 is maintained static, rotating backward for swivel decelerator 4.2 is converted to, so as to
Drive rotatable base 5.1 to rotate, the motion of leg assembly 5 is lifted with reference to fluid pressure type, realize the leg formula movement of tow-armed robot and get over
Barrier.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of spirit or essential attributes without departing substantially from the present invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit is required rather than described above is limited, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference in claim should not be considered as and limit involved claim.
Claims (10)
1. a kind of wheel leg type tow-armed robot, including wheel undercarriage（1）, scaffold（2）, centre of gravity adjustment component（3）, electric drive
Swivel component（4）, fluid pressure type lift leg assembly（5）, vehicle body（6）, vehicle body（6）On visual information harvester is installed（7）And
Robot assemblies（8）.
2. a kind of wheel leg type tow-armed robot according to claim 1, it is characterised in that described wheel undercarriage（1）Have
Two sets, be tow-armed robot vehicle body（6）There is provided translational speed fast wheel type mobile mode.
3. a kind of wheel leg type tow-armed robot according to claim 1, it is characterised in that described visual information collection dress
Put（7）Four groups are had, vehicle body is separately mounted to（6）The orientation of front, rear, left and right four.
4. a kind of wheel leg type tow-armed robot according to claim 1, it is characterised in that described robot assemblies（8）
There are two groups, be separately mounted to vehicle body（6）Both sides, including one component of axle（8.1）, two component of axle（8.2）, three component of axle（8.3）, axle
Four components（8.4）, five component of axle（8.5）, six component of axle（8.6）And mechanical arm is electrically held（8.7）；One component of axle（8.1）, axle
Two components（8.2）, three component of axle（8.3）, four component of axle（8.4）, five component of axle（8.5）And six component of axle（8.6）Connect successively
Connect, be combined into the mechanical part of sixdegree-of-freedom simulation, mechanical arm is electrically held（8.7）External power supply and signal receiving/transmission device, from
And constitute the six degree of freedom machinery both arms that complex task can be performed by staff's remote control.
5. a kind of wheel leg type tow-armed robot according to claim 4, it is characterised in that described one component of axle（8.1）
Including pawl head（8.1.1）, pawl head swivel bearing（8.1.2）, pawl head electric rotating machine（8.1.3）And pawl headstock（8.1.4）；Pawl head
Electric rotating machine（8.1.3）Embedded pawl headstock（8.1.4）Rectangular opening and by pawl head swivel bearing（8.1.2）Inner ring it is axially fixed
Position；Pawl head swivel bearing（8.1.2）Internal and external cycle respectively with pawl headstock（8.1.4）With pawl head（8.1.1）Bolt connection；Pawl head revolves
Rotating motor（8.1.3）Output shaft and pawl head（8.1.1）It is bonded, pawl head（8.1.1）End can be according to mission requirements connection clip
Hold manipulator or exploring equipment；Pawl head electric rotating machine（8.1.3）The rotational band pawl head of output shaft（8.1.1）Around pawl head electric rotating
Machine（8.1.3）Axis direction is that axle one is rotated, so as to realize the rotation of clamping manipulator or exploring equipment around axle one；
Described two component of axle（8.2）Including pawl headstock electric motor end cap（8.2.1）, pawl headstock electric rotating machine（8.2.2）, pawl headstock
Swivel bearing（8.2.3）And forearm（8.2.4）；Pawl headstock swivel bearing（8.2.3）Internal and external cycle respectively with pawl headstock
（8.1.4）And forearm（8.2.4）Bolt connection, pawl headstock electric rotating machine（8.2.2）Output shaft and pawl headstock（8.1.4）It is bonded
Connect；Pawl headstock electric motor end cap（8.2.1）Jing periphery holes and forearm（8.2.4）Bolt is fixed, then the rotation of Jing inner ring hole fixed claws headstock
Rotating motor（8.2.2）；Pawl headstock electric rotating machine（8.2.2）The rotational band pawl headstock of output shaft（8.1.4）Rotate around pawl headstock
Motor（8.2.2）Axis direction is that axle two rotates, so as to realize one component of axle（8.1）Around the rotation of axle two；
Described three component of axle（8.3）Including forearm rotary connector（8.3.1）, forearm swivel bearing（8.3.2）, forearm rotation
Motor（8.3.3）And little arm seat（8.3.4）；Forearm swivel bearing（8.3.2）Internal and external cycle respectively with forearm rotary connector
（8.3.1）With little arm seat（8.3.4）Bolt connection, forearm rotary connector（8.3.1）The other end and forearm（8.2.4）Bolt
Connection；Forearm electric rotating machine（8.3.3）It is embedded in little arm seat（8.3.4）Rectangular opening in and Jing forearm swivel bearings（8.3.2）'s
Inner ring axially position, forearm electric rotating machine（8.3.3）Output shaft and forearm rotary connector（8.3.1）It is bonded；Forearm revolves
Rotating motor（8.3.3）The rotation of output shaft drives forearm rotary connector（8.3.1）Around forearm electric rotating machine（8.3.3）Axis side
Rotate to i.e. axle three, so as to realize two component of axle（8.1）Around the rotation of axle three；
Described four component of axle（8.4）Including little arm seat electric motor end cap（8.4.1）, forearm seat rotating axis hold（8.4.2）, little arm seat
Electric rotating machine（8.4.3）And large arm（8.4.4）；Forearm seat rotating axis hold（8.4.2）Internal and external cycle respectively with little arm seat
（8.3.4）And large arm（8.4.4）Bolt connection, little arm seat electric rotating machine（8.4.3）Output shaft and little arm seat（8.3.4）It is bonded
Connect；Little arm seat electric motor end cap（8.4.1）Jing periphery holes and large arm（8.4.4）Bolt is fixed, then Jing inner ring holes fix little arm seat rotation
Rotating motor（8.4.3）；Little arm seat electric rotating machine（8.4.3）The rotation of output shaft drives forearm seat（8.3.4）Rotate around little arm seat
Motor（8.4.3）Axis direction is that axle four rotates, so as to realize three component of axle（8.3）Around the rotation of axle four；
Described five component of axle（8.5）Including large arm electric motor end cap（8.5.1）, large arm electric rotating machine（8.5.2）, large arm rotary shaft
Hold（8.5.3）And big arm seat（8.5.4）；Large arm swivel bearing（8.5.3）Internal and external cycle respectively with large arm（8.4.4）And large arm
Seat（8.5.4）Bolt connection, large arm electric rotating machine（8.5.2）Output shaft and large arm（8.4.4）It is bonded；Large arm electric motor end cap
（8.5.1）Jing periphery holes and big arm seat（8.5.4）Bolt is fixed, then Jing inner ring holes fix large arm electric rotating machine（8.5.2）；Large arm
Electric rotating machine（8.5.2）The rotation of output shaft drives large arm（8.4.4）Around large arm electric rotating machine（8.5.2）Axis direction is axle five
Rotation, so as to realize four component of axle（8.4）Around the rotation of axle five；
Described six component of axle（8.6）Including big arm seat rotary connector（8.6.1）, large arm seat rotating axis hold（8.6.2）, machinery
Arm pedestal（8.6.3）And big arm seat rotational deceleration motor（8.6.4）；Mechanical arm pedestal（8.6.3）It is bolted on car
Body（6）On, large arm seat rotating axis hold（8.6.2）Internal and external cycle respectively with mechanical arm pedestal（8.6.3）It is rotatably connected with big arm seat
Part（8.6.1）Bolt connection, big arm seat rotary connector（8.6.1）The other end and big arm seat（8.5.4）Bolt connection；Large arm
Seat rotational deceleration motor（8.6.4）Jing is bolted to mechanical arm pedestal（8.6.3）On, its output shaft is rotatably connected with big arm seat
Part（8.6.1）It is bonded；Big arm seat rotational deceleration motor（8.6.4）The big arm seat rotary connectors of rotation Jing of output shaft
（8.6.1）Drive big arm seat（8.5.4）Around big arm seat rotational deceleration motor（8.6.4）Axis direction is that axle six is rotated, so as to reality
Five component of existing axle（8.5）Around the rotation of axle six.
6. a kind of wheel leg type tow-armed robot according to claim 1, it is characterised in that described centre of gravity adjustment component
（3）Including leading screw band edge bearing（3.1）, oil cylinder bottom（3.2）, piston（3.3）, piston drive（3.4）, cylinder block
（3.5）, leading screw shaft coupling（3.6）, piston motor（3.7）, piston drive decelerator（3.8）, oil cylinder cylinder cap（3.9）, oil
Pipe（3.10）, piston drive ball-screw（3.11）And oil connection（3.12）；Oil cylinder bottom（3.2）, cylinder block（3.5）
And oil cylinder cylinder cap（3.9）Jing bolt connections, are combined into centre of gravity adjustment component（3）Oil cylinder main body and be bolted on
Support frame frame（2）On, oil pipe（3.11）By oil connection（3.12）Two oil cylinder connections are got up；Leading screw band edge bearing（3.1）
Decelerator is driven with piston（3.8）Oil cylinder bottom is bolted on respectively（3.2）With oil cylinder cylinder cap（3.9）On, piston drives
Dynamic decelerator（3.8）Power by piston motor（3.7）There is provided, its output shaft connects leading screw shaft coupling（3.6）One end；It is living
Plug drives ball-screw（3.11）Two ends respectively with leading screw shaft coupling（3.6）With leading screw band edge bearing（3.1）Inner ring tight fit；
Piston drive（3.4）Inner ring and piston drive ball-screw（3.11）Screw thread cooperation, outer end and piston（3.3）Bolt connects
Connect, piston motor（3.7）Output torque Jing piston drive decelerator（3.8）Amplify, then changed by ball-screw-transmission
For piston（3.3）In the oil cylinder along oil cylinder axis direction movement, so as to change the volume of hydraulic oil in oil cylinder；Two pistons drive
Dynamic motor（3.7）The coordinated movement of various economic factors, realizes the circulation between two oil cylinder internal hydraulic pressure oil, so as to change wheel leg type tow-armed robot
The quality proportioning of both sides, and then change its position of centre of gravity.
7. a kind of wheel leg type tow-armed robot according to claim 1, it is characterised in that described fluid pressure type lift leg assembly
（5）Including rotatable base（5.1）, vehicle body bracing frame（5.2）, Barrel of Hydraulic Cylinders（5.3）, hydraulic cylinder piston rod（5.4）, support
Frame rotates little bearing（5.5）, bracing frame rotary shaft（5.6）, bracing frame rotate big bearing（5.7）, bracing frame rotation hubcap
（5.8）, hydraulic cylinder rotary shaft spacer（5.9）And hydraulic cylinder rotary shaft（5.10）；Vehicle body bracing frame（5.2）With vehicle body（6）
Bolt connection, its two side holes and bracing frame rotary shaft（5.6）Jing spline connections and pass through the shaft shoulder and sleeve axially position；Bracing frame
Rotary shaft（5.6）Two ends rotate little bearing with bracing frame respectively（5.5）Big bearing is rotated with bracing frame（5.7）Inner ring close-fitting
Close, bracing frame rotates little bearing（5.5）Big bearing is rotated with bracing frame（5.7）Outer ring respectively with rotatable base（5.1）'s
Two counterbore tight fits, bracing frame rotation hubcap（5.8）With bracing frame rotary shaft（5.6）Outer face be adjacent to and to pass through bolt solid
It is scheduled on rotatable base（5.1）On, so as to realize bracing frame rotary shaft（5.6）Axially position；Hydraulic cylinder rotary shaft（5.10）
Interlude outer surface and Barrel of Hydraulic Cylinders（5.3）Or hydraulic cylinder piston rod（5.4）Connection end internal surface gaps coordinate, both sides
Section outer surface and rotatable base（5.1）Or vehicle body bracing frame（5.2）Corresponding hole position internal surface gaps with merge Jing hydraulic cylinders
Rotary shaft spacer（5.9）Positioning, so as to by Barrel of Hydraulic Cylinders（5.3）And hydraulic cylinder piston rod（5.4）Connection end connect respectively
It is connected on rotatable base（5.1）Or vehicle body bracing frame（5.2）Specified location；Unilateral hydraulic cylinder piston rod（5.4）Along its axis
The linear motion in direction is converted to vehicle body bracing frame by linkage rod slide block mechanism（5.2）Around bracing frame rotary shaft（5.6）Rotation,
So as to by the rotatable base of opposite side（5.1）Lift, be electric drive swivel component（4）Work provide precondition.
8. a kind of wheel leg type tow-armed robot according to claim 1, it is characterised in that described electric drive swivel component
（4）Including swivel motor（4.1）, swivel decelerator（4.2）, turntable bearing（4.3）, swivel set axle（4.4）And set axle
Spacer（4.5）；Turntable bearing（4.3）Two ends respectively with rotatable base（5.1）And scaffold（2）Bolt connection, turns
Body decelerator（4.2）It is bolted on rotatable base（5.1）On, its power source comes from swivel motor（4.1）；
Swivel set axle（4.4）One end and swivel decelerator（4.2）Output shaft it is bonded, the other end and scaffold（2）Jing splines connect
Connect and pass through to cover axle spacer（4.5）Axially position；Swivel motor（4.1）Output torque Jing swivel decelerator（4.2）
Amplify, then Jing swivel set axles（4.4）It is delivered to scaffold（2）On, in scaffold（2）On the premise of maintaining static, conversion
To turn decelerator（4.2）Rotate backward, so as to drive rotatable base（5.1）Rotation, lifts leg assembly with reference to fluid pressure type（5）
Motion, realize tow-armed robot leg formula movement and obstacle detouring.
9. a kind of wheel leg type tow-armed robot according to claim 1, it is characterised in that described centre of gravity adjustment component
（3）In be connected by seal approach, to prevent the seepage of hydraulic oil, described centre of gravity adjustment component（3）In cylinder block
（3.5）Head be provided with airport.
10. a kind of wheel leg type tow-armed robot according to claim 1, it is characterised in that described rotatable base
（5.1）With vehicle body bracing frame（5.2）Formed by stainless steel casting, described pawl headstock（8.1.4）, forearm（8.2.4）, little arm seat
（8.3.4）, large arm（8.4.4）, big arm seat（8.5.4）And mechanical arm pedestal（8.6.3）Casting is formed.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611173213.XA CN106514606A (en) | 2016-12-18 | 2016-12-18 | Wheel-legged double-arm robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611173213.XA CN106514606A (en) | 2016-12-18 | 2016-12-18 | Wheel-legged double-arm robot |
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| CN108908277A (en) * | 2018-05-16 | 2018-11-30 | 宁波科邦华诚技术转移服务有限公司 | A kind of adaptive walking sniffing robot |
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Application publication date: 20170322 |