CN106985924A - Compound wheel type robot running gear - Google Patents
Compound wheel type robot running gear Download PDFInfo
- Publication number
- CN106985924A CN106985924A CN201710103449.4A CN201710103449A CN106985924A CN 106985924 A CN106985924 A CN 106985924A CN 201710103449 A CN201710103449 A CN 201710103449A CN 106985924 A CN106985924 A CN 106985924A
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- CN
- China
- Prior art keywords
- wheel
- chassis
- planet carrier
- wheel type
- running gear
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
-
- 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
- B62D57/024—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 specially adapted for moving on inclined or vertical surfaces
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of compound wheel type robot running gear, including chassis, heavy-duty motor, controller and four compound wheel type mechanisms, the heavy-duty motor is fixed on the chassis, the compound wheel type mechanism includes a cross planet carrier, two driving wheels and two driven pulleys, the driving wheel and the driven pulley interval are located at the hack lever end of the cross planet carrier, the heavy-duty motor drives the cross planet carrier by transmission mechanism, the driving wheel is driven by low-power machine respectively, connected between two relative cross planet carriers of the chassis both sides by synchronizing shaft, the synchronizing shaft is provided with wiper switch, the wiper switch includes stator and rotor, the rotor is sheathed on the synchronizing shaft, the stator connects the controller by wire, the rotor connects the low-power machine by wire.The present invention is with wide, the small volume using scope, and stability is high, it is easy to control and production, advantage vdiverse in function.
Description
Technical field
The present invention relates to a kind of compound wheel type robot running gear.
Background technology
At present, domestic steps climbing robot is roughly divided into legged stair climbing robot, and track structure robot, wheel group formula is climbed
Three kinds of stair robot, but containing it is certain the problem of, delay to introduce to the market.
Legged stair climbing robot reaches the purpose for climbing step generally by bionics, operates steadily, and is adapted to a variety of buildings
Terraced structure, but human or animal has substantial amounts of joint and muscle to participate in coordinating during walking or climbing step, to ensure body
Balance, in addition human or animal can also be judged by the sense organ of oneself stair mark time determine the step pitch of oneself and step senior staff officer
Number, but common legged mobile robot is then difficult to the stability contorting this point to center of gravity, legged stair climbing robot is to control
It is required that high, complex operation, runs slowly, efficiency is low on level land.
Track structure robot directly reaches the purpose creeped using crawler haulage, and transmission efficiency, height of C.G. is steady
Fixed, terrestrial range is wider, but weight is larger, larger to stair damage of edges degree during building is climbed, and turns to inconvenient.
Wheel group formula stair climbing robot directly reaches the purpose creeped using vehicle wheel rotation, and motion is flexible, but upper fortune downstairs
Dynamic stationarity is not high, and center of gravity big rise and fall, volume is larger, during step of creeping synchronous axial system, and as smooth
Motion on ground equally reaches that barycentre steadiness is highly difficult, is not suitable for using in common complicated residential building.
In summary, external product is complicated, involves great expense, and studies in China is relatively later, but controlled, volume,
Stability is limited, and product does not put goods on the market slowly, so, it is badly in need of a kind of simple in construction, small volume of research, it is easy to control and raw
Production, it is vdiverse in function, it is adapted to the stair-climbing device of the environment of Various Complex.
The content of the invention
The problem to be solved in the present invention is to provide a kind of compound wheel type robot running gear.
In order to solve the above-mentioned technical problem, the present invention is adopted the following technical scheme that：
Compound wheel type robot running gear, including chassis, heavy-duty motor, controller and four compound wheel type mechanisms,
The heavy-duty motor is fixed on the chassis, and the compound wheel type mechanism includes cross planet carrier, two driving wheels
With two driven pulleys, the driving wheel and the driven pulley interval are located at the hack lever end of the cross planet carrier, the big work(
Rate motor drives the cross planet carrier by transmission mechanism, and the driving wheel is driven by low-power machine respectively, the bottom
Connected between two relative cross planet carriers of disk both sides by synchronizing shaft, the synchronizing shaft is provided with wiper switch, institute
Stating wiper switch includes stator and rotor, and the rotor is sheathed on the synchronizing shaft, and the stator connects described by wire
Controller, the rotor connects the low-power machine by wire.
The transmission mechanism includes one group of chain-drive mechanism, and the chain-drive mechanism includes being fixed on the heavy-duty motor
Output shaft end sprocket wheel, be individually fixed in the sprocket wheel and chain at the cross planet carrier center of chassis homonymy two
Bar.
The low-power machine is fixed on the hack lever of the cross planet carrier, and the low-power machine passes through belt wheel transmission
Mechanism drives the driving wheel.
Low-power machine on two cross planet carriers of the chassis side is controlled by a single-chip microcomputer, the bottom
Low-power machine on two cross planet carriers of disk opposite side is controlled by another single-chip microcomputer.
The belt wheel transmission mechanism includes big synchronizing wheel, small synchronizing wheel and timing belt, the small synchronizing wheel and the small work(
The output shaft of rate motor is fixed, and the big synchronizing wheel is fixed with the driving wheel.
The synchronizing shaft is hollow shaft, and the rotor connects the low-power machine by the wire through hollow shaft.
The hack lever equal length of the cross planet carrier.
Driving wheel line on the anterior cross planet carrier in the chassis and the cross row positioned at the chassis rear portion
Driving wheel line in carrier is vertical.
The arrangement of the driving wheel and the driven pulley is equal on the cross planet carrier of the chassis left and right sides
It is identical.
The driving wheel appearance is provided with shoe.
The present invention is with wide, the small volume using scope, and stability is high, it is easy to control and production, advantage vdiverse in function, solves
Robot stair activity for being faced when performing order, gully, slope, the complicated terrain issues such as meadow.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
The compound wheel type structure that Fig. 2 is the present invention installs rearview；
The compound wheel type structure that Fig. 3 is the present invention installs front view；
Fig. 4 is compound wheel type Structure explosion diagram of the present invention；
Fig. 5 is chassis structure schematic diagram of the present invention；
Fig. 6 is chassis structure explosive view of the present invention；
Fig. 7 is compound wheel type structural electromotor connection diagram of the present invention；
Fig. 8 is heavy-duty motor connection diagram of the present invention；
Fig. 9 is type of drive schematic diagram of being gone downstairs in the present invention；
Figure 10 is type of drive schematic diagram in gully of the present invention；
Figure 11 is horizontal rectilinear motion schematic diagram of the present invention；
Figure 12 is type of drive schematic diagram in slope of the present invention；
Figure 13 is that the present invention is horizontally diverted driving schematic diagram.
Embodiment
As shown in Figures 1 to 6, compound wheel type robot running gear, including chassis 10, heavy-duty motor 8, controller and
Four compound wheel type mechanisms, heavy-duty motor 8 is arranged in frame 9, and frame 9 is arranged on chassis 10, four compound wheel type machines
Structure is symmetricly set on vehicle bottom both sides for one group two-by-two, and the compound wheel type mechanism includes cross planet carrier 2, two actives
Wheel 6 and two driven pulleys 7, the driving wheel and the driven pulley interval are located at the hack lever end of the cross planet carrier, big work(
Rate motor and controller connection, the heavy-duty motor drive the cross planet carrier, the driving wheel point by transmission mechanism
Do not driven, connected between two relative cross planet carriers of the chassis both sides by synchronizing shaft 11 by low-power machine 1
Connect, the synchronizing shaft is provided with wiper switch 12, the wiper switch includes stator and rotor, and the rotor is sheathed on described same
Walk on axle, the stator connects the controller by wire, and the rotor connects the low-power machine by wire.
Driving wheel line on the anterior cross planet carrier in the chassis and the cross row positioned at the chassis rear portion
Driving wheel line in carrier is vertical.The driving wheel and described on the cross planet carrier of the chassis left and right sides
The arrangement all same of driven pulley.
The transmission mechanism includes one group of chain-drive mechanism, and the chain-drive mechanism includes being fixed on the heavy-duty motor
Output shaft end sprocket wheel, be individually fixed in the sprocket wheel and chain at the cross planet carrier center of chassis homonymy two
14.The sprocket wheel at the cross planet carrier center of chassis homonymy two is individually fixed on two synchronizing shafts 11, four
Compound wheel type structure is separately mounted to car body both sides, is symmetrically installed two-by-two.
The low-power machine is fixed on the hack lever of the cross planet carrier, and the low-power machine passes through belt wheel transmission
Mechanism drives the driving wheel.
Low-power machine on two cross planet carriers of the chassis side is controlled by a single-chip microcomputer, the bottom
Low-power machine on two cross planet carriers of disk opposite side is controlled by another single-chip microcomputer.By single-chip microcomputer control,
4 low-power machines are controlled by a single-chip microcomputer on the left of car body, are controlled on the right side of car body by another single-chip microcomputer.Passed through when simultaneously
Both sides single-chip microcomputer control is crossed to turn on the contrary, turning function can be achieved.
The belt wheel transmission mechanism include big synchronizing wheel 5, small synchronizing wheel 3 and timing belt 4, the small synchronizing wheel with it is described small
The output shaft of power motor is fixed, and the big synchronizing wheel is fixed with the driving wheel.
Fig. 7 show compound wheel type planetary gear, low-power machine, synchronizing wheel and timing belt installation site.Fig. 8 show four
The installation site and heavy-duty motor of individual compound wheel type structure, the installation site of chain and sprocket.
With reference to Fig. 9, driving principle of being gone downstairs in the present invention, power control part sends electric signal, directly drives high-power electricity
Machine 8, the output shaft of heavy-duty motor 8 is driven by chain 14, is transferred to sprocket wheel 13, the week clockwise synchronous with synchronizing shaft 11 of sprocket wheel 13
Turn, compound wheel type structure follows the synchronous turnover of synchronizing shaft 11.Wherein, the planetary gear landed every time with stair mesa width center line
Place's contact, according to turnover direction, lands, car body is realized and driven upstairs in succession.Similarly, downstairs type of drive is above-mentioned all directions
Equal reverse direction operation, is repeated no more.
When downstairs being driven in the present invention, power control part control heavy-duty motor is rotated, and minor sprocket is arranged on output shaft
On, Dalian is transferred to by Chain conveyer and taken turns, sprocket wheel is arranged on synchronizing shaft, and compound wheel type mechanism is separately mounted to synchronizing shaft two
Side, realizes that compound wheel type mechanism is had enough to meet the need, and planetary gear touchdown point is with being combined at staircase structure horizontal level widthwise central, realizing
It is upper downstairs to drive.
With reference to Figure 10, environment type of drive in gully of the present invention with upper downstairs type of drive is similar repeats no more.
With reference to Figure 11, horizontal linear type of drive of the present invention, its operation principle is as follows：Power control part sends telecommunications
Number, power control part is powered by polygon control survey wiper switch, is rotated by the driving low-power machine 1 of wiper switch 12, then
It is driven by timing belt 4, driving driving wheel 6 has enough to meet the need.(direction is from export-oriented car to two driving wheels 6 that land clockwise on the right side of car body
The non-positive direction of body, uses this standard below) have enough to meet the need, two driving wheels 6 that land in the left side of chassis 10 counterclockwise have enough to meet the need.Chassis
10 four driven pulleys 7 that land also follow turnover, cause the straight ahead of chassis 10.Synchronization on low-power machine output shaft
Wheel drives big synchronizing wheel by V belt translation, and big synchronizing wheel is arranged on planetary gear, and then drives driving wheel turnover.Four landlord
Driving wheel has enough to meet the need, and the four additional driven pulley that lands follows turnover, so as to realize horizontal linear forward drive.Straight line, which is fallen back, need to only make
State direction of rotation to be contrary, repeat no more.
With reference to Figure 12, slope type of drive of the present invention is similar with horizontal linear type of drive, repeats no more.
With reference to Figure 13, describe the present invention in detail and be horizontally diverted type of drive, its operation principle is：Power control part is distributed
Go out electric signal, rotate, be driven by timing belt 4 by the driving low-power machine 1 of wiper switch 12, driving driving wheel 6 has enough to meet the need.
Two, the right side of chassis 10 is landed, and driving wheel 6 is clockwise to be had enough to meet the need, two also turnovers clockwise of driving wheel 6 that land on the left of car body.Other
The driven pulley wheel 7 that lands follows turnover, causes chassis 10 to surround center left steering.Right turn only need to be equal by above-mentioned direction of rotation
It is opposite, repeat no more.
The present invention can make the stair activity of robot fast and stable, can be multiple in stair, level land, gully, slope etc.
Run in heterocycle border, and flexibility, mobility, efficiency high；Compound wheel type structure can improve the existence energy of motion obstacle detouring etc.
Power, and contain multi-motion modes, it is adaptable to the environment of Various Complex；Simple in construction, light weight, it is easy to produce is easy to manipulate,
Exercise performance is good.
Using above drive scheme, have the following advantages：
1st, the present invention coordinates operation using plurality of operating modes, can realize answering for stair, gully, slope, lawn etc.
Miscellaneous landform, improves survival ability.
2nd, the present invention is walked on cross planet carrier using four structure identical planetary gears, and four cross planet carriers are walked
On car body, the effect of stable movement, shock resistance and antidetonation is reached.
3rd, quality of the present invention is small, and size is small, and bearing capacity is huge, transmission efficiency, can carry various appellative function,
Make product function more diversified, function is more powerful, improve the harmony of robot.
4th, the present invention is by the way of wiper switch and synchronizing shaft coordinate, and when upper driving downstairs, horizontal drive wire leads to
Cross synchronizing shaft to change by wiper switch, solve the problem of wire is wound, with low cost, efficient advantage.
5th, the present invention is symmetrically installed using driving wheel in 180 degree, and front and rear cross planet carrier solves gravity in 90 degree of installations
The problem of inertia glides.
6th, the present invention is driven using heavy-duty motor by chain, realizes function downstairs, logical by low-power machine
The mode that V belt translation drives planetary gear is crossed, straight line is realized, the function such as turns to, simple in construction, cost is low, it is easy to produce, can be extensive
Applied to real daily life and particular surroundings.
7th, downstairs driving uses Chain conveyer mode in the present invention, high with bearing capacity, it is adaptable to severe working environment,
It can guarantee that the advantage of accurate average ratios.Planetary gear is directly driven using V belt translation, with efficiency high, load punching is relaxed
Hit, operate steadily, noiseless, the characteristics of slowing down shock and vibration.
Claims (10)
1. compound wheel type robot running gear, including chassis, heavy-duty motor, controller and four compound wheel type mechanisms, institute
Heavy-duty motor is stated to be fixed on the chassis, the compound wheel type mechanism include a cross planet carrier, two driving wheels and
Two driven pulleys, the driving wheel and the driven pulley interval are located at the hack lever end of the cross planet carrier, it is characterised in that：
The heavy-duty motor drives the cross planet carrier by transmission mechanism, and the driving wheel is driven by low-power machine respectively
It is dynamic, connected between two relative cross planet carriers of the chassis both sides by synchronizing shaft, the synchronizing shaft is provided with electricity
Brush switch, the wiper switch includes stator and rotor, and the rotor is sheathed on the synchronizing shaft, and the stator passes through wire
The controller is connected, the rotor connects the low-power machine by wire.
2. compound wheel type robot running gear according to claim 1, it is characterised in that：The transmission mechanism includes one
Chain-drive mechanism is organized, the chain-drive mechanism includes being fixed on the sprocket wheel of the output shaft end of the heavy-duty motor, consolidated respectively
Due to the sprocket wheel and chain at the cross planet carrier center of chassis homonymy two.
3. compound wheel type robot running gear according to claim 1, it is characterised in that：The low-power machine is fixed
In on the hack lever of the cross planet carrier, the low-power machine drives the driving wheel by belt wheel transmission mechanism.
4. compound wheel type robot running gear according to claim 3, it is characterised in that：Two of the chassis side
Low-power machine on the cross planet carrier is controlled by a single-chip microcomputer, two cross planets of the chassis opposite side
Low-power machine on frame is controlled by another single-chip microcomputer.
5. compound wheel type robot running gear according to claim 3, it is characterised in that：Belt wheel transmission mechanism bag
Big synchronizing wheel, small synchronizing wheel and timing belt are included, the small synchronizing wheel and the output shaft of the low-power machine are fixed, described Datong District
Step wheel is fixed with the driving wheel.
6. compound wheel type robot running gear according to claim 1, it is characterised in that：The synchronizing shaft is hollow
Axle, the rotor connects the low-power machine by the wire through hollow shaft.
7. compound wheel type robot running gear according to claim 1, it is characterised in that：The frame of the cross planet carrier
Pole length is equal.
8. compound wheel type robot running gear according to claim 1, it is characterised in that：Anterior positioned at the chassis
Driving wheel line on cross planet carrier is vertical with the driving wheel line on the cross planet carrier at the chassis rear portion.
9. compound wheel type robot running gear according to claim 8, it is characterised in that：Positioned at described chassis or so two
The arrangement all same of the driving wheel and the driven pulley on the cross planet carrier of side.
10. compound wheel type robot running gear according to claim 1, it is characterised in that：The driving wheel appearance is set
There is shoe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710103449.4A CN106985924A (en) | 2017-02-24 | 2017-02-24 | Compound wheel type robot running gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710103449.4A CN106985924A (en) | 2017-02-24 | 2017-02-24 | Compound wheel type robot running gear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106985924A true CN106985924A (en) | 2017-07-28 |
Family
ID=59412546
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710103449.4A Pending CN106985924A (en) | 2017-02-24 | 2017-02-24 | Compound wheel type robot running gear |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106985924A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114473350A (en) * | 2022-04-06 | 2022-05-13 | 潍坊圣昌建设有限公司 | Reinforcing bar welded fastening device for building |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4200161A (en) * | 1976-02-10 | 1980-04-29 | Penington George W Jr | Stairway climbing device |
| JP2002264856A (en) * | 2001-03-14 | 2002-09-18 | Japan Science & Technology Corp | Stair climbing/descending device |
| CN201529215U (en) * | 2009-04-22 | 2010-07-21 | 黄明富 | Power stair climbing chair |
| CN201971077U (en) * | 2010-12-14 | 2011-09-14 | 上海师范大学 | Combined moving mechanism of robot |
| CN202827837U (en) * | 2012-10-07 | 2013-03-27 | 王金耀 | Electric car capable of crossing steps |
| CN103569181A (en) * | 2013-08-02 | 2014-02-12 | 李军委 | Planetary multi-wheel carrier stair climbing vehicle |
| CN205076572U (en) * | 2015-07-15 | 2016-03-09 | 武汉船用机械有限责任公司 | A cable winch for netsonde |
| CN205528023U (en) * | 2016-03-31 | 2016-08-31 | 张家富 | Clean device of water scale removal |
-
2017
- 2017-02-24 CN CN201710103449.4A patent/CN106985924A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4200161A (en) * | 1976-02-10 | 1980-04-29 | Penington George W Jr | Stairway climbing device |
| JP2002264856A (en) * | 2001-03-14 | 2002-09-18 | Japan Science & Technology Corp | Stair climbing/descending device |
| CN201529215U (en) * | 2009-04-22 | 2010-07-21 | 黄明富 | Power stair climbing chair |
| CN201971077U (en) * | 2010-12-14 | 2011-09-14 | 上海师范大学 | Combined moving mechanism of robot |
| CN202827837U (en) * | 2012-10-07 | 2013-03-27 | 王金耀 | Electric car capable of crossing steps |
| CN103569181A (en) * | 2013-08-02 | 2014-02-12 | 李军委 | Planetary multi-wheel carrier stair climbing vehicle |
| CN205076572U (en) * | 2015-07-15 | 2016-03-09 | 武汉船用机械有限责任公司 | A cable winch for netsonde |
| CN205528023U (en) * | 2016-03-31 | 2016-08-31 | 张家富 | Clean device of water scale removal |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114473350A (en) * | 2022-04-06 | 2022-05-13 | 潍坊圣昌建设有限公司 | Reinforcing bar welded fastening device for building |
| CN114473350B (en) * | 2022-04-06 | 2022-06-14 | 潍坊圣昌建设有限公司 | Reinforcing bar welded fastening device for building |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170728 |
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| RJ01 | Rejection of invention patent application after publication |