CN107215388B - Industrial and mineral detection braking in a turn integral type robot - Google Patents
Industrial and mineral detection braking in a turn integral type robot Download PDFInfo
- Publication number
- CN107215388B CN107215388B CN201710355310.9A CN201710355310A CN107215388B CN 107215388 B CN107215388 B CN 107215388B CN 201710355310 A CN201710355310 A CN 201710355310A CN 107215388 B CN107215388 B CN 107215388B
- Authority
- CN
- China
- Prior art keywords
- fixed
- chassis
- bevel gear
- shaft
- braking
- Prior art date
- 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.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0421—Electric motor acting on or near steering gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
- B60T1/12—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting otherwise than by retarding wheels, e.g. jet action
- B60T1/14—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting otherwise than by retarding wheels, e.g. jet action directly on road
Abstract
The present invention relates to robotic technology fields, a kind of especially industrial and mineral detection braking in a turn integral type robot, including chassis, there are two front forked frames for the front end two sides rotation setting on chassis, there are two rear crotch for the rear end sides fixed setting on chassis, the lower end rotation of front forked frame is provided with front wheel, the output end of steering motor is fixed with shaft, shaft passes through chassis and is fixedly connected with the front forked frame of side where it, it is fixed on chassis that there are two support frames, transmission shaft is rotatably connected on support frame, one end of transmission shaft is fixed with first bevel gear, the other end is fixed with cam, second bevel gear is fixed in shaft, first bevel gear is engaged with the second bevel gear of side where it, connecting rod is rotatably connected on cam, brake bar is rotatably connected on connecting rod, the bottom end of brake bar is fixed with support plate, steering by controlling front forked frame can be real simultaneously The steering and braking of robot, without separately braking system is set, structure of the invention is compact, effectively reduces the complexity and failure rate of robot.
Description
Technical field
The present invention relates to robotic technology fields, especially a kind of industrial and mineral detection braking in a turn integral type robot.
Background technique
With popularizing for robot, robot has applied to all trades and professions, and inspection exploration, the rescue that can be used on industrial and mineral are arranged
Quick-fried and extraordinary shooting etc. is made that tremendous contribution for domestic industrial and mineral field of detecting, braking system and steering in existing robot
The problem of system is generally individually arranged, and causes robot architecture complicated, at high cost, high failure rate.
Summary of the invention
The technical problem to be solved by the present invention is needing individually to be equipped with braking to solve robot in the prior art
The problem of system and steering system cause robot architecture complicated, at high cost, high failure rate now provides a kind of industrial and mineral detection use
Braking in a turn integral type robot.
The technical solution adopted by the present invention to solve the technical problems is: a kind of industrial and mineral detection braking in a turn integral type machine
Device people, including chassis, there are two front forked frame, the rear end sides fixation on the chassis is set for the front end two sides rotation setting on the chassis
It sets there are two rear crotch, the lower end rotation of the front forked frame is provided with front wheel, after the lower end rotation of the rear crotch is provided with
Idler wheel, is provided with the driving motor for driving rear roller to rotate on the rear crotch, fixed there are two bracket on the chassis,
Be provided with steering motor on the bracket, the output end of the steering motor is fixed with shaft, the shaft pass through chassis with
Front forked frame of side is fixedly connected where it, support frame there are two fixations on the chassis, is rotatably connected on support frame as described above
Transmission shaft, one end of the transmission shaft are fixed with first bevel gear, and the other end is fixed with cam, is fixed with second in the shaft
Bevel gear, first bevel gear are engaged with the second bevel gear of side where it, and connecting rod, the connecting rod are rotatably connected on the cam
On be rotatably connected to brake bar, the brake bar passes through chassis and is slidably connected with chassis, and the bottom end of the brake bar is fixed with
Support plate.
In order to improve the braking effect of robot, further, the lower surface of the support plate is fixed with rubber pad.
Preferably, the steering motor uses decelerating motor.
The beneficial effects of the present invention are: industrial and mineral detection of the invention passes through control front fork with braking in a turn integral type robot
Frame turn to can reality robotic simultaneously steering and braking, without separately braking system is set, structure of the invention is compact, effective drop
The complexity and failure rate of Di Liao robot.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the schematic front view of industrial and mineral detection braking in a turn integral type of the present invention robot；
Schematic front view when Fig. 2 is industrial and mineral detection braking in a turn integral type robot of the present invention braking；
Schematic side view when Fig. 3 is industrial and mineral detection braking in a turn integral type robot of the present invention braking.
In figure: 1, chassis, 2, front forked frame, 2-1, front wheel, 3, rear crotch, 3-1, rear roller, 4, driving motor, 5, branch
Frame, 6, steering motor, 7, shaft, 8, support frame, 9, transmission shaft, 10, first bevel gear, 11, cam, 12, second bevel gear,
13, connecting rod, 14, brake bar, 15, support plate, 16, rubber pad.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant to the invention, direction and referring to (for example,
Upper and lower, left and right, etc.) can be only used for helping the description to the feature in attached drawing.Therefore, it is not adopted in restrictive sense
With following specific embodiments, and claimed theme is only limited by appended claims and its equivalent form
Range.
Embodiment 1
As shown in Figure 1-3, a kind of industrial and mineral detection braking in a turn integral type robot, including chassis 1, the front end on chassis 1
There are two front forked frames 2 for two sides rotation setting, and there are two rear crotch 3, the lower ends of front forked frame 2 for the rear end sides fixed setting on chassis 1
Rotation is provided with front wheel 2-1, and the lower end rotation of rear crotch 3 is provided with rear roller 3-1, is provided on rear crotch 3 for driving
The driving motor 4 of rear roller 3-1 rotation, it is fixed there are two bracket 5 on chassis 1, it is provided with steering motor 6 on bracket 5, is turned to
The output end of motor 6 is fixed with shaft 7, and shaft 7 passes through chassis 1 and is fixedly connected with the front forked frame 2 of side where it, solid on chassis 1
Fixed to be rotatably connected to transmission shaft 9 on support frame 8 there are two support frame 8, one end of transmission shaft 9 is fixed with first bevel gear 10,
The other end is fixed with cam 11, and second bevel gear 12, the second cone tooth of first bevel gear 10 and side where it are fixed in shaft 7
Wheel 12 engages, and is rotatably connected to connecting rod 13 on cam 11, and brake bar 14 is rotatably connected on connecting rod 13, and brake bar 14 passes through chassis
It 1 and is slidably connected with chassis 1, the bottom end of brake bar 14 is fixed with support plate 15.
The lower surface of support plate 15 is fixed with rubber pad 16, and steering motor 6 uses decelerating motor.
Above-mentioned industrial and mineral detection is as follows with braking in a turn integral type robot working principle:
Driving motor 4 drives rear roller 3-1 rotation, realizes the movement of robot, and steering motor 6 drives turning for front forked frame 2
It is dynamic, realize the steering of robot, when front forked frame 2 when 6 drive shaft 7 of steering motor and thereon rotates, first bevel gear 10 with
Second bevel gear 12 is driven, and transmission shaft 9 is driven to rotate, and transmission shaft 9 is rotated with moving cam 11, to push brake bar by connecting rod 13
14, it realizes the rising of brake bar 14 or moves down；When robot needs to brake, steering motor 6 drives front forked frame 2 to rotate clockwise
90 °, front wheel 2-1 is vertical with rear roller 3-1 at this time, realizes the braking of robot, while when front forked frame 2 rotates 90 °, brake bar
14 rubber pads 16 for dropping to the lower section of support plate 15 support on the ground, improve the braking effect of robot, due to support plate 15 with
The supporting role on ground can also prevent inertia of the robot when braking due to overturning that causes, before driving motor 4 drives later
Crotch 2 rotate counterclockwise 90 ° make front wheel 2-1 reset when, brake bar 14 is promoted to rubber pad 16 and surface separation by connecting rod 13
And reset, robot can realize movement again at this time.
Above-mentioned desirable embodiment according to the present invention is enlightenment, and through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention'.This invention it is technical
Range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (2)
1. a kind of industrial and mineral detection braking in a turn integral type robot, it is characterised in that: including chassis (1), the chassis (1)
There are two front forked frame (2) for the rotation setting of front end two sides, and there are two the rear end sides fixed settings of the chassis (1) rear crotch (3),
The lower end rotation of the front forked frame (2) is provided with front wheel (2-1), and the lower end rotation of the rear crotch (3) is provided with rear roller
(3-1), is provided with the driving motor (4) for driving rear roller (3-1) to rotate on the rear crotch (3), on the chassis (1)
It there are two fixed bracket (5), is provided with steering motor (6) on the bracket (5), the output end of the steering motor (6) is solid
Surely have shaft (7), the shaft (7) passes through chassis (1) and is fixedly connected with the front forked frame (2) of side where it, on the chassis (1)
There are two fixed support frame (8), it is rotatably connected to transmission shaft (9) on support frame as described above (8), one end of the transmission shaft (9)
It being fixed with first bevel gear (10), the other end is fixed with cam (11), second bevel gear (12) are fixed on the shaft (7),
First bevel gear (10) is engaged with the second bevel gear (12) of side where it, is rotatably connected to connecting rod on the cam (11)
(13), be rotatably connected to brake bar (14) on the connecting rod (13), the brake bar (14) pass through chassis (1) and with chassis (1)
It is slidably connected, the bottom end of the brake bar (14) is fixed with support plate (15)；
The lower surface of the support plate (15) is fixed with rubber pad (16), when robot needs to brake, steering motor (6) driving
Front forked frame (2) rotates clockwise 90 °, and front wheel (2-1) is vertical with rear roller (3-1) at this time, while front forked frame (2) rotates 90 °
When, brake bar (14), which drops to the rubber pad (16) below support plate (15), to be supported on the ground.
2. industrial and mineral detection according to claim 1 braking in a turn integral type robot, it is characterised in that: the steering electricity
Machine (6) uses decelerating motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710355310.9A CN107215388B (en) | 2017-05-19 | 2017-05-19 | Industrial and mineral detection braking in a turn integral type robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710355310.9A CN107215388B (en) | 2017-05-19 | 2017-05-19 | Industrial and mineral detection braking in a turn integral type robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107215388A CN107215388A (en) | 2017-09-29 |
| CN107215388B true CN107215388B (en) | 2019-11-05 |
Family
ID=59945061
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710355310.9A Active CN107215388B (en) | 2017-05-19 | 2017-05-19 | Industrial and mineral detection braking in a turn integral type robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107215388B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108146495A (en) * | 2017-12-27 | 2018-06-12 | 燕山大学 | A kind of emergency management and rescue vehicle transfer of complete torque drive |
| CN108001554A (en) * | 2018-01-02 | 2018-05-08 | 葛成燕 | A kind of exoskeleton walking mechanism |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101323328B (en) * | 2008-07-02 | 2012-09-12 | 南京农业大学 | Agricultural intelligent mobile robot platform |
| US8333257B2 (en) * | 2009-07-23 | 2012-12-18 | Bonnardel James A | Object movement system and method |
| JP2011201366A (en) * | 2010-03-24 | 2011-10-13 | Toyota Motor Corp | Controller for vehicle |
| CN204821511U (en) * | 2015-07-27 | 2015-12-02 | 湖北赛思君利机械科技有限公司 | Tipper emergency brake arrangement suitable for gallery |
-
2017
- 2017-05-19 CN CN201710355310.9A patent/CN107215388B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN107215388A (en) | 2017-09-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207345916U (en) | The steering and mechanical walking device of mechanical walking device | |
| CN107215388B (en) | Industrial and mineral detection braking in a turn integral type robot | |
| CN208132994U (en) | A kind of robot device of vacuum chuck | |
| CN204726508U (en) | A kind of front-wheel synchronous turning device | |
| CN109760742A (en) | A kind of changeable wheel track omnidirectional four-wheel drive mobile chassis | |
| CN206243295U (en) | Motion chassis system and telecontrol equipment | |
| CN208594003U (en) | A kind of mini carrier of unmanned AGV | |
| CN208639925U (en) | The intensive file cabinet of combined type | |
| CN106477294A (en) | Upset and displacement synchronous motion | |
| CN104742679A (en) | Automotive chassis for self-balance forest | |
| CN106275120B (en) | A kind of traversing obstacle detouring explosive-removal robot | |
| CN109027086A (en) | A kind of damping device of controller | |
| CN109968938A (en) | A kind of front and back wheel can synchronization lifting damping dolly chassis | |
| CN205935850U (en) | Sideslip platen actuating mechanism for parking equipment | |
| CN203212222U (en) | Carbon block clamp | |
| CN105015668A (en) | Dragon scooter type robot based on slider-rocker mechanism | |
| CN206781909U (en) | A kind of climbing robot | |
| CN103722964B (en) | A kind of synchronous relief discharge system | |
| CN206327483U (en) | The double single wheel auxiliary walking devices of lateral movement can be realized | |
| CN103337810B (en) | Clip electric wire walking robot | |
| CN203600235U (en) | Robot capable of rapidly operating | |
| CN101823503A (en) | Parallelogramic four-wheel steering mechanism | |
| CN207644521U (en) | A kind of chassis structure | |
| CN208630785U (en) | A kind of labour-saving foot pedal apparatus | |
| CN103144997A (en) | Rotating platform device for paving machine and paving machine containing rotating platform device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 213000 No.28, Mingxin Middle Road, Wujin District, Changzhou City, Jiangsu Province Patentee after: Changzhou Polytechnic Address before: 213164 No.28, Mingxin Middle Road, Wujin District, Changzhou City, Jiangsu Province Patentee before: CHANGZHOU VOCATIONAL INSTITUTE OF LIGHT INDUSTRY |
|
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20170929 Assignee: Jiangsu Gaoyan Information Technology Co.,Ltd. Assignor: Changzhou Polytechnic Contract record no.: X2021320000039 Denomination of invention: Steering braking integrated robot for industrial and mining exploration Granted publication date: 20191105 License type: Common License Record date: 20210607 |