CN107458494A - A kind of industrial robot walking mechanism for adapting to a variety of landform - Google Patents
A kind of industrial robot walking mechanism for adapting to a variety of landform Download PDFInfo
- Publication number
- CN107458494A CN107458494A CN201710529108.3A CN201710529108A CN107458494A CN 107458494 A CN107458494 A CN 107458494A CN 201710529108 A CN201710529108 A CN 201710529108A CN 107458494 A CN107458494 A CN 107458494A
- Authority
- CN
- China
- Prior art keywords
- wheel
- industrial robot
- lift telescopic
- frame
- adapting
- 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.)
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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
- 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
-
- 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
Abstract
The present invention relates to robotic technology field, especially a kind of industrial robot walking mechanism for adapting to a variety of landform, including body, body is provided with drive wheel mechanism, type leading wheel framework and two walking mechanisms, the type leading wheel framework includes the first rotation seat for being rotatably installed in body one end, the first steering motor is provided with the body, first steering motor is connected by gear train with the first rotation seat, the present invention is using common roller driving and walking driving two ways movement, and can be according to contoured condition free switching, it is applied widely, mobile steady reliability is high, solve the problems, such as that conventional industrial robot is difficult to move, so that the use of industrial robot is more flexible, contribute to the tremendous development of Industrial Robot Technology, with good practical value and market potential.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of industrial robot vehicle with walking machine for adapting to a variety of landform
Structure.
Background technology
Industrial robot is the multi-joint manipulator or multivariant installations towards industrial circle, and it can hold automatically
Row work, it is to lean on self power and control ability to realize a kind of machine of various functions.It can receive mankind commander, also may be used
To be run according to the program of advance layout, modern industrial robot can also be according to the principle guiding principle of artificial intelligence technology formulation
Action.
Known earliest industrial robot, it is to be completed by " regulations " Florence Griffith Taylor P in nineteen thirty-seven to meet ISO definition
And the Meccano magazines published, in March, 1938.It is entirely almost the Meccano parts and power built up with crane shape device by list
Individual motor.It is possible to move five axles, including robs and rob rotation.Automation is to use perforated paper tape energization solenoid, and this will have
Realized beneficial to the motion of the control-rod of crane.The robot can be in pattern stack set in advance wood.Need to be every
The revolution of individual required motion motor, is plotted on graph paper for the first time.Then this information is transferred on paper tape, so as to
The single-motor of robot is promoted.The complete copy for the robot that 1997, Chris Shu Te are built.
Industrial robot improves industrial efficiency, brings huge income, but industrial machine in the prior art
The walking mechanism of device people is mostly fairly simple, can only be mobile or immovable on flat road surface.
The content of the invention
The invention aims to solve to exist in the prior art can not again the movement of a variety of landform the shortcomings that, and propose
A kind of industrial robot walking mechanism for adapting to a variety of landform.
To achieve these goals, present invention employs following technical scheme：
A kind of industrial robot walking mechanism for adapting to a variety of landform, including body are designed, body is provided with drive wheel mechanism, led
To wheel mechanism and two walking mechanisms；
The type leading wheel framework includes the first rotation seat for being rotatably installed in body one end, and being provided with first in the body turns to electricity
Machine, first steering motor are connected by gear train with the first rotation seat, and the bottom of first rotation seat is provided with not vertically
Less than two the first lift telescopic bars, the first lift telescopic bar lower end are rotatablely equipped with directive wheel by damping；
The drive wheel mechanism includes being located at the 3rd frame below the body other end, and the corner of the 3rd frame connects vertically
The 3rd lift telescopic bar is connected to, the upper end of the 3rd lift telescopic bar is arranged on organism bottom, installed in the 3rd frame
There is motor, rotating shaft is rotatablely equipped with the 3rd frame, the both ends of the rotating shaft are equipped with driving wheel, the driving electricity
Machine is connected by gear train with rotating shaft；
The walking mechanism includes the translation mechanism being horizontally set in body, and guide rail is provided with the translation mechanism, described
Slide is slidably fitted with guide rail, the second rotation seat is rotatablely equipped with the body, row is installed on second rotation seat
Expansion link is walked, the end of the walking expansion link is rotatably installed on slide, and the bottom of the slide is connected with vertically to be no less than
Two the second lift telescopic bars, the lower end of the second lift telescopic bar are connected with support meanss.
Preferably, the damping includes being fixed on the first frame of the first lift telescopic bar lower end, first machine
First connecting rod is fitted with frame, the upper end of the first connecting rod is provided with block, and the lower end of the first connecting rod is connected with wheel carrier, institute
State directive wheel to be rotatably installed on wheel carrier, buffer spring, the buffer spring set are connected between the wheel carrier and the first frame
Outside first connecting rod.
Preferably, the directive wheel and driving wheel are high-temperature resistant rubber wheel or nylon wheel.
Preferably, the translation mechanism includes the guide rod and leading screw for being horizontally set on internal body, the internal body peace
Equipped with the second steering motor, the output shaft of second steering motor is connected with leading screw, and the guide rail sleeve is mounted in guide rod and leading screw
On, the traveling nut of the leading screw is fixedly connected with guide rail.
Preferably, no less than two rollers are rotatablely equipped with the slide, the wheel face of the roller is set against guide rail.
Preferably, the support meanss include the second frame for being fixed on the second lift telescopic bar lower end, second machine
Three second connecting rods are evenly equipped with frame vertically, the end of the second connecting rod is fitted with leg, the bottom of the leg vertically
For truncated cone-shaped block rubber.
Preferably, the first lift telescopic bar, the second lift telescopic bar, the 3rd lift telescopic bar and walking expansion link are equal
For electric expansion bar or hydraulic jack.
A kind of industrial robot walking mechanism for adapting to a variety of landform proposed by the present invention, beneficial effect are：The present invention
Using common roller driving and walking driving two ways movement, and can be according to contoured condition free switching, the scope of application
Extensively, mobile steady reliability is high, solve thes problems, such as that conventional industrial robot is difficult to move so that industrial robot makes
With more flexibly, contribute to the tremendous development of Industrial Robot Technology, there is good practical value and market potential.
Brief description of the drawings
Fig. 1 is a kind of structural representation of industrial robot walking mechanism for adapting to a variety of landform proposed by the present invention；
Fig. 2 is that a kind of structure of the type leading wheel framework of industrial robot walking mechanism for adapting to a variety of landform proposed by the present invention is shown
It is intended to；
Fig. 3 is a kind of front view of the walking mechanism of industrial robot walking mechanism for adapting to a variety of landform proposed by the present invention；
Fig. 4 is a kind of upward view of the walking mechanism of industrial robot walking mechanism for adapting to a variety of landform proposed by the present invention；
Fig. 5 is that a kind of structure of the drive wheel mechanism of industrial robot walking mechanism for adapting to a variety of landform proposed by the present invention is shown
It is intended to.
In figure：Body 1, walking mechanism 2, drive wheel mechanism 3, type leading wheel framework 4, directive wheel 5,6, first turns of buffer spring
Dynamic seat 7, first connecting rod 8, block 9, the first steering motor 10, rotating shaft 11, the first lift telescopic bar 12, the first frame 13, second
Lift telescopic bar 14, guide rod 15, roller 16, guide rail 17, leading screw 18, slide 19, the second rotation seat 20, walking expansion link 21, the
Two frames 22, second connecting rod 23, leg 24, the second steering motor 25, motor 26, wheel carrier 27, the 3rd lift telescopic bar 28,
Driving wheel 29, the 3rd frame 30.
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 describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.
Reference picture 1-5, a kind of industrial robot walking mechanism for adapting to a variety of landform, including body 1, body 1 are provided with
Drive wheel mechanism 3, type leading wheel framework 4 and two walking mechanisms 2.Drive wheel mechanism 3 and type leading wheel framework 4 coordinate for entirely
Face is quickly moved, and walking mechanism 2 moves slowly at for uneven terrain.
Type leading wheel framework 4 includes the first rotation seat 7 for being rotatably installed in the one end of body 1, and being provided with first in body 1 turns to electricity
Machine 10, the first steering motor 10 are connected by gear train with the first rotation seat 7, and the bottom of the first rotation seat 7 is provided with much vertically
In two the first lift telescopic bars 12, the lower end of the first lift telescopic bar 12 is rotatablely equipped with directive wheel 5 by damping.First
Steering motor 10 drives the first rotation seat 7 to rotate, and so as to the control direction when being advanced using roller, damping is used to reduce machine
Tool shakes.
Damping includes being fixed on the first frame 13 of the lower end of the first lift telescopic bar 12, is fitted with the first frame 13
First connecting rod 8, the upper end of first connecting rod 8 are provided with block 9, and the lower end of first connecting rod 8 is connected with wheel carrier 27, and directive wheel 5 rotates peace
On wheel carrier 27, buffer spring 6 is connected between the frame 13 of wheel carrier 27 and first, buffer spring 6 is sleeved on first connecting rod 8
Outside.Directive wheel 5 and driving wheel 29 are high-temperature resistant rubber wheel or nylon wheel.Under the buffering of buffer spring 6, the energy of first connecting rod 8
It is enough vertically to move, so as to play cushioning buffer effect.
Drive wheel mechanism 3 includes being located at the 3rd frame 30 below the other end of body 1, and the corner of the 3rd frame 30 is vertical
The 3rd lift telescopic bar 28 is connected with, the upper end of the 3rd lift telescopic bar 28 is arranged on the bottom of body 1, installed in the 3rd frame 30
There is motor 26, rotating shaft 11 is rotatablely equipped with the 3rd frame 30, the both ends of rotating shaft 11 are equipped with driving wheel 29, motor
26 are connected by gear train with rotating shaft 11.Motor 26 drives driving wheel 29 to rotate, so as to which drive mechanism is advanced.
Walking mechanism 2 includes the translation mechanism being horizontally set in body 1, and translation mechanism includes being horizontally set on body 1
Internal guide rod 15 and leading screw 18, the second steering motor 25, the output shaft and silk of the second steering motor 25 are installed inside body 1
Thick stick 18 is connected, and guide rail 17 is sleeved on guide rod 15 and leading screw 18, and the traveling nut of leading screw 18 is fixedly connected with guide rail 17.Translation machine
Structure is used to control guide rail 17 to move horizontally, so as to control moving direction.
Guide rail 17 is installed on translation mechanism, slide 19 is slidably fitted with guide rail 17, is rotatablely equipped with not on slide 19
Less than two rollers 16, the wheel face of roller 16 are set against guide rail 17.It is rotatablely equipped with the second rotation seat 20 in body 1, second
Walking expansion link 21 is installed, the end of walking expansion link 21 is rotatably installed on slide 19, the bottom of slide 19 on rotation seat 20
Portion is connected with no less than two the second lift telescopic bars 14 vertically, and the lower end of the second lift telescopic bar 14 is connected with support meanss.
First lift telescopic bar 12, the second lift telescopic bar 14, the 3rd lift telescopic bar 28 and walking expansion link 21 are electric expansion
Bar or hydraulic jack.When walking is moved, the first lift telescopic bar 12 and the 3rd lift telescopic bar 28 are packed up, support meanss and ground
Contact, now the second lift telescopic bar 14 of first walking mechanism 2 shrinks its support means and separated with ground, first afterwards
The walking expansion link 21 of walking mechanism 2 extends, and the second lift telescopic bar 14 of first walking mechanism 2 extends its support means afterwards
Being contacted with ground, the second lift telescopic bar 14 of second walking mechanism 2 shrinks its support means and separated with ground, and afterwards first
The shrinkage band motivation body 1 of walking expansion link 21 of individual walking mechanism 2 advances, afterwards the walking expansion link 21 of second walking mechanism 2
Extend, the second lift telescopic bar 14 of second walking mechanism 2 extends its support means and contacted with ground afterwards, so alternately heavy
Realize that the walking of walking mechanism is advanced again.
Support meanss include being fixed on the second frame 22 of the lower end of the second lift telescopic bar 14, in the second frame 22 vertically
Three second connecting rods 23 are evenly equipped with, the end of second connecting rod 23 is fitted with leg 24 vertically, and the bottom of leg 24 is truncated cone-shaped rubber
Blob of viscose.
Embodiment：Drive wheel mechanism 3 and type leading wheel framework 4 coordinate quickly to be moved for ground grading, and walking mechanism 2 is used
Moved slowly in uneven terrain.First steering motor 10 drives the first rotation seat 7 to rotate, so as to use roller advance time control
Direction processed, damping are used to reduce mechanical shock.Translation mechanism is used to control guide rail 17 to move horizontally, so as to control movement side
To.When walking is moved, the first lift telescopic bar 12 and the 3rd lift telescopic bar 28 are packed up, and support meanss contact with ground, now
Second lift telescopic bar 14 of first walking mechanism 2 shrinks its support means and separated with ground, afterwards first walking mechanism 2
Walking expansion link 21 extends, and the second lift telescopic bar 14 of first walking mechanism 2 extends its support means and connect with ground afterwards
Touch, the second lift telescopic bar 14 of second walking mechanism 2 shrinks its support means and separated with ground, afterwards first walking machine
The shrinkage band motivation body 1 of walking expansion link 21 of structure 2 advances, and the walking expansion link 21 of second walking mechanism 2 extends afterwards, afterwards
Second lift telescopic bar 14 of second walking mechanism 2 extends its support means and contacted with ground, is so alternately repeated realization row
The walking for walking mechanism is advanced.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, technique according to the invention scheme and its
Inventive concept is subject to equivalent substitution or change, should all be included within the scope of the present invention.
Claims (7)
1. a kind of industrial robot walking mechanism for adapting to a variety of landform, including body（1）, it is characterised in that：Body（1）On set
There is drive wheel mechanism（3）, type leading wheel framework（4）With two walking mechanisms（2）；
The type leading wheel framework（4）Including being rotatably installed in body（1）First rotation seat of one end（7）, the body（1）Inside set
There is the first steering motor（10）, first steering motor（10）Pass through gear train and the first rotation seat（7）Connection, described first
Rotation seat（7）Bottom vertically be provided be no less than two the first lift telescopic bars（12）, the first lift telescopic bar（12）Under
End is rotatablely equipped with directive wheel by damping（5）；
The drive wheel mechanism（3）Including being located at body（1）The 3rd frame below the other end（30）, the 3rd frame（30）
Corner be connected with the 3rd lift telescopic bar vertically（28）, the 3rd lift telescopic bar（28）Upper end be arranged on body
（1）Bottom, the 3rd frame（30）On motor is installed（26）, the 3rd frame（30）On be rotatablely equipped with rotating shaft
（11）, the rotating shaft（11）Both ends be equipped with driving wheel（29）, the motor（26）Pass through gear train and rotating shaft（11）
Connection；
The walking mechanism（2）Including being horizontally set on body（1）Interior translation mechanism, guide rail is installed on the translation mechanism
（17）, the guide rail（17）On be slidably fitted with slide（19）, the body（1）Inside it is rotatablely equipped with the second rotation seat（20）,
Second rotation seat（20）On walking expansion link is installed（21）, the walking expansion link（21）End be rotatably installed in cunning
Seat（19）On, the slide（19）Bottom be connected with no less than two the second lift telescopic bars vertically（14）, described second liter
Expansion link drops（14）Lower end be connected with support meanss.
A kind of 2. industrial robot walking mechanism for adapting to a variety of landform according to claim 1, it is characterised in that：It is described
Damping includes being fixed on the first lift telescopic bar（12）First frame of lower end（13）, first frame（13）Upper inserting
There is first connecting rod（8）, the first connecting rod（8）Upper end be provided with block（9）, the first connecting rod（8）Lower end be connected with wheel
Frame（27）, the directive wheel（5）It is rotatably installed in wheel carrier（27）On, the wheel carrier（27）With the first frame（13）Between be connected with
Buffer spring（6）, the buffer spring（6）It is sleeved on first connecting rod（8）Outside.
A kind of 3. industrial robot walking mechanism for adapting to a variety of landform according to claim 1, it is characterised in that：It is described
Directive wheel（5）With driving wheel（29）It is high-temperature resistant rubber wheel or nylon wheel.
A kind of 4. industrial robot walking mechanism for adapting to a variety of landform according to claim 1, it is characterised in that：It is described
Translation mechanism includes being horizontally set on body（1）Internal guide rod（15）And leading screw（18）, the body（1）Inside is provided with
Two steering motors（25）, second steering motor（25）Output shaft and leading screw（18）Connection, the guide rail（17）It is sleeved on
Guide rod（15）And leading screw（18）On, the leading screw（18）Traveling nut and guide rail（17）It is fixedly connected.
A kind of 5. industrial robot walking mechanism for adapting to a variety of landform according to claim 1, it is characterised in that：It is described
Slide（19）On be rotatablely equipped with no less than two rollers（16）, the roller（16）Wheel face abut guide rail（17）Set.
A kind of 6. industrial robot walking mechanism for adapting to a variety of landform according to claim 1, it is characterised in that：It is described
Support meanss include being fixed on the second lift telescopic bar（14）Second frame of lower end（22）, second frame（22）On along axle
To being evenly equipped with three second connecting rods（23）, the second connecting rod（23）End be fitted with leg vertically（24）, the leg
（24）Bottom be truncated cone-shaped block rubber.
A kind of 7. industrial robot walking mechanism for adapting to a variety of landform according to claim 1, it is characterised in that：It is described
First lift telescopic bar（12）, the second lift telescopic bar（14）, the 3rd lift telescopic bar（28）With walking expansion link（21）It is
Electric expansion bar or hydraulic jack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710529108.3A CN107458494B (en) | 2017-07-01 | 2017-07-01 | Industrial robot running gear who adapts to multiple topography |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710529108.3A CN107458494B (en) | 2017-07-01 | 2017-07-01 | Industrial robot running gear who adapts to multiple topography |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107458494A true CN107458494A (en) | 2017-12-12 |
| CN107458494B CN107458494B (en) | 2019-12-27 |
Family
ID=60546567
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710529108.3A Active CN107458494B (en) | 2017-07-01 | 2017-07-01 | Industrial robot running gear who adapts to multiple topography |
Country Status (1)
| Country | Link |
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| CN (1) | CN107458494B (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108556948A (en) * | 2018-03-29 | 2018-09-21 | 深圳市安思科电子科技有限公司 | It is a kind of to be suitable for boisterous safe and reliable intelligent security robot |
| CN108583712A (en) * | 2018-07-16 | 2018-09-28 | 齐志军 | Running gear, traveling method and architectural furniture |
| CN109774815A (en) * | 2018-11-21 | 2019-05-21 | 中北大学 | A kind of conversion traveling method of fire-fighting robot |
| CN109910027A (en) * | 2019-04-17 | 2019-06-21 | 华电电力科学研究院有限公司 | All-around mobile formula water-cooling wall detects robot |
| CN110219440A (en) * | 2019-06-27 | 2019-09-10 | 佛山市突破机械制造有限公司 | A kind of plastering machine assisting walking |
| CN110239645A (en) * | 2019-06-18 | 2019-09-17 | 西安渊泽工业系统工程有限责任公司 | A kind of robot ambulation platform |
| CN110405717A (en) * | 2019-07-27 | 2019-11-05 | 南京昱晟机器人科技有限公司 | A kind of industrial robot universal walking mechanism and method |
| CN111055982A (en) * | 2019-12-31 | 2020-04-24 | 上海宇鹤自动化科技有限公司 | Robot base of walking under water |
| CN113044134A (en) * | 2021-04-30 | 2021-06-29 | 常州大学 | Quadruped robot capable of crawling on horizontal grid |
| CN113147898A (en) * | 2021-04-25 | 2021-07-23 | 上海擎朗智能科技有限公司 | Robot chassis and control method thereof |
| CN111055982B (en) * | 2019-12-31 | 2024-04-26 | 上海宇鹤自动化科技有限公司 | Robot base walking under water |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108556948A (en) * | 2018-03-29 | 2018-09-21 | 深圳市安思科电子科技有限公司 | It is a kind of to be suitable for boisterous safe and reliable intelligent security robot |
| CN108583712A (en) * | 2018-07-16 | 2018-09-28 | 齐志军 | Running gear, traveling method and architectural furniture |
| CN109774815B (en) * | 2018-11-21 | 2021-05-14 | 中北大学 | Conversion walking method of fire-fighting robot |
| CN109774815A (en) * | 2018-11-21 | 2019-05-21 | 中北大学 | A kind of conversion traveling method of fire-fighting robot |
| CN109910027A (en) * | 2019-04-17 | 2019-06-21 | 华电电力科学研究院有限公司 | All-around mobile formula water-cooling wall detects robot |
| CN110239645A (en) * | 2019-06-18 | 2019-09-17 | 西安渊泽工业系统工程有限责任公司 | A kind of robot ambulation platform |
| CN110219440A (en) * | 2019-06-27 | 2019-09-10 | 佛山市突破机械制造有限公司 | A kind of plastering machine assisting walking |
| CN110405717A (en) * | 2019-07-27 | 2019-11-05 | 南京昱晟机器人科技有限公司 | A kind of industrial robot universal walking mechanism and method |
| CN110405717B (en) * | 2019-07-27 | 2021-01-15 | 南京昱晟机器人科技有限公司 | Universal walking mechanism and method for industrial robot |
| CN111055982A (en) * | 2019-12-31 | 2020-04-24 | 上海宇鹤自动化科技有限公司 | Robot base of walking under water |
| CN111055982B (en) * | 2019-12-31 | 2024-04-26 | 上海宇鹤自动化科技有限公司 | Robot base walking under water |
| CN113147898A (en) * | 2021-04-25 | 2021-07-23 | 上海擎朗智能科技有限公司 | Robot chassis and control method thereof |
| CN113044134A (en) * | 2021-04-30 | 2021-06-29 | 常州大学 | Quadruped robot capable of crawling on horizontal grid |
| CN113044134B (en) * | 2021-04-30 | 2021-12-24 | 常州大学 | Quadruped robot capable of crawling on horizontal grid |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107458494B (en) | 2019-12-27 |
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