CN107539388A - A kind of running gear system of robot - Google Patents
A kind of running gear system of robot Download PDFInfo
- Publication number
- CN107539388A CN107539388A CN201710626059.5A CN201710626059A CN107539388A CN 107539388 A CN107539388 A CN 107539388A CN 201710626059 A CN201710626059 A CN 201710626059A CN 107539388 A CN107539388 A CN 107539388A
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- chassis
- auxiliary drive
- robot
- wheel
- running gear
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Abstract
The invention discloses a kind of running gear system of robot,Including chassis,Universal wheel is installed in both sides respectively before chassis,Chassis two sides behind installs left back driving wheel and right rear drive sprocket respectively,Left back driving wheel passes through left back driving axis connection left rear wheel motor,Right rear drive sprocket connects off hind wheel motor by right rear drive shaft,Ultrasonic range finder sensor is installed successively from left to right on front side of the upper surface of chassis,Obliquity sensor and IR evading obstacle sensors,Connection auxiliary drive motor among the bottom surface on chassis,Auxiliary drive motor connects lift drive shaft and several auxiliary drive shafts,Lift drive shaft connects two elevating levers,Two equal one end of elevating lever are fixed on chassis,The other end is fixedly connected with transverse bar,Several auxiliary drive wheels are respectively mounted on transverse bar,Auxiliary drive wheels are connected on auxiliary drive shaft,The device can improve the turn of robot and the ability of avoiding barrier,The climbing capacity of robot is improved simultaneously,It is worthy to be popularized.
Description
Technical field
The present invention relates to robotic technology field, specially a kind of running gear system of robot.
Background technology
Robot (Robot) is the automatic installations for performing work, and it can both receive mankind commander, and can run again
The program of advance layout, can also be according to the principle guiding principle action formulated with artificial intelligence technology, and its task is to assist or take
It is divided into wheeled mobile robot by motion mode for human work, such as production industry, construction industry, or dangerous work, robot
People, walking mobile robot, caterpillar mobile robot, climbing robot etc., wherein wheeled mobile robot structure is most simple,
Movement is most rapid therefore most widely used.
But wheeled mobile robot has following defect, first, the turn avoiding barrier ability of wheeled mobile robot
Difference, second, the reason for climbing capacity of wheeled mobile robot is poor, and this is also limitation wheeled mobile robot application, in order to solve
These problems, thus devise a kind of running gear system of robot.
The content of the invention
In order to overcome the shortcomings of prior art, the present invention provides a kind of running gear system of robot, Neng Gouti
The turn of high robot and the ability of avoiding barrier, while the climbing capacity of robot is improved, it is worthy to be popularized.
The technical solution adopted for the present invention to solve the technical problems is：A kind of running gear system of robot, including
Chassis, both sides are separately installed with universal wheel before the chassis, and the two sides behind on chassis is separately installed with rear drive sprocket,
The rear drive sprocket opsition dependent relation is divided into left back driving wheel and right rear drive sprocket, and the left back driving wheel passes through left back drive shaft
Left rear wheel motor is connected with, the right rear drive sprocket is connected with off hind wheel motor, the left side by right rear drive shaft
Rear wheel drive motor and off hind wheel motor are fixed on undersurface of bottom disc, the chassis upper surface front side by fixing bolt respectively
Ultrasonic range finder sensor, obliquity sensor and IR evading obstacle sensors are sequentially installed with from left to right, and behind the upper surface of chassis
Side is provided with robot fuselage, and auxiliary drive motor, the auxiliary are connected with by fixing bolt among the bottom surface on the chassis
Motor is connected with a lift drive shaft and several auxiliary drive shafts, and the lift drive shaft is connected with two liftings
Bar, the elevating lever described in two is located at the both sides on chassis respectively, and one end is each attached on chassis, the other end of the elevating lever
Transverse bar has been fixedly connected with, several auxiliary drive wheels are mounted on the transverse bar, the auxiliary drive wheels connect respectively
It is connected on auxiliary drive shaft.
As a kind of preferable technical scheme of the present invention, the universal wheel, rear drive sprocket and auxiliary drive wheels are provided with
Anti-slip rubber tire.
As a kind of preferable technical scheme of the present invention, the length of the transverse bar is respectively less than chassis side universal wheel with after
The wire length of driving wheel.
It is equal as a kind of preferable technical scheme of the present invention, the size of the universal wheel, rear drive sprocket and auxiliary drive wheels
It is essentially equal.
As a kind of preferable technical scheme of the present invention, when the elevating lever is raised to maximum length, the auxiliary of chassis side
The center of driving wheel, universal wheel and rear drive sprocket is point-blank.
As a kind of preferable technical scheme of the present invention, the left rear wheel motor and off hind wheel motor are the bottom of on
The center line of disk is symmetrical.
As a kind of preferable technical scheme of the present invention, the quantity of the auxiliary drive wheels is equal to the number of auxiliary drive shaft
Amount.
It is equal as a kind of preferable technical scheme of the present invention, the quantity of chassis both sides auxiliary drive wheels.
Compared with prior art, the beneficial effects of the invention are as follows：
(1) present invention makes robot by setting two motors to control left back driving wheel and right rear drive sprocket respectively
Steering task can be preferably completed, while ultrasonic range finder sensor and IR evading obstacle sensors are mounted with device so that
Robot is when walking it can be found that the barrier in front, turns to hide in advance.
(2) present invention is by adding auxiliary drive motor and auxiliary drive wheels, while with the addition of obliquity sensor so that when
For robot ambulation at abrupt slope, obliquity sensor can sense abrupt slope angle, and control system control auxiliary drive motor rotates,
So that the elevating lever connected by lift drive shaft extends, originally hanging auxiliary drive wheels are fallen, and auxiliary drive motor leads to
Cross auxiliary drive shaft driving auxiliary drive wheels to rotate, so as to provide extra power-assisted, allow the robot to easily in abrupt slope row
Walk, when pass by abrupt slope when, elevating lever shrinks again, and auxiliary drive wheels rise, and auxiliary drive motor stops operating.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is auxiliary drive wheels structural representation of the present invention.
In figure：1- chassis；2- universal wheels；3- rear drive sprockets；The left back driving wheels of 4-；The right rear drive sprockets of 5-；The left back drivings of 6-
Axle；7- left rear wheel motors；The right rear drive shafts of 8-；9- off hind wheel motors；10- fixing bolts；11- supersonic soundings sense
Device；12- obliquity sensors；13- IR evading obstacle sensors；14- robots fuselage；15- auxiliary drive motors；16- lifting drivings
Axle；17- auxiliary drive shafts；18- elevating levers；19- transverse bars；20- auxiliary drive wheels；21- anti-slip rubber tires.
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.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
The explanation of following embodiment is refer to the attached drawing, can be to the specific embodiment implemented to the example present invention.
The direction and position term that the present invention is previously mentioned, for example, " on ", " in ", " under ", "front", "rear", "left", "right", " interior ", "
Outside ", " side " etc., only it is direction and position with reference to annexed drawings.Therefore, the direction and position term used is to illustrate
And understand the present invention, and it is not used to the limitation present invention.
Embodiment：
As shown in figure 1, the invention provides a kind of running gear system of robot, including chassis 1, the chassis 1
Above both sides are separately installed with universal wheel 2, and the two sides behind on chassis 1 is separately installed with rear drive sprocket 3, the rear drive sprocket
3 opsition dependent relations are divided into left back driving wheel 4 and right rear drive sprocket 5, and the left back driving wheel 4 is connected with by left back drive shaft 6
Left rear wheel motor 7, the right rear drive sprocket 5 is connected with off hind wheel motor 9 by right rear drive shaft 8, described left back
Wheel drive motor 7 and off hind wheel motor 9 are fixed on the bottom surface of chassis 1, the upper surface of chassis 1 by fixing bolt 10 respectively
Front side is sequentially installed with ultrasonic range finder sensor 11, obliquity sensor 12 and IR evading obstacle sensors 13 from left to right, and the bottom of at
Robot fuselage 14 is installed, being connected with auxiliary by fixing bolt 10 among the bottom surface on the chassis 1 drives on rear side of the upper surface of disk 1
Dynamic motor 15, the auxiliary drive motor 15 are connected with a lift drive shaft 16 and several auxiliary drive shafts 17, the liter
Drop drive shaft 16 is connected with two elevating levers 18, and the elevating lever 18 described in two is located at the both sides on chassis 1 respectively, and one end is solid
It is scheduled on chassis 1, the other end of the elevating lever 18 has been fixedly connected with transverse bar 19, if being mounted on the transverse bar 19
Dry auxiliary drive wheels 20, the auxiliary drive wheels 20 are connected on auxiliary drive shaft 17.
When in use, left back driving wheel 4 and right rear drive sprocket 5 are respectively by left rear wheel motor 7 and the right side by the present invention
Rear wheel drive motor 9 individually controls, and turns to the turn of robot and is easier, while ultrasonic range finder sensor 11 and infrared obstacle avoidance
Sensor 13 allows the robot to turn in advance it can be found that the barrier and distance in front；In addition, it there is also mounted on chassis 1
Obliquity sensor 12, it is able to detect that the oblique angle on road surface so that when robot ambulation is to abrupt slope, control system can control auxiliary in advance
Motor 15 is helped to rotate, the elevating lever 18 connected by lift drive shaft 16 can extend, originally hanging auxiliary drive wheels 20
Fall, auxiliary drive motor 15 drives auxiliary drive wheels 20 to rotate by auxiliary drive shaft 17, so as to provide volume for robot
Outer power, help robot it is easier abrupt slope walk, when pass by abrupt slope when, elevating lever 18 shrinks again, process auxiliary drive
Wheel 20 rises, and auxiliary drive motor 15 stops operating.
It is noted that ultrasonic range finder sensor 11 of the present invention be by transmission sensor (or ripple transmitter),
Sensor (or ripple receiver), control section and power unit composition are received, transmitter sensor is by transmitter and using straight
The ceramic vibrator transducer composition that footpath is 15mm or so, transducer effect are into super by the electric oscillation energy conversion of ceramic vibrator
Measure and to aerial radiation, and receive sensor and be made up of ceramic vibrator transducer and amplifying circuit, transducer received wave produces machine
Tool vibrates, and is converted into electric flux, real so as to be detected to the ultrasonic energy of transmission as the output of transducer receivers
The ability of existing measurement distance；Obliquity sensor 12 of the present invention is a kind of detection instrument of point-device measurement low-angle,
With its measurable tested plane relative to the gradient of horizontal level, two part degree of being parallel to each other and perpendicularity；It is of the present invention
The principle of IR evading obstacle sensors 13 be within the specific limits, if without barrier, the infrared ray launched because propagate
Distance is more remote and gradually weakens, and finally disappears, if barrier, infrared ray runs into barrier, is reflected to up to sensor and connects
Head is received, sensor detects this signal, it is possible to confirm that there is barrier in front, and give single-chip microcomputer, single-chip microcomputer carries out one
The Treatment Analysis of series, coordinate wheel work, complete the action of an avoiding barrier.
As shown in figure 1, the length of the transverse bar 19 is respectively less than the line length of the side universal wheel 2 of chassis 1 and rear drive sprocket 3
Degree, ensure that auxiliary drive wheels 20 are entirely located among universal wheel 2 and rear drive sprocket 3；The left rear wheel motor 7 and off hind wheel
Motor 9 is symmetrical on the center line on chassis 1, can ensure the overall balance of device；The number of the auxiliary drive wheels 20
Amount makes each auxiliary drive wheels 20 to have an auxiliary drive shaft 17 to provide power equal to the quantity of auxiliary drive shaft 17；
The quantity of the both sides auxiliary drive wheels 20 of chassis 1 is equal, when the aid-device of auxiliary drive wheels 20 offer power is provided, 1 liang of chassis
Lateral balance.
As shown in Fig. 2 the universal wheel 2, rear drive sprocket 3 and auxiliary drive wheels 20 are provided with anti-slip rubber tire 21,
Bigger frictional force can be provided, prevent wheel-slip；The size of the universal wheel 2, rear drive sprocket 3 and auxiliary drive wheels 20 is equal
It is essentially equal, allow the robot to stabilized walking；When the elevating lever 18 is raised to maximum length, the process auxiliary drive of the side of chassis 1
The center of wheel 20, universal wheel 2 and rear drive sprocket 3 point-blank, can be such that auxiliary drive wheels 20 are carried for robot ambulation
For power, and without prejudice to universal wheel 2 and rear drive sprocket 3.
The main characteristic of the invention lies in that：(1) present invention is by setting two motors to control left back driving wheel respectively
With right rear drive sprocket, allow the robot to preferably complete steering task, while be mounted with ultrasonic range finder sensor on device
And IR evading obstacle sensors so that robot is when walking it can be found that the barrier in front, turns to hide in advance.(2) this hair
It is bright by adding auxiliary drive motor and auxiliary drive wheels, while with the addition of obliquity sensor so that when robot ambulation is steep
During slope, obliquity sensor can sense abrupt slope angle, and control system control auxiliary drive motor rotates, so that passing through lifting
The elevating lever elongation of axis connection is driven, originally hanging auxiliary drive wheels are fallen, and auxiliary drive motor is driven by auxiliary drive shaft
Dynamic auxiliary driving wheel rotates, and so as to provide extra power-assisted, allows the robot to easily walk on abrupt slope, when abrupt slope of passing by
When, elevating lever shrinks again, and auxiliary drive wheels rise, and auxiliary drive motor stops operating.
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 without departing substantially from spirit or essential attributes of the 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 requires rather than described above limits, 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 to the involved claim of limitation.
Claims (8)
1. a kind of running gear system of robot, including chassis (1), it is characterised in that：Both sides point before the chassis (1)
Universal wheel (2) is not installed, and the two sides behind in chassis (1) is separately installed with rear drive sprocket (3), the rear drive sprocket (3)
Opsition dependent relation is divided into left back driving wheel (4) and right rear drive sprocket (5), and the left back driving wheel (4) passes through left back drive shaft (6)
Left rear wheel motor (7) is connected with, the right rear drive sprocket (5) is connected with off hind wheel driving electricity by right rear drive shaft (8)
Machine (9), the left rear wheel motor (7) and off hind wheel motor (9) are fixed on chassis by fixing bolt (10) respectively
(1) bottom surface, chassis (1) the upper surface front side are sequentially installed with ultrasonic range finder sensor (11), obliquity sensor from left to right
(12) robot fuselage (14), the chassis and IR evading obstacle sensors (13), and on rear side of chassis (1) upper surface are installed
(1) auxiliary drive motor (15) is connected with by fixing bolt (10) among bottom surface, the auxiliary drive motor (15) it is defeated
Shaft is connected with a lift drive shaft (16) and several auxiliary drive shafts (17), and the lift drive shaft (16) is connected with two
Individual elevating lever (18), the elevating lever (18) described in two is located at the both sides of chassis (1) respectively, and one end is each attached to chassis (1)
On, the other end of the elevating lever (18) has been fixedly connected with transverse bar (19), is mounted on the transverse bar (19) some
Individual auxiliary drive wheels (20), the auxiliary drive wheels (20) are connected on auxiliary drive shaft (17).
A kind of 2. running gear system of robot according to claim 1, it is characterised in that：The universal wheel (2), after
Driving wheel (3) and auxiliary drive wheels (20) are provided with anti-slip rubber tire (21).
A kind of 3. running gear system of robot according to claim 1, it is characterised in that：The transverse bar (19)
Length is respectively less than the wire length of chassis (1) side universal wheel (2) and rear drive sprocket (3).
A kind of 4. running gear system of robot according to claim 1, it is characterised in that：The universal wheel (2), after
The size of driving wheel (3) and auxiliary drive wheels (20) is essentially equal.
A kind of 5. running gear system of robot according to claim 1, it is characterised in that：The elevating lever (18) rises
During to maximum length, the center of the auxiliary drive wheels (20) of chassis (1) side, universal wheel (2) and rear drive sprocket (3) is at one
On straight line.
A kind of 6. running gear system of robot according to claim 1, it is characterised in that：The left back wheel drive electricity
Machine (7) and off hind wheel motor (9) are symmetrical on the center line of chassis (1).
A kind of 7. running gear system of robot according to claim 1, it is characterised in that：The auxiliary drive wheels
(20) quantity is equal to the quantity of auxiliary drive shaft (17).
A kind of 8. running gear system of robot according to claim 1, it is characterised in that：Chassis (1) both sides
The quantity of auxiliary drive wheels (20) is equal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710626059.5A CN107539388A (en) | 2017-07-27 | 2017-07-27 | A kind of running gear system of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710626059.5A CN107539388A (en) | 2017-07-27 | 2017-07-27 | A kind of running gear system of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107539388A true CN107539388A (en) | 2018-01-05 |
Family
ID=60970770
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710626059.5A Pending CN107539388A (en) | 2017-07-27 | 2017-07-27 | A kind of running gear system of robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN107539388A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108325212A (en) * | 2018-04-28 | 2018-07-27 | 丁柯文 | A kind of analog telecommand vehicle |
| CN108942867A (en) * | 2018-08-24 | 2018-12-07 | 安徽信息工程学院 | Robot base apparatus |
| CN109018057A (en) * | 2018-08-13 | 2018-12-18 | 杭州简泊智能科技有限公司 | Polypody wheeled platform robot |
| CN109093647A (en) * | 2018-08-24 | 2018-12-28 | 安徽信息工程学院 | The robot chassis of wireless control |
| CN109177677A (en) * | 2018-08-24 | 2019-01-11 | 安徽信息工程学院 | Chassis is gone up and down for robot |
| CN109204604A (en) * | 2018-11-09 | 2019-01-15 | 云南兆讯科技有限责任公司 | A kind of Intelligent Mobile Robot aiding overpass obstacle system and method |
| CN109318203A (en) * | 2018-10-09 | 2019-02-12 | 张彦頔 | Robot chassis movable linearly |
| CN112177090A (en) * | 2020-10-16 | 2021-01-05 | 湖南省东新机械科技有限公司 | Emergency operation device of wheel type hydraulic excavator and use method of emergency operation device |
| CN112223348A (en) * | 2019-06-28 | 2021-01-15 | 坎德拉（深圳）科技创新有限公司 | Indoor distribution robot |
| CN113879424A (en) * | 2021-10-27 | 2022-01-04 | 珠海一微半导体股份有限公司 | Intelligent robot with multiple mobile structures and control method thereof |
| CN114603560A (en) * | 2022-04-07 | 2022-06-10 | 上海甄徽网络科技发展有限公司 | Multi-sensor control system of indoor mobile robot |
| CN115384656A (en) * | 2022-08-18 | 2022-11-25 | 湖南工业大学 | Multi freedom robot running gear |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108325212A (en) * | 2018-04-28 | 2018-07-27 | 丁柯文 | A kind of analog telecommand vehicle |
| CN109018057A (en) * | 2018-08-13 | 2018-12-18 | 杭州简泊智能科技有限公司 | Polypody wheeled platform robot |
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| CN109093647A (en) * | 2018-08-24 | 2018-12-28 | 安徽信息工程学院 | The robot chassis of wireless control |
| CN109177677A (en) * | 2018-08-24 | 2019-01-11 | 安徽信息工程学院 | Chassis is gone up and down for robot |
| CN109318203A (en) * | 2018-10-09 | 2019-02-12 | 张彦頔 | Robot chassis movable linearly |
| CN109204604A (en) * | 2018-11-09 | 2019-01-15 | 云南兆讯科技有限责任公司 | A kind of Intelligent Mobile Robot aiding overpass obstacle system and method |
| CN109204604B (en) * | 2018-11-09 | 2019-09-10 | 云南兆讯科技有限责任公司 | A kind of Intelligent Mobile Robot aiding overpass obstacle system and method |
| CN112223348A (en) * | 2019-06-28 | 2021-01-15 | 坎德拉（深圳）科技创新有限公司 | Indoor distribution robot |
| CN112177090A (en) * | 2020-10-16 | 2021-01-05 | 湖南省东新机械科技有限公司 | Emergency operation device of wheel type hydraulic excavator and use method of emergency operation device |
| CN113879424A (en) * | 2021-10-27 | 2022-01-04 | 珠海一微半导体股份有限公司 | Intelligent robot with multiple mobile structures and control method thereof |
| CN114603560A (en) * | 2022-04-07 | 2022-06-10 | 上海甄徽网络科技发展有限公司 | Multi-sensor control system of indoor mobile robot |
| CN115384656A (en) * | 2022-08-18 | 2022-11-25 | 湖南工业大学 | Multi freedom robot running gear |
| CN115384656B (en) * | 2022-08-18 | 2023-08-01 | 湖南工业大学 | Multi-degree-of-freedom robot running mechanism |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180105 |
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| RJ01 | Rejection of invention patent application after publication |