CN107953939A - A kind of crusing robot walking mechanism - Google Patents
A kind of crusing robot walking mechanism Download PDFInfo
- Publication number
- CN107953939A CN107953939A CN201711249772.9A CN201711249772A CN107953939A CN 107953939 A CN107953939 A CN 107953939A CN 201711249772 A CN201711249772 A CN 201711249772A CN 107953939 A CN107953939 A CN 107953939A
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- Prior art keywords
- walking
- motor
- worm gear
- shaft
- drive unit
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- 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
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The object of the present invention is to provide a kind of crusing robot walking mechanism, including：First servomotor, the first drive shaft, the first connecting shaft, shaft coupling, reciprocating drive unit, curved surface gear, the first spring, turning motor, the second drive shaft, the second connecting shaft, elevating mechanism, motor cabinet, the first worm screw, the first walking worm gear, deflection mechanism, reduction box, the second walking worm gear, the second worm screw and movable motor, it is characterised in that：First servomotor is arranged on the side of reciprocating drive unit, and the first drive shaft is arranged on the side of reciprocating drive unit.The present invention is provided with the first walking worm gear and the second walking worm gear, can be in favor of climbing walking and obstacle detouring, in obstacle detouring, the position of the first walking worm gear and the second walking worm gear need to only be adjusted, without mobile robot car body, the walking motion of easily controllable robot, the present invention drive two walking worm gears by the first servomotor and the second servomotor, have increased the dynamic strength and the speed of travel for adding robot.
Description
Technical field
The present invention relates to mobile robot technology field, more particularly to a kind of crusing robot walking mechanism.
Background technology
At present, the core of the fourth industrial revolution faced is to promote manufacturing industry to make the transition to intelligence.In the process,
Intelligent robot will play very important effect.Crucial branch of the two leg walking robot as intelligent robot.Its walking
Mode the degree of automation highest, the most complexity in emulation machinery, its perfect realize require robot in terms of structure design
Huge change and innovation are produced, so as to effectively promote the development of related discipline.The research master of current existing biped robot
The joint laid particular emphasis in biped robot installs servomotor, using extremely complex control algolithm, controls robot
Gait and run trace.However, these mechanisms is complicated, make the main body mechanism weight of robot increase, the speed of travel is stirred
Mix, needed when surmounting obstacles adjust barycenter, the ability of its obstacle detouring is limited and not easy to control, when walking its security protection compared with
Difference, and the crusing robot of current the end of a thread is usually suspended from track and walks, mistake of the existing crusing robot in walking
Would ordinarily be encountered in journey turn, climbing situations such as, this how to advance in orbit for crusing robot or retreat and turn to and
The ability of braking proposes higher requirement, and existing crusing robot is unreasonable there is stress at present, and driving and braking are not easy
The problem of control.
The content of the invention
In view of the above-mentioned problems, the object of the present invention is to provide a kind of crusing robot walking mechanism, the present invention is suitable for house
Front yard balcony (miniature, medium-sized, large-scale), the present invention can realize the intelligence of watering sprinkling irrigation.Set pour water capacity, when
Between, path, resident can not have to the watering taken a lot of trouble again, and own robot running gear looks after flowers and plants in family to help, i.e.,
It is the green plant travelled on official business without caring in family, has the advantages that the degree of automation is high.
The present invention is that technical solution is used by solving above-mentioned technical problem：A kind of crusing robot walking mechanism, bag
Include：First servomotor, the first drive shaft, the first connecting shaft, shaft coupling, reciprocating drive unit, curved surface gear, the first spring,
Turning motor, the second drive shaft, the second connecting shaft, elevating mechanism, motor cabinet, the first worm screw, the first walking worm gear, deflection machine
Structure, reduction box, the second walking worm gear, the second worm screw and movable motor, it is characterised in that：First servomotor is arranged on institute
The side of reciprocating drive unit is stated, first drive shaft is arranged on the side of the reciprocating drive unit, first driving
One end of axis and the first spring being arranged on inside the reciprocating drive unit are connected with each other, and first connecting shaft is arranged on institute
State between the first drive shaft and first servomotor, the shaft coupling is arranged on the inside of first servomotor, institute
The one end for stating the first connecting shaft is connected with each other by the shaft coupling and first servomotor, and the curved surface gear is arranged on
The lower end of first drive shaft, the curved surface gear are connected with each other with first drive shaft, and the elevating mechanism is arranged on
The side of the reciprocating drive unit, the elevating mechanism are mutually permanently connected with the reciprocating drive unit, and described second connects
Spindle is arranged on the inside of the reciprocating drive unit, and second connecting shaft is connected with each other with second drive shaft, described
Turning motor is arranged on the inside of the elevating mechanism, and the side of the turning motor is connected with each other with second drive shaft,
The motor cabinet is arranged on the opposite side of the turning motor, and the turning motor is mutually permanently connected with the motor cabinet, institute
The inside that the first worm screw is arranged on the motor cabinet is stated, the first walking worm gear is arranged on the upper end of first worm screw, institute
State the first worm screw to be connected with each other with the described first walking worm gear, the movable motor is arranged on the lower end of the elevating mechanism, institute
State movable motor to be connected with each other with elevating mechanism, the deflection mechanism is arranged on the side of the movable motor, the reduction box
The inside of deflection mechanism is arranged on, the reduction box is connected with each other with the movable motor, and the second walking worm gear is arranged on
The inside of reduction box, second worm screw are arranged on the lower end of the second walking worm gear, second worm screw and the second walking worm gear
It is connected with each other.
Further, drive connection bar is provided between first connecting shaft and reciprocating drive unit, the first connecting shaft
Lower end is connected with each other by drive connection bar and reciprocating drive unit.
Further, the first walking worm gear is internally provided with rotating shaft, the first walking worm gear and rotating shaft phase
Mutually it is fixedly connected.
Further, the reduction box is internally provided with yawing axis.
Further, the lower end of the curved surface gear is provided with the second servomotor, the second servomotor and curved surface gear phase
Connect.
Further, it is provided with locking nut in first connecting shaft.
Further, the reciprocating drive unit is internally provided with second spring, second spring and second connecting shaft
It is connected with each other.
Further, it is respectively connected with guide rail on the outside of first spring and second spring.
The advantage of the invention is that：The present invention provides a kind of crusing robot walking mechanism, and the present invention is in the first servo
The side of motor is provided with reciprocating drive unit, and reciprocating drive unit use can use and be arranged on reciprocating drive unit side
Second drive shaft drives turning motor to operate, so as to drive the first worm movement, the first worm screw can control the first walking snail
Wheel movement, the present invention are connected with movable motor in the lower end of elevating mechanism, and movable motor is connected with each other with reduction box, movable motor
The second worm movement inside reduction box can be driven, the second worm screw can control the second walking worm gear to move, and the present invention is set
There are the first walking worm gear and the second walking worm gear, in obstacle detouring, only can need to adjust the first walking in favor of climbing walking and obstacle detouring
The position of worm gear and the second walking worm gear, without mobile robot car body, the walking motion of easily controllable robot, the present invention is led to
Cross the first servomotor and the second servomotor drives two walking worm gears, increased plus the dynamic strength of robot is fast with walking
Degree.
Brief description of the drawings
, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution of the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in describing below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
Put, other attached drawings can also be obtained according to these attached drawings.
Fig. 1 is the structure diagram of the present invention.
Wherein：
The first servomotors of 1-；The first drive shafts of 2-；The first connecting shafts of 3-；
4- shaft couplings；5- locking nuts；6- drive connection bars；
7- reciprocating drive units；The second servomotors of 8-；9- curved surface gears；
10- guide rails；The first springs of 11-；12- second springs；
13- turning motors；The second drive shafts of 14-；The second connecting shafts of 15-；
16- elevating mechanisms；17- yawing axis；18- motor cabinets；
The first worm screws of 19-；The walking worm gears of 20- first；21- rotating shafts；
22- deflection mechanisms；23- reduction boxes；The walking worm gears of 24- second；
The second worm screws of 25-；26- movable motors
Embodiment
Technical scheme is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's all other embodiments obtained without making creative work, belong to the scope of protection of the invention.
In the description of the present invention, it is necessary to explanation, term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to
Easy to describe the present invention and simplify description, rather than instruction or imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" the 3rd " is only used for description purpose, and it is not intended that instruction or hint relative importance.
Fig. 1 is the structure diagram of the present invention, a kind of crusing robot walking mechanism as shown in Figure 1, including：First watches
Take motor 1, the first drive shaft 2, the first connecting shaft 3, shaft coupling 4, locking nut 5, drive connection bar 6, reciprocating drive unit 7,
Second servomotor 8, curved surface gear 9, guide rail 10, the first spring 11, second spring 12, turning motor 13, the second drive shaft 14,
Second connecting shaft 15, elevating mechanism 16, yawing axis 17, motor cabinet 18, the first worm screw 19, first walking worm gear 20, rotating shaft 21,
Deflection mechanism 22, the walking of reduction box 23, second worm gear 24, the second worm screw 25 and movable motor 26, it is characterised in that：Described first
Servomotor 1 is arranged on the side of the reciprocating drive unit 7, and first drive shaft 2 is arranged on the reciprocating drive unit 7
Side, one end of first drive shaft 2 and 11 phase of the first spring that is arranged on inside the reciprocating drive unit 7 interconnect
Connect, first connecting shaft 3 is arranged between first drive shaft 2 and first servomotor 1, and the shaft coupling 4 is set
Put and watched in the inside of first servomotor 1, one end of first connecting shaft 3 by the shaft coupling 4 and described first
Motor 1 is taken to be connected with each other, the curved surface gear 9 is arranged on the lower end of first drive shaft 2, the curved surface gear 9 with it is described
First drive shaft 2 is connected with each other, and the elevating mechanism 16 is arranged on the side of the reciprocating drive unit 7, the elevating mechanism
16 are mutually permanently connected with the reciprocating drive unit 7, and second connecting shaft 15 is arranged on the interior of the reciprocating drive unit 7
Portion, second connecting shaft 15 are connected with each other with second drive shaft 14, and the turning motor 13 is arranged on the elevator
The inside of structure 16, the side of the turning motor 13 are connected with each other with second drive shaft 14, and the motor cabinet 18 is arranged on
The opposite side of the turning motor 13, the turning motor 13 are mutually permanently connected with the motor cabinet 18, first worm screw
19 are arranged on the inside of the motor cabinet 18, and the first walking worm gear 20 is arranged on the upper end of first worm screw 19, described
First worm screw 19 is connected with each other with the described first walking worm gear 20, and the movable motor 26 is arranged under the elevating mechanism 16
End, the movable motor 26 are connected with each other with elevating mechanism 16, and the deflection mechanism 22 is arranged on the one of the movable motor 26
Side, the reduction box 23 are arranged on the inside of deflection mechanism 22, and the reduction box 23 is connected with each other with the movable motor 26, institute
The inside that the second walking worm gear 24 is arranged on reduction box 23 is stated, second worm screw 25 is arranged under the second walking worm gear 24
End, second worm screw 25 are connected with each other with the second walking worm gear 24.
Working method：The present invention provides a kind of crusing robot walking mechanism, including：First servomotor, first drive
Moving axis, the first connecting shaft, shaft coupling, reciprocating drive unit, curved surface gear, the first spring, turning motor, the second drive shaft,
Two connecting shafts, elevating mechanism, motor cabinet, the first worm screw, first walking worm gear, deflection mechanism, reduction box, second walking worm gear,
Second worm screw and movable motor, it is characterised in that：First servomotor is arranged on the side of reciprocating drive unit, the first drive shaft
It is arranged on the side of reciprocating drive unit, one end of the first drive shaft and the first spring phase being arranged on inside reciprocating drive unit
Connect, the first connecting shaft is arranged between the first drive shaft and the first servomotor, and shaft coupling is arranged on the first servomotor
Inside, one end of the first connecting shaft is connected with each other by shaft coupling and the first servomotor, and curved surface gear is arranged on the first drive
The lower end of moving axis, curved surface gear and the first drive shaft are connected with each other, and elevating mechanism is arranged on the side of reciprocating drive unit, are lifted
Mechanism is mutually permanently connected with reciprocating drive unit, and the second connecting shaft is arranged on the inside of reciprocating drive unit, the second connecting shaft
It is connected with each other with the second drive shaft, turning motor is arranged on the inside of elevating mechanism, the side of turning motor and the second drive shaft
It is connected with each other, motor cabinet is arranged on the opposite side of turning motor, and turning motor is mutually permanently connected with motor cabinet, and the first worm screw sets
Put in the inside of motor cabinet, the first walking worm gear is arranged on the upper end of the first worm screw, and the first worm screw and the first walking worm gear are mutual
Connection, movable motor are arranged on the lower end of elevating mechanism, and movable motor is connected with each other with elevating mechanism, and deflection mechanism, which is set, is expert at
The side of motor is walked, reduction box is arranged on the inside of deflection mechanism, and reduction box is connected with each other with movable motor, the second walking worm gear
The inside of reduction box is arranged on, the second worm screw is arranged on the lower end of the second walking worm gear, the second worm screw and the second walking worm gear phase
Connect.The present invention is provided with reciprocating drive unit in the side of the first servomotor, and reciprocating drive unit use can use
The second drive shaft of reciprocating drive unit side is arranged on to drive turning motor to operate, so that the first worm movement is driven,
One worm screw can control the first walking worm gear to move, and the present invention is connected with movable motor, movable motor in the lower end of elevating mechanism
It is connected with each other with reduction box, movable motor can drive the second worm movement inside reduction box, and the second worm screw can control the
Two walking worm gears movement, the present invention be provided with the first walking worm gear with second walking worm gear, can in favor of climbing walk and obstacle detouring,
In obstacle detouring, the position of the first walking worm gear and the second walking worm gear need to be only adjusted, it is easily controllable without mobile robot car body
The walking motion of robot, the present invention drive two walking worm gears by the first servomotor and the second servomotor, have increased and have added
The dynamic strength and the speed of travel of robot.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe is described in detail the present invention with reference to foregoing embodiments, and the logical technical staff of this area should be understood：It is still
It can modify to the technical solution described in foregoing embodiments, either which part or all technical characteristic are carried out
Equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technical side
The scope of case.
Claims (8)
1. a kind of crusing robot walking mechanism, including：First servomotor, the first drive shaft, the first connecting shaft, shaft coupling,
Reciprocating drive unit, curved surface gear, the first spring, turning motor, the second drive shaft, the second connecting shaft, elevating mechanism, motor
Seat, the first worm screw, the first walking worm gear, deflection mechanism, reduction box, the second walking worm gear, the second worm screw and movable motor, it is special
Sign is：First servomotor is arranged on the side of the reciprocating drive unit, and first drive shaft is arranged on described
The side of reciprocating drive unit, one end of first drive shaft and the first spring being arranged on inside the reciprocating drive unit
It is connected with each other, first connecting shaft is arranged between first drive shaft and first servomotor, the shaft coupling
The inside of first servomotor is arranged on, one end of first connecting shaft passes through the shaft coupling and first servo
Motor is connected with each other, and the curved surface gear is arranged on the lower end of first drive shaft, and the curved surface gear drives with described first
Moving axis is connected with each other, and the elevating mechanism is arranged on the side of the reciprocating drive unit, the elevating mechanism with it is described reciprocal
Driving device is mutually permanently connected, and second connecting shaft is arranged on the inside of the reciprocating drive unit, second connection
Axis is connected with each other with second drive shaft, and the turning motor is arranged on the inside of the elevating mechanism, the turning motor
Side and second drive shaft be connected with each other, the motor cabinet is arranged on the opposite side of the turning motor, the revolution
Motor is mutually permanently connected with the motor cabinet, and first worm screw is arranged on the inside of the motor cabinet, first walking
Worm gear is arranged on the upper end of first worm screw, and first worm screw is connected with each other with the described first walking worm gear, the walking
Motor is arranged on the lower end of the elevating mechanism, and the movable motor is connected with each other with elevating mechanism, and the deflection mechanism is set
In the side of the movable motor, the reduction box is arranged on the inside of deflection mechanism, the reduction box and the movable motor
It is connected with each other, the second walking worm gear is arranged on the inside of reduction box, and second worm screw is arranged on the second walking worm gear
Lower end, second worm screw are connected with each other with the second walking worm gear.
A kind of 2. crusing robot walking mechanism according to claim 1, it is characterised in that：First connecting shaft with it is past
Drive connection bar is provided between multiple driving device, the lower end of the first connecting shaft passes through drive connection bar and reciprocating drive unit phase
Connect.
A kind of 3. crusing robot walking mechanism according to claim 1, it is characterised in that：The first walking worm gear
Rotating shaft is internally provided with, the first walking worm gear is mutually permanently connected with rotating shaft.
A kind of 4. crusing robot walking mechanism according to claim 1, it is characterised in that：The inside of the reduction box is set
It is equipped with yawing axis.
A kind of 5. crusing robot walking mechanism according to claim 4, it is characterised in that：The lower end of the curved surface gear
The second servomotor is provided with, the second servomotor is connected with each other with curved surface gear.
A kind of 6. crusing robot walking mechanism according to claim 1, it is characterised in that：Set in first connecting shaft
It is equipped with locking nut.
A kind of 7. crusing robot walking mechanism according to claim 1, it is characterised in that：The reciprocating drive unit
Second spring is internally provided with, second spring is connected with each other with second connecting shaft.
A kind of 8. crusing robot walking mechanism according to claim 7, it is characterised in that：First spring and second
Guide rail is respectively connected with the outside of spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711249772.9A CN107953939A (en) | 2017-12-01 | 2017-12-01 | A kind of crusing robot walking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711249772.9A CN107953939A (en) | 2017-12-01 | 2017-12-01 | A kind of crusing robot walking mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107953939A true CN107953939A (en) | 2018-04-24 |
Family
ID=61962299
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711249772.9A Pending CN107953939A (en) | 2017-12-01 | 2017-12-01 | A kind of crusing robot walking mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107953939A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115126838A (en) * | 2022-08-09 | 2022-09-30 | 重庆大学 | Double-freedom-degree mechanical arm with adjustable backlash based on conical worm transmission |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102922530A (en) * | 2012-12-05 | 2013-02-13 | 山东电力集团公司电力科学研究院 | Inspection robot platform of 500kV split conductors |
-
2017
- 2017-12-01 CN CN201711249772.9A patent/CN107953939A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102922530A (en) * | 2012-12-05 | 2013-02-13 | 山东电力集团公司电力科学研究院 | Inspection robot platform of 500kV split conductors |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115126838A (en) * | 2022-08-09 | 2022-09-30 | 重庆大学 | Double-freedom-degree mechanical arm with adjustable backlash based on conical worm transmission |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180424 |
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| RJ01 | Rejection of invention patent application after publication |