CN108454719A - A kind of mobile robot walking mechanism - Google Patents
A kind of mobile robot walking mechanism Download PDFInfo
- Publication number
- CN108454719A CN108454719A CN201810282260.0A CN201810282260A CN108454719A CN 108454719 A CN108454719 A CN 108454719A CN 201810282260 A CN201810282260 A CN 201810282260A CN 108454719 A CN108454719 A CN 108454719A
- Authority
- CN
- China
- Prior art keywords
- bottom plate
- mobile robot
- circular bottom
- bolt
- poppet
- 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.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 27
- 238000013016 damping Methods 0.000 claims abstract description 28
- 230000008878 coupling Effects 0.000 claims abstract description 21
- 238000010168 coupling process Methods 0.000 claims abstract description 21
- 238000005859 coupling reaction Methods 0.000 claims abstract description 21
- 244000309464 bull Species 0.000 claims abstract description 19
- 239000003638 chemical reducing agent Substances 0.000 claims description 5
- 238000005183 dynamical system Methods 0.000 claims description 3
- 230000035939 shock Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 239000007787 solid Substances 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Retarders (AREA)
Abstract
The present invention provides a kind of mobile robot walking mechanisms, are related to mobile robot walking mechanism technical field.The both sides that the bull wheel of active train is located at circular bottom plate are equipped in rectangular notch, and the top fulcrum of damping universal wheels and the bottom of circular bottom plate are fixed, and secondary planetary gear retarder is fixed by bearing and circular bottom plate upper surface；The output shaft of DC servo motor is connect with the input of secondary planetary gear retarder, and one end of gear shaft is equipped with gear pair, one end connection of the other end and Hooks coupling universal coupling.Middle part is fixed by bearing block and after-poppet, and the other end of Hooks coupling universal coupling and one end of connecting shaft connect, and the other end of connecting shaft is equipped with bull wheel；The upper end of dampener sleeve is hinged by the lug at the top of bolt and after-poppet, and the two-arm lower end of crotch is hinged with two lugs on the outside of the middle part of after-poppet respectively by bolt, and the two-arm upper end of crotch is hinged by the both sides at the top of bolt and fore-stock.
Description
Technical field
The present invention relates to mobile robot walking mechanism technical fields.
Background technology
Currently, the mobile robot speed of development is getting faster, walking mechanism also becomes more diverse.Mobile robot energy
It is its two major features to move and execute function in working environment, and the well-designed of walking mechanism has the mobility of robot
Vital effect, the realization of its function is directly affected.
But the walking mechanism of existing mobile robot generally uses crawler type or wheeled.Crawler-type traveling is ineffective
It lives, friction is big, noise is big, defect protrusion；Even with wheel type traveling mechanism mostly still need minor-circle turn, turn to not
Easily, mobility is not also high, is particularly unsuitable for narrow, crowded space, solve the problems, such as at present it is this, generally using using
Mecanum wheel, but it is discontinuous with ground contact points when its operation, easily cause sideslip and noise, and existing four-wheel row
It walks mechanism encountering rough road surface and be easy four-wheel and cannot land simultaneously, while generally lacking damping device, shock resistance ratio
Poor, especially poor in operating condition environment, is also easy to produce and jolts, to influence the service life of mobile robot.
In order to overcome the problems, such as the steering of existing mobile robot walking mechanism be not easy, shock resistance it is poor, present invention offer one
The follow-on walking mechanism of kind can realize that original place no-radius turns to, and transmission efficiency is suitable for a variety of working spaces,
And the effective damping of energy, increases running stability.
Invention content
The object of the present invention is to provide a kind of mobile robot walking mechanisms, it can efficiently solve original place no-radius and turn to
And the technical problem of shock resistance difference.
The purpose of the present invention is achieved through the following technical solutions：A kind of mobile robot walking mechanism, including machine
Structure ontology, dynamical system and damping device, two groups of the circular bottom plate of mechanism body and the excessively setting of center of circle cross extended line orientation
The both sides of train, circular bottom plate are equipped with rectangular notch, and the bull wheel of active train is located in the rectangular notch, circular bottom plate and active
The edge in the axially vertical direction of train is equipped with damping universal wheels, and the top fulcrum of damping universal wheels and the bottom of circular bottom plate are solid
Fixed, secondary planetary gear retarder is fixed by bearing and circular bottom plate upper surface；The output shaft and two level of DC servo motor
The input of planetary reducer connects, the output shaft of secondary planetary gear retarder be equipped with two meshed gears one of gear,
One end of gear shaft is equipped with gear two, one end connection of the other end and Hooks coupling universal coupling.Middle part is solid by bearing block and after-poppet
Fixed, the other end of Hooks coupling universal coupling and one end of connecting shaft connect, and the other end of connecting shaft is equipped with bull wheel；Outside the top of after-poppet
Side is set there are one lug, and the upper end of dampener sleeve is hinged by bolt and the lug, and the two-arm lower end of crotch passes through bolt point
Not hinged with two lugs on the outside of the middle part of after-poppet, the two-arm upper end of crotch is cut with scissors by the both sides at the top of bolt and fore-stock
It connects.
The bull wheel is located in the rectangular notch of circular bottom plate both sides, left and right to split；Damping universal wheels are located under circular bottom plate
Side, it is forward and backward to split.
The battery pack is fixed by bolt and circular bottom plate upper surface, by conducting wire respectively with two groups of DC servo motors
Connection.
Two groups of connectors of the secondary planetary gear retarder and DC servo motor are axially offset, and are arranged symmetrically.
The wheel hub protrusion clearance fit of the fore-stock through-hole and bull wheel.
The upper end of the dampener sleeve is hinged by the lug on bolt and after-poppet top, the free end of piston rod with
Both sides at the top of fore-stock are hinged.
The mechanism body includes circular bottom plate, two damping universal wheels and bull wheel mounted on circular bottom plate bottom, and two
A damping universal wheels are front and back under circular bottom plate to be split, and this damping universal wheels can either facilitate no-radius to turn to, and energy
Enough slow down non-essential circular bottom plate fluctuation.Two bull wheels are then split in circular bottom plate or so.This intermediate two-wheel drive
The driven layout type of front and back two-wheeled, it is with the obvious advantage, it can steadily move at a high speed, mechanical structure is simple, turns to easy, controlling party
Just, it is suitble to long-time non-stop run.
The dynamical system includes battery pack, DC servo motor, secondary planetary gear retarder and its bearing, gear one
Gear pair, gear shaft, bearing block, Hooks coupling universal coupling and the connecting shaft constituted with gear two, the battery pack are located at circular bottom plate
Below, it is fixed on the upper surface of circular bottom plate by four bolts, two groups of DC servo motors are connected to by conducting wire, two
The input of the secondary planetary gear retarder described in two groups is then respectively fixedly connected in a DC servo motor by four bolts
End, secondary planetary gear retarder are fixed by bearing and circular bottom plate upper surface, due to secondary planetary gear retarder and directly
Flow servo motor combination body length is more than the radius of circular bottom plate, cannot place two groups of combinations in same axisymmetrical, therefore
By one group of gear pair, two groups of combinations is made to be staggeredly arranged.It is defeated that gear one in gear pair connects secondary planetary gear retarder
Shaft, two tooth connection wheel shaft of gear, gear shaft are connected by bearing with bearing block, and bearing block is connected in circular base with two bolts
On plate.After adding damping device, axis cannot transmit power well, to drive wheels travel, in order to change to be applicable in direction
When change, still can transmit power, gear shaft and connecting shaft and be connect respectively with the both ends of Hooks coupling universal coupling by pin, connecting shaft it is another
End is also to be connected on bull wheel by pin.Bull wheel is improved simultaneously, wheel inside is recessed inwardly, and protrusion is reserved, to install
The fore-stock of damping device.
The damping device includes fore-stock, crotch, after-poppet, damper, and the damping device splits circular bottom plate two
Side, fore-stock through-hole and bull wheel protrusion clearance fit, and fore-stock is connected by crotch with bolt with after-poppet, after-poppet
It is then fixed by bolts in circular bottom plate, damper is made of sleeve, spring, piston and cover board etc., and sleeve is connected in by bolt
After-poppet top, piston are then connected in bolt on fore-stock, and spring is connected to upper cartridge and piston, and cover board is equal by four circumference
Even distribution screw is fixed on sleeve bottom, in have a hole, pass through for piston rod, by piston mandril top pressure spring, make spring
Generate stroke.This damping device can ensure mobile robot on rough road surface when driving four-wheel simultaneously
Ground, while can effectively increase shock resistance and running stability.
The present invention is a kind of mobile robot tread systems design, and specific advantageous effect is：Enable mobile robot
Original place no-radius turns to, and can effective damping, avoid unnecessary fluctuation, increase running stability, be suitable for various
Working space.
Description of the drawings
Fig. 1 is the overall construction drawing of the present invention.
Fig. 2 is the damping device structure chart of the present invention.
Specific implementation mode
The present invention will be further described with specific example below in conjunction with the accompanying drawings.
Fig. 1 is a kind of design drawing of mobile robot walking mechanism of the present invention, it is shown that a kind of mobile robot of the present invention
The overall structure of walking mechanism, including it is damper 1, after-poppet 2, second planetary reducer 3, battery pack 4, crotch 5, bull wheel 6, straight
Flow servo motor 7, bearing 8, damping universal wheels 9, circular bottom plate 10, gear 2 11, gear shaft 12, fore-stock 13, connecting shaft 14,
Cross Hooks coupling universal coupling 15, bearing block 16 etc..
Two groups of wheels provided by the invention tie up to circular bottom plate 10 in it is forward and backward and it is left and right split, driven wheel be with damping dress
The universal wheel 9 set, damping universal wheels 9 are fixed on by four bolts on 10 bottom margin of circular bottom plate, front and back setting, circular base
The left and right of plate 10 is equipped with inside concane gap, has fraction raised among 6 wheel hub of bull wheel, passes through damping device and 10 phase of circular bottom plate
Even.Two active wheel drive of this left and right sides, the driven layout type of forward and backward two-wheeled is with the obvious advantage, can steadily move at a high speed
It moves, mechanical structure is simple, it is easy, easy to control to turn to, suitable long-time non-stop run.Secondary planetary gear retarder 3
Output shaft is equipped with is equipped with gear 2 11, the other end and universal joint shaft with 2 11 meshed gears one of gear, one end of gear shaft 12
One end of device 15 connects.Middle part is fixed by bearing block 16 and after-poppet 2, the other end and the connecting shaft 14 of Hooks coupling universal coupling 15
One end connects, and the other end of connecting shaft 14 is equipped with bull wheel 6；The top outer of after-poppet 2 is set there are one lug, 1 sleeve of damper
Upper end it is hinged by bolt and the lug, the two-arm lower end of crotch 5 by bolt respectively with two on the outside of the middle part of after-poppet 2
A lug is hinged, and the two-arm upper end of crotch 5 is hinged by the both sides at 13 top of bolt and fore-stock.
Entire walking mechanism is that DC servo motor 7 is powered by battery pack 4, and two level is realized by second planetary reducer 3
Slow down.Since the combination body length of second planetary reducer 3 and DC servo motor 7 is more than 10 radius of circular bottom plate, Bu Neng
Same axisymmetrical places two groups of secondary planetary gear retarders 3 and DC servo motor 7, therefore again by one group by one He of gear
2 11 meshed gears auxiliary driving of gear makes two groups of secondary planetary gear retarders 3 and the combination of DC servo motor 7 be staggered
Arrangement, is fixed by bearing 8 and 10 upper surface of circular bottom plate, is achieved the effect that compact-sized.Gear pair tooth connection wheel shaft 12
One end, 12 middle part of gear shaft are fixed by bearing block 16 and after-poppet 2 and circular bottom plate 10, and the other end of gear shaft 12 passes through ten thousand
It is connect to shaft coupling 15 with connecting shaft 14, bull wheel 6 is driven to walk.
For damping device structure as shown in Fig. 2, including fore-stock 13, crotch 5, after-poppet 2, damper 1 etc., fore-stock 13 is logical
Hole and the raised clearance fit of bull wheel 6, and fore-stock 13 is connected by two crotch 5 with bolt with after-poppet 2, after-poppet 2
It is then fixed by bolts in circular bottom plate 10, plays the supporting role of damping device, and the core of damping device is damper 1,
It is made of sleeve, spring, piston rod and cover board etc., sleeve is connected in 2 top of after-poppet by bolt, before piston is then connected in bolt
On holder 13, spring is connected to upper cartridge and piston, and cover board is distributed screw by four even circumferentials and is fixed on sleeve bottom,
In have a hole, pass through for piston rod, by piston mandril top pressure spring, so that spring is generated stroke, to keep mobile robot
Whole balance.
Claims (6)
1. a kind of mobile robot walking mechanism, including mechanism body, dynamical system and damping device, the circular base of mechanism body
Plate (10) and two groups of trains for crossing the setting of center of circle cross extended line orientation, it is characterised in that：The both sides of circular bottom plate (10) are equipped with
The bull wheel (6) of rectangular notch, active train is located in the rectangular notch, circular bottom plate (10) and the axially vertical direction of active train
Edge be equipped with damping universal wheels (9), the top fulcrum of damping universal wheels (9) and the bottom of circular bottom plate (10) fix, two level
Planetary reducer (3) is fixed by bearing (8) and circular bottom plate (10) upper surface；The output shaft of DC servo motor (7)
It is connect with the input of secondary planetary gear retarder (3), the output shaft of secondary planetary gear retarder (3) is equipped with and gear two
(11) one end of meshed gears one, gear shaft (12) are equipped with gear two (11), one end of the other end and Hooks coupling universal coupling (15)
Connection.Middle part is fixed by bearing block (16) and after-poppet (2), the other end of Hooks coupling universal coupling (15) and the one of connecting shaft (14)
The other end of end connection, connecting shaft (14) is equipped with bull wheel (6)；The top outer of after-poppet (2) is set there are one lug, damper
(1) upper end of sleeve is hinged by bolt and the lug, the two-arm lower end of crotch (5) by bolt respectively with after-poppet (2)
Two lugs on the outside of middle part are hinged, and the two-arm upper end of crotch (5) is hinged by the both sides at the top of bolt and fore-stock (13).
2. a kind of mobile robot walking mechanism according to claim 1, it is characterised in that：The bull wheel (6) is located at circle
It is left and right to split in the rectangular notch of shape bottom plate (10) both sides；Damping universal wheels (9) are located at below circular bottom plate (10), forward and backward point
It sets.
3. a kind of walking mechanism of mobile robot according to claim 1, it is characterised in that：The battery pack (4) is logical
It crosses bolt to fix with circular bottom plate (10) upper surface, be connect respectively with two groups of DC servo motors (7) by conducting wire.
4. a kind of walking mechanism of mobile robot according to claim 1, it is characterised in that：Two groups of secondary planetary gears
The connector of retarder (3) and DC servo motor (7) is axially offset, and is arranged symmetrically.
5. a kind of walking mechanism of mobile robot according to claim 1, it is characterised in that：Fore-stock (13) through-hole with
The wheel hub protrusion clearance fit of big wheel (6).
6. a kind of walking mechanism of mobile robot according to claim 1, it is characterised in that：Damper (1) sleeve
Upper end is hinged by bolt and the lug on after-poppet (2) top, and the free end of piston rod and fore-stock (13) are hinged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810282260.0A CN108454719A (en) | 2018-04-02 | 2018-04-02 | A kind of mobile robot walking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810282260.0A CN108454719A (en) | 2018-04-02 | 2018-04-02 | A kind of mobile robot walking mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108454719A true CN108454719A (en) | 2018-08-28 |
Family
ID=63237869
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810282260.0A Pending CN108454719A (en) | 2018-04-02 | 2018-04-02 | A kind of mobile robot walking mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108454719A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109353169A (en) * | 2018-11-14 | 2019-02-19 | 广西科技大学 | A kind of healing robot drive wheel design |
| CN111074833A (en) * | 2019-12-07 | 2020-04-28 | 沈阳工业大学 | Robot for treating accumulated water in field |
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| DE102006044614A1 (en) * | 2006-09-19 | 2008-03-27 | Sames, Gerhold, Dipl.-Ing. | Wheel guiding unit for trailer and traction bogie of rail vehicles, particularly, for low-floor vehicles of regional and local traffic, has two connected transmission units, which are arranged on notional wheel axle |
| CN102085886A (en) * | 2011-01-11 | 2011-06-08 | 东南大学 | Folding hopping robot |
| CN204585230U (en) * | 2015-04-29 | 2015-08-26 | 哈尔滨理工大学 | A kind of wheeled family expenses supervisory-controlled robot |
| CN104960409A (en) * | 2015-05-28 | 2015-10-07 | 东南大学 | Integrated wheel edge driving system equipped with unequal-length double transverse arm suspending frame and capable of reducing unsprung mass |
| CN105148496A (en) * | 2015-09-08 | 2015-12-16 | 华中科技大学 | Posture control-based roller skating type mobility robot |
| CN204956703U (en) * | 2015-09-17 | 2016-01-13 | 北京云迹科技有限公司 | Six rounds of chassis systems and adopt vehicle and wheeled robot of this system |
| US20180203458A1 (en) * | 2015-07-08 | 2018-07-19 | Jiangsu University | Smart mobile detection platform for greenhouse |
| US20180305126A1 (en) * | 2015-10-13 | 2018-10-25 | Exotec Solutions | Automated guided trolley for the transport and/or handling of a load |
| CN208069861U (en) * | 2018-04-02 | 2018-11-09 | 西南交通大学 | A kind of mobile robot walking mechanism |
-
2018
- 2018-04-02 CN CN201810282260.0A patent/CN108454719A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2243121C2 (en) * | 2003-01-20 | 2004-12-27 | Малинин Петр Андреевич | Jumping vehicle (a) |
| DE102006044614A1 (en) * | 2006-09-19 | 2008-03-27 | Sames, Gerhold, Dipl.-Ing. | Wheel guiding unit for trailer and traction bogie of rail vehicles, particularly, for low-floor vehicles of regional and local traffic, has two connected transmission units, which are arranged on notional wheel axle |
| CN102085886A (en) * | 2011-01-11 | 2011-06-08 | 东南大学 | Folding hopping robot |
| CN204585230U (en) * | 2015-04-29 | 2015-08-26 | 哈尔滨理工大学 | A kind of wheeled family expenses supervisory-controlled robot |
| CN104960409A (en) * | 2015-05-28 | 2015-10-07 | 东南大学 | Integrated wheel edge driving system equipped with unequal-length double transverse arm suspending frame and capable of reducing unsprung mass |
| US20180203458A1 (en) * | 2015-07-08 | 2018-07-19 | Jiangsu University | Smart mobile detection platform for greenhouse |
| CN105148496A (en) * | 2015-09-08 | 2015-12-16 | 华中科技大学 | Posture control-based roller skating type mobility robot |
| CN204956703U (en) * | 2015-09-17 | 2016-01-13 | 北京云迹科技有限公司 | Six rounds of chassis systems and adopt vehicle and wheeled robot of this system |
| US20180305126A1 (en) * | 2015-10-13 | 2018-10-25 | Exotec Solutions | Automated guided trolley for the transport and/or handling of a load |
| CN208069861U (en) * | 2018-04-02 | 2018-11-09 | 西南交通大学 | A kind of mobile robot walking mechanism |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109353169A (en) * | 2018-11-14 | 2019-02-19 | 广西科技大学 | A kind of healing robot drive wheel design |
| CN111074833A (en) * | 2019-12-07 | 2020-04-28 | 沈阳工业大学 | Robot for treating accumulated water in field |
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Application publication date: 20180828 |